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A lunar reconnaissance drone for cooperative exploration and high-resolution mapping of extreme locations

Roméo Tonasso, Daniel Tataru, Hippolyte Rauch, Vincent Pozsgay, Thomas Pfeiffer, Erik Uythoven, David Rodríguez-Martínez

TL;DR

The design of a lightweight, compact, autonomous, and reusable lunar reconnaissance drone capable of assisting other ground-based robotic assets, and eventually humans, in the characterization and high-resolution mapping of particularly challenging and hard-to-access locations on the lunar surface is presented.

Abstract

An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations remains, at best, an order of magnitude larger than the characteristic length of most of the robotic systems to be deployed. This hinders the planning and successful implementation of prospecting missions and poses a high risk for the traverse of robots and humans, diminishing the potential overall scientific and commercial return of any mission. We herein present the design of a lightweight, compact, autonomous, and reusable lunar reconnaissance drone capable of assisting other ground-based robotic assets, and eventually humans, in the characterization and high-resolution mapping (~0.1 m/px) of particularly challenging and hard-to-access locations on the lunar surface. The proposed concept consists of two main subsystems: the drone and its service station. With a total combined wet mass of 100 kg, the system is capable of 11 flights without refueling the service station, enabling almost 9 km of accumulated flight distance. The deployment of such a system could significantly impact the efficiency of upcoming exploration missions, increasing the distance covered per day of exploration and significantly reducing the need for recurrent contacts with ground stations on Earth.

A lunar reconnaissance drone for cooperative exploration and high-resolution mapping of extreme locations

TL;DR

The design of a lightweight, compact, autonomous, and reusable lunar reconnaissance drone capable of assisting other ground-based robotic assets, and eventually humans, in the characterization and high-resolution mapping of particularly challenging and hard-to-access locations on the lunar surface is presented.

Abstract

An efficient characterization of scientifically significant locations is essential prior to the return of humans to the Moon. The highest resolution imagery acquired from orbit of south-polar shadowed regions and other relevant locations remains, at best, an order of magnitude larger than the characteristic length of most of the robotic systems to be deployed. This hinders the planning and successful implementation of prospecting missions and poses a high risk for the traverse of robots and humans, diminishing the potential overall scientific and commercial return of any mission. We herein present the design of a lightweight, compact, autonomous, and reusable lunar reconnaissance drone capable of assisting other ground-based robotic assets, and eventually humans, in the characterization and high-resolution mapping (~0.1 m/px) of particularly challenging and hard-to-access locations on the lunar surface. The proposed concept consists of two main subsystems: the drone and its service station. With a total combined wet mass of 100 kg, the system is capable of 11 flights without refueling the service station, enabling almost 9 km of accumulated flight distance. The deployment of such a system could significantly impact the efficiency of upcoming exploration missions, increasing the distance covered per day of exploration and significantly reducing the need for recurrent contacts with ground stations on Earth.
Paper Structure (24 sections, 5 equations, 15 figures, 6 tables)

This paper contains 24 sections, 5 equations, 15 figures, 6 tables.

Table of Contents

  1. Introduction
  2. Background
  3. Challenges
  4. Concept of Operations
  5. System Design
  6. Lunar Reconnaissance Drone
  7. Propulsion
  8. Mapping instrument
  9. Electrical power system
  10. Avionics
  11. Communications
  12. Thermal control
  13. Structure and wire harness
  14. Drone Service Station
  15. Refueling
  16. ...and 9 more sections

Figures (15)

  • Figure 1: Examples of some of the highest resolution images available of PSRs and lunar skylights: (a) a long exposure of the permanently shadowed Tooley Crater taken by LRO NAC (source: NASA/Goddard/Arizona State University), (b) an enhanced image of the Shackleton Crater taken by Kaguya's TC (source: JAXA), and (c) view of a skylight at Mare Tranquillitatis also taken by LRO NAC (source: NASA/Goddard/Arizona State University).
  • Figure 2: Examples of conceptual designs for drones and long-distance hoppers for the exploration of the Moon and other airless celestial bodies: (a) the Lunar Hopper Mk. II (source: University of Southampton), (b) the Extreme Access Flying drone concept (source: NASA/Swamp Works), and (c) the $\mathrm{\mu}$Nova lunar hopper (source: Intuitive Machines).
  • Figure 3: Schematic CONOPS for a single reconnaissance flight. Starting point is highlighted in red. Blue ovals indicate actions. Green rectangles indicate actors: the drone, the drone service station (DSS), and the serviced ground vehicle.
  • Figure 4: The lunar reconnaissance drone system is composed of the drone and its service station. Some key elements of the system include: (1) outer shell (protective panels, TOL pad, interfaces), (2) docking mechanism, (3) batteries, (4) refueling tanks, (5) adjustable resting foot for deployment, (6) electronic box, (7) actuated control arm and wheel, (8) monopropellant thrusters, (9) propellant and pressurant tanks, (10) drone electronic stack (IMU, EPS, OBC, and CDH), and (11) mapping sensor.
  • Figure 5: Architecture of the lunar reconnaissance drone.
  • ...and 10 more figures