In support of NASA s Autonomous Landing and Hazard Avoidance Technology (ALHAT) project, an extended Kalman filter routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit (IMU) with range and Doppler velocity observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The filter has been extensively tested using a lunar landing simulation and shown to improve navigation over flat surfaces or rough terrain. Experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate that LIDAR can be employed to significantly improve navigation based exclusively on IMU integration.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing


    Contributors:

    Publication date :

    2011


    Size :

    16 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

    Busnardo, David M. / Aitken, Matthew L. / Tolson, Robert H. et al. | NTRS | 2011


    LIDAR-AIDED INERTIAL NAVIGATION WITH EXTENDED KALMAN FILTERING FOR PINPOINT LANDING OVER ROUGH TERRAIN

    Busnardo, D. / Aitken, M. / Tolson, R. et al. | British Library Conference Proceedings | 2011


    LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing over Rough Terrain

    Busnardo, David / Aitken, Matthew / Tolson, Robert et al. | AIAA | 2011


    Vision-aided Inertial Navigation for Pinpoint Lunar Landing

    Shuang, Li / Pingyuan, Cui | AIAA | 2006


    Vision-aided inertial navigation for pinpoint planetary landing

    Li, Shuang / Cui, Pingyuan / Cui, Hutao | Elsevier | 2007