AIAA Guidance, Navigation, and Control Conference · 2011 · 34 citations · 8 references
ComputingAutonomous SystemsGeoinformaticsGeodesyRemote SensingTerrain AnalysisAutonomous LandingLidar PerceptionLidar Remote SensingLocalization UncertaintyRobot NavigationExploration MissionsLidar-based NavigationLidar-based Relative NavigationLocal ReliefLunar Landing SystemsPerformance DegradationRelative NavigationTerrain-relative Navigation
Capability for precise lunar landing is the goal for future NASA missions. A LIDAR-based terrain relative navigation (TRN) approach lets us achieve this goal and also land under any illumination conditions. Results from field test data showed that the LIDAR TRN algorithm obtained position estimates with mean error of about 20 meters and standard deviations of about 10 meters. Moreover, the algorithm was capable of providing 99 percent correct estimates by assessing the local terrain relief in the data. Also, the algorithm was able to handle initial position uncertainty of up to 1.6 kilometers without performance degradation.
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