Analysis and Testing of a LIDAR-Based Approach to Terrain Relative Navigation for Precise Lunar Landing

Johnson, Andrew; Ivanov, Tonislav

doi:10.2514/6.2011-6578

Cited by 30 publications

(8 citation statements)

References 8 publications

(9 reference statements)

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“…In terms of estimators, various kinds of filters and methods have been applied to the TRN, e.g., Kalman filters [1][2][3] and Bayesian methods [4], and adaptations to specific problems have been incorporated [5][6][7][8] to improve flexibility and reliability of the navigation system. On the other hand, additional or alternative sensors such as airborne laser scanners [9,10] and cameras [11][12][13][14] have been used to measure terrain profile. These have addressed theoretical navigation capability in Global Navigation Satellite System (GNSS)-devoid scenarios.…”

Section: Introductionmentioning

confidence: 99%

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

2018

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This paper addresses measurement models in a particle filter for application in terrain-referenced navigation using an interferometric radar altimeter (IRA). We propose a novel method for utilizing an IRA in a terrain-referenced navigation system based on the fact that an IRA provides accurate three-dimensional measurement of the closest target point on the ground. The proposed measurement model searches for the closest point on an on-board digital elevation model and constructs an estimated measurement to calculate the measurement residual. Comparative simulation analysis with an existing method shows the proposed method provides outstanding navigation performance in terms of root mean square position error. The proposed method yields positioning solutions with an average root mean square error less than 3 m whereas that of the existing method is more than 11 m using a virtual digital elevation model fulfilling the HRTI-3 specification. Simulation results on the effects of terrain roughness, cruising altitude, sampling frequency, and magnitudes of inertial navigation system/barometer biases are also presented.

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Section: Introductionmentioning

confidence: 99%

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

2018

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“…To provide the required global landing precision, the ALHAT system first implements TRN to localize the descending spacecraft relative to the ILP, and onboard GN&C algorithms make use of this information to determine thrust or RCS (Reaction Control System) corrections to reduce position error. The ALHAT project investigated several techniques for TRN: active laser or Lidar based 5,6 and passive optical based.…”

Section: Overview Of Alhat Operationsmentioning

confidence: 99%

Preparation and Integration of ALHAT Precision Landing Technology for Morpheus Flight Testing

Carson

Trawny

Robertson

et al. 2014

AIAA SPACE 2014 Conference and Exposition

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The Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project has developed a suite of prototype sensors for enabling autonomous and safe precision landing of robotic or crewed vehicles on solid solar bodies under varying terrain lighting conditions. The sensors include a Lidar-based Hazard Detection System (HDS), a multipurpose Navigation Doppler Lidar (NDL), and a long-range Laser Altimeter (LAlt). Preparation for terrestrial flight testing of ALHAT onboard the Morpheus free-flying, rocket-propelled flight test vehicle has been in progress since 2012, with flight tests over a lunar-like terrain field occurring in Spring 2014. Significant work efforts within both the ALHAT and Morpheus projects has been required in the preparation of the sensors, vehicle, and test facilities for interfacing, integrating and verifying overall system performance to ensure readiness for flight testing. The ALHAT sensors have undergone numerous stand-alone sensor tests, simulations, and calibrations, along with integrated-system tests in specialized gantries, trucks, helicopters and fixed-wing aircraft. A lunar-like terrain environment was constructed for ALHAT system testing during Morpheus flights, and vibration and thermal testing of the ALHAT sensors was performed based on Morpheus flights prior to ALHAT integration. High-fidelity simulations were implemented to gain insight into integrated ALHAT sensors and Morpheus GN&C system performance, and command and telemetry interfacing and functional testing was conducted once the ALHAT sensors and electronics were integrated onto Morpheus. This paper captures some of the details and lessons learned in the planning, preparation and integration of the individual ALHAT sensors, the vehicle, and the test environment that led up to the joint flight tests.

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“…NASA has investigated multiple approaches to TRN: passive optical TRN (e.g., the JPL Lander Vision System (LVS) 6 ) and active lidar-based TRN. 7,8,9 TRN enables GN&C to plan and maneuver the lander close to the intended landing site and to avoid large hazards identified in reconnaissance data. Local precision for soft landing is enabled with direct velocity measurements.…”

Section: Introductionmentioning

confidence: 99%

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

Carson

Robertson

Trawny

et al. 2015

AIAA SPACE 2015 Conference and Exposition

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A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a lidar-based Hazard Detection System (HDS), a Navigation Doppler Lidar (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus VTB involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight.The ALHAT sensor measurements were combined within a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

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Analysis and Testing of a LIDAR-Based Approach to Terrain Relative Navigation for Precise Lunar Landing

Cited by 30 publications

References 8 publications

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

Terrain-Referenced Navigation using an Interferometric Radar Altimeter

Preparation and Integration of ALHAT Precision Landing Technology for Morpheus Flight Testing

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

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