Autonomous navigation and guidance scheme for precise and safe planetary landing

Li, Shuang; Liu, Zhang

doi:10.1108/00022660910997810

Cited by 25 publications

(4 citation statements)

References 8 publications

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“…LIDAR and rangefinders play an essential role in supporting spacecraft navigation and are also used as scientific instruments in asteroid exploration. They can be used in mapping asteroids (Namiki et al , 2015) and support spacecraft navigation, from fly by to landing operations (Hashimoto et al , 2003; Shuang and Liu, 2009). Low mass compact spacecraft missions to asteroids is an increasing trend, including small landing spacecraft.…”

Section: Introductionmentioning

confidence: 99%

LIDAR altimeter conception for HERA spacecraft

Dias

Arribas

Gordo

et al. 2021

AEAT

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Purpose This paper aims to report the first iteration on the Light Detection and Ranging (LIDAR) Engineering Model altimeter named HELENA. HELENA is a Time of Flight (TOF) altimeter that provides time-tagged distances and velocity measurements. The LIDAR can be used for support near asteroid navigation and provides scientific information. The HELENA design comprises two types of technologies: a microchip laser and low noise sensor. The synergies between these two technologies enable developing a compact instrument for range measurements of up to 14 km. Thermal-mechanical and radiometric simulations of the HELENA telescope are reported in this paper. The design is subjected to vibrational, static and thermal conditions, and it was possible to conclude by the results that the telescope is compliant with the random vibration levels, the static load and the operating temperatures. Design/methodology/approach The Asteroid Impact & Deflection Assessment (AIDA) is a collaboration between the NASA DART mission and ESA Hera mission. The aim scope is to study the asteroid deflection through a kinetic collision. DART spacecraft will collide with Didymos-B, while ground stations monitor the orbit change. HERA spacecraft will study the post-impact scenario. The HERA spacecraft is composed by a main spacecraft and two small CubeSats. HERA will monitor the asteroid through cameras, radar, satellite-to-satellite doppler tracking, LIDAR, seismometry and gravimetry. Findings The HELENA design comprises two types of technologies: a microchip laser and low noise sensor. The synergies between these two technologies enable developing a compact instrument for range measurements of up to 14 km. Originality/value In this paper is reported the first iteration on the LIDAR Engineering Model altimeter named HELENA. HELENA is a TOF altimeter that provides time-tagged distances and velocity measurements. The LIDAR can be used for support near asteroid navigation and provides scientific information. The HELENA design comprises two types of technologies: a microchip laser and low noise sensor. The synergies between these two technologies enable developing a compact instrument for range measurements of up to 14 km.

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Section: Introductionmentioning

confidence: 99%

LIDAR altimeter conception for HERA spacecraft

Dias

Arribas

Gordo

et al. 2021

AEAT

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“…In [10], the LIDAR-based terrain sensing and recognition (TSAR) algorithms, which were developed for the ALHAT project, represent the lander as a planar patch [denoted as the vehicular footmark dispersion ellipse (VFDE)] that is equivalent to the lander width and a measure of navigation error. In addition, such earlier approaches require that a number of detection thresholds be set to determine which sensed surface features correspond to surface hazards [11][12][13][14][15][16][17][18][19]. Thresholds are typically determined via sandbox analyses and Monte-Carlo simulations.…”

Section: Introductionmentioning

confidence: 99%

Vision‐based crater and rock detection using a cascade decision forest

Yan

2019

IET Computer Vision

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Both crater and rock detection are components of the autonomous landing and hazard avoidance technology (ALHAT) sensor suite, as craters and rocks represent the majority of landing hazards. Furthermore, places with scientific values are very probable next to craters and rocks. Unsupervised approaches, which potentially use the pattern recognition techniques of ring threshold finding, perform quickly; however, they suffer from handling small craters. The supervised pattern recognition method is more powerful but is time-consuming. To address these issues, here, a simultaneous multi-size crater and rock detection algorithm is studied. The authors propose a new supervised machine-learning framework using a cascade decision forest. Sliding windows are utilised in order to search basic features, and a multi-grained cascade structure is introduced to enhance the framework's ability to learn the representations of the features. The training time of the proposed algorithm on a PC is comparable to that of deep neural networks, and the efficiency is enhanced for a large-scale database. The outputs of the simulation verify the effectiveness and validity of the introduced technique.

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“…The images captured by optics cameras are more susceptible to the effect of the lighting conditions. In contrast, LIDAR is not susceptible to the influence of lighting conditions and can be used in obstacle detection [10][11][12]. The number of measurement points can be reduced in the preprocessing stage [13].…”

Section: Introductionmentioning

confidence: 99%

Slope angle estimation method based on sparse subspace clustering for probe safe landing

Cao

Ding

et al. 2018

Meas. Sci. Technol.

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To avoid planetary probes landing on steep slopes where they may slip or tip over, a new method of slope angle estimation based on sparse subspace clustering is proposed to improve accuracy. First, a coordinate system is defined and established to describe the measured data of light detection and ranging (LIDAR). Second, this data is processed and expressed with a sparse representation. Third, on this basis, the data is made to cluster to determine which subspace it belongs to. Fourth, eliminating outliers in subspace, the correct data points are used for the fitting planes. Finally, the vectors normal to the planes are obtained using the plane model, and the angle between the normal vectors is obtained through calculation. Based on the geometric relationship, this angle is equal in value to the slope angle. The proposed method was tested in a series of experiments. The experimental results show that this method can effectively estimate the slope angle, can overcome the influence of noise and obtain an exact slope angle. Compared with other methods, this method can minimize the measuring errors and further improve the estimation accuracy of the slope angle.

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Autonomous navigation and guidance scheme for precise and safe planetary landing

Cited by 25 publications

References 8 publications

LIDAR altimeter conception for HERA spacecraft

LIDAR altimeter conception for HERA spacecraft

Vision‐based crater and rock detection using a cascade decision forest

Slope angle estimation method based on sparse subspace clustering for probe safe landing

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