DRAPER HAS DEVELOPED A LEADING VISION NAVIGATION SOLUTION THE DRAPER MULTI-ENVIRONMENT NAVIGATOR (DMEN). DMEN CONSISTS OF A SUITE OF SENSORS (CAMERA IMU BAROMETER AND MAGNETOMETER) WITH SENSOR CIRCUITRY A COMPUTER AND A POWERFUL SUITE OF ALGORITHMS TO PROCESS THE SENSOR DATA INTO A NAVIGATION SOLUTION. THE ALGORITHMS INCLUDE MISCHIEF AND SAMWISE (TIGHTLY COUPLED VISUAL-INERTIAL ODOMETRY) AND IBAL AND LOST ROBOT (VISUAL TERRAIN-BASED ABSOLUTE POSITIONING). TRL FOR EDL APPLICATIONS IS 4. WE PROPOSE A CAMPAIGN OF 2 HIGH ALTITUDE BALLOON FLIGHTS TO GATHER VALUABLE DATA IN THE HIGH ALTITUDE DESCENT REGIME TO PUSH DMEN TOWARDS BECOMING A FULL EDL NAVIGATION SOLUTION.