Hover and Forward Flight Performance Modeling of the Ingenuity Mars Helicopter

In 2015, NASA’s Jet Propulsion Laboratory partnered with Ames Research Center, Langley Research Center, and AeroVironment to develop Ingenuity, a small coaxial helicopter capable of flying within Mars’ unique atmospheric conditions. Ingenuity was successfully deployed from its protective shroud on the underside of the Mars 2020 Perseverance Rover and has flown 17 flights on Mars as of December 2021. A number of rotorcraft analysis tools were utilized, and a series of experimental tests were performed to ready Ingenuity for its launch with the Perseverance Rover in July 2020. In this paper, RotCFD, a Reynolds-averaged Navier-Stokes flow solver, is used to model Ingenuity in hover and forward flight for the purposes of validating tools to aid in the development of a future generation of Mars rotorcraft. The results from the RotCFD modeling are benchmarked against results from hover performance tests of the Ingenuity prototype in the 25-Foot Space Simulator at the Jet Propulsion Laboratory and are also compared to hover and forward flight predictions made by CAMRAD II, a well-known comprehensive rotorcraft analysis code. Surrogate performance models are trained to obtain a set of trimmed rotor settings for Ingenuity at different forward flight speeds, which are then used as inputs for the RotCFD forward flight simulations. Additionally, a study of the airframe-rotor interaction and a study of the aerodynamics of the individual airframe components of Ingenuity in forward flight are performed. Finally, to better understand performance predictions by RotCFD and CAMRAD II, a study is conducted on how sectional angles of attack in each code vary with radial station and azimuth.