Imaging flash LIDAR for safe landing on solar system bodies and spacecraft rendezvous and docking

Amzajerdian, Farzin; Roback, Vincent E.; Bulyshev, A. E.; Brewster, Paul F.; Carrion, William; Pierrottet, Diego F.; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Noe, Anna

doi:10.1117/12.2178410

Cited by 8 publications

(7 citation statements)

References 27 publications

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“…The system was selected for the Hubble Robotic Vehicle De-orbit Module mission and tested on STS-128, STS-131, STS-135. Recently, flash LIDAR sensors [ 4 , 7 , 15 , 16 , 17 , 18 , 19 ] are developed and tested for several space program. The Ball Corp’s flash LIDAR is tested on STS-134 and is currently planned to be the primary relative navigation sensor for Orion multipurpose crew vehicle.…”

Section: Related Workmentioning

confidence: 99%

“…A new method by estimating the relative pose and trajectory simultaneously using flash LIDAR is presented in [ 18 ]. Besides, the flash LIDAR can be used in other space missions, such as safe landing [ 19 ].…”

Section: Related Workmentioning

confidence: 99%

“…Pose estimation is the process of estimating relative attitude and position, which depends on largely on the type of sensor. Usually stereo vision [ 6 , 8 , 9 , 10 ], monocular vision [ 11 , 12 , 13 ] and LIDAR (light detection and ranging) [ 4 , 7 , 14 , 15 , 16 , 17 , 18 , 19 ] sensor are the sensor types used in space applications. Stereo vision approaches provide measurements of high accuracy at a high rate, but their working distance is limited to the baseline and the computational requirements increase with the increase of resolution.…”

Section: Introductionmentioning

confidence: 99%

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Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Liu

Zhao

2016

Sensors

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Determination of the relative pose of satellites is essential in space rendezvous operations and on-orbit servicing missions. The key problems are the adoption of suitable sensor on board of a chaser and efficient techniques for pose estimation. This paper aims to estimate the pose of a target satellite in close range on the basis of its known model by using point cloud data generated by a flash LIDAR sensor. A novel model based pose estimation method is proposed; it includes a fast and reliable pose initial acquisition method based on global optimal searching by processing the dense point cloud data directly, and a pose tracking method based on Iterative Closest Point algorithm. Also, a simulation system is presented in this paper in order to evaluate the performance of the sensor and generate simulated sensor point cloud data. It also provides truth pose of the test target so that the pose estimation error can be quantified. To investigate the effectiveness of the proposed approach and achievable pose accuracy, numerical simulation experiments are performed; results demonstrate algorithm capability of operating with point cloud directly and large pose variations. Also, a field testing experiment is conducted and results show that the proposed method is effective.

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Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Liu

Zhao

2016

Sensors

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“…More detailed description of the SR algorithm, modeling, and test results have been reported in earlier publications. 44,45…”

Section: Super Resolution Techniquementioning

confidence: 99%

Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

et al. 2016

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3-D Imaging flash lidar is recognized as a primary candidate sensor for safe precision landing on solar system bodies (Moon, Mars, Jupiter and Saturn moons, etc.), and autonomous rendezvous proximity operations and docking/capture necessary for asteroid sample return and redirect missions, spacecraft docking, satellite servicing, and space debris removal. During the final stages of landing, from about 1 km to 500 m above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard fli 1 ght computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station from several kilometers distance. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16k pixels range images with 7 cm precision, at a 20 Hz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument design and capabilities as demonstrated by the closed-loop flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus). Then a plan for continued advancement of the flash lidar technology will be explained. This proposed plan is aimed at the development of a common sensor that with a modest design adjustment can meet the needs of both landing and proximity operation and docking applications.

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“…The 3D imaging flash lidar is being considered as the primary sensor for future robotic and manned landing missions to the Moon and Mars due to the desired capability of providing the 3D images of landing area and large operational range, The innovative 3D imaging flash lidar is a significant advance over currently available alternatives, such as RADAR, optical image correlation, and scanning direct-detection LIDAR, none of which fully addresses the needs of future planetary landers. It features in one package: [24][25][26] 1. Max.…”

Section: D Imaging Flash Lidarmentioning

confidence: 99%

Innovative hazard detection and avoidance guidance for safe lunar landing

Jiang

Tao

2016

Proceedings of the Institution of Mechanical Engineers, Part G:

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Safe planetary landing is considered a key technology for future robotic and manned planetary landing missions. The relay hazard detection and proportion–integration–differentiation avoidance guidance algorithms were used in Chang’e-3 mission, which not only increased the complexity of the guidance system, but also resulted in non-fuel-optimal avoidance guidance from the viewpoint of fuel consumption. To further develop and improve the hazard detection and avoidance scheme of Chang’e-3, novel autonomous hazard avoidance methodologies should be investigated. This paper addresses an innovative hazard detection and avoidance scheme for safe lunar landing from the following three aspects: imaging flash lidar based hazard detection, safe landing site selection strategy, and minimum-fuel hazard avoidance guidance. First, the three-dimensional imaging flash lidar, a developing three-dimensional imaging sensor, is utilized to rapidly and precisely detect three-dimensional terrain of the landing area. Second, the hazard detection and optimum landing site selection strategy inherited from Chang’e-3 are improved and enhanced to estimate the potential obstacles, and select an optimum landing site which is the guidance target of following hazard avoidance. Next, the fuel-optimal hazard avoidance guidance problem is transcribed into as a minimum-fuel consumption optimization problem using the Gauss pseudospectral method, which is easily solved by the open-source software GPOPS. Finally, the validity of the autonomous hazard detection and avoidance guidance scheme proposed in this paper is confirmed by computer simulation.

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Imaging flash LIDAR for safe landing on solar system bodies and spacecraft rendezvous and docking

Cited by 8 publications

References 27 publications

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Point Cloud Based Relative Pose Estimation of a Satellite in Close Range

Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

Innovative hazard detection and avoidance guidance for safe lunar landing

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