Vision-based navigation and hazard detection for terrestrial rocket approach and landing

Steiner, Ted J.; Brady, Tye

doi:10.1109/aero.2014.6836216

Cited by 6 publications

(3 citation statements)

References 17 publications

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“…As described in [1], the TRNDI TRN camera has a 60 degree field of view and 1280x1024 pixel resolution. This wide field of view comes with a reduction in ground-resolution, which is accommodated for by refining the landmark locations online.…”

Section: Simulation Setupmentioning

confidence: 99%

“…The Campaign 5 flight trajectory is shown in Figure 6. We modified the TRNDI simulator, described in [1], to use this trajectory to generate simulated landmark lineof-sight observations in order to evaluate our utility-based landmark selection and a vision-based implementation of our TRN algorithm using an actual flight trajectory.…”

Section: Simulation Setupmentioning

confidence: 99%

“…This TRN system does not suffer from the linearization errors of filter-based approaches, and allows for incorporation of both landmark observations and opportunistic feature tracking, as well as other potentially available sensor data, such as that of inertial measurement units (IMUs), GPS receivers, altimeters, and star cameras. We demonstrate our TRN algorithm and utility-based landmark selection in the context of the Terrain Relative Navigation & Descent Imager (TRNDI) system [1], an optical payload for Draper Laboratory's GENIE (Guidance Embedded Navigator Integration Environment) guidance, navigation, and control (GN&C) system, which is capable of emulating planetary approach and landing trajectories for a terrestrial test rocket [2]- [4].…”

Section: Introductionmentioning

confidence: 99%

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Graph-based terrain relative navigation with optimal landmark database selection

Steiner

Brady

Hoffman

2015

2015 IEEE Aerospace Conference

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Terrain relative navigation (TRN) offers a means to constrain absolute vehicle position and attitude without using a GPS receiver or star camera, such as for unmanned aerial vehicles or planetary landing spacecraft, using a pre-computed terrain database of distinctive landmarks in the operational environment. However, depending on the length of the planned trajectory, these terrain landmark databases may grow prohibitively large for the onboard data storage, processing, and communication capabilities of these types of vehicles.In this paper, we introduce a definition of landmark utilitywhich encapsulates the observation probability of a landmark and its spatial distribution relative to nearby landmarks in the database -as a measure of the value of potential line-ofsight measurements to that landmark. We additionally present an efficient algorithm to sort all potential landmarks in an environment based on their relative utility without access to the actual sensor measurements or trajectory. This enables pre-determination of a limited-size terrain landmark database containing the N -best landmarks in the environment, which is applicable to any landmark-based TRN system.To evaluate our landmark selection algorithm, we additionally introduce an incremental smoothing-based approach to TRN using a Bayesian factor graph representation. This system is capable of overcoming several challenges associated with TRN systems, including relinearization of past measurements, simultaneously utilizing pre-mapped and opportunistic features in a common estimator, and efficient sensor fusion in a common, probabilistic framework. We provide results showing the benefits of our utility-based landmark selection compared to alternative selection approaches, using evaluation metrics independent of any particular TRN estimation framework and the navigation performance of our graph-based TRN system.

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Section: Simulation Setupmentioning

confidence: 99%

Section: Simulation Setupmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Graph-based terrain relative navigation with optimal landmark database selection

Steiner

Brady

Hoffman

2015

2015 IEEE Aerospace Conference

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Visual–inertial navigation for pinpoint planetary landing using scale-based landmark matching

Delaune

Besnerais

Voirin

et al. 2016

Robotics and Autonomous Systems

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Flight testing of terrain-relative navigation and large-divert guidance on a VTVL rocket

Trawny

Benito

Tweddle

et al. 2015

AIAA SPACE 2015 Conference and Exposition

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Since 2011, the Autonomous Descent and Ascent Powered-Flight Testbed (ADAPT) has been used to demonstrate advanced descent and landing technologies onboard the Masten Space Systems (MSS) Xombie vertical-takeoff, vertical-landing suborbital rocket. The current instantiation of ADAPT is a stand-alone payload comprising sensing and avionics for terrain-relative navigation and fuel-optimal onboard planning of large divert trajectories, thus providing complete pin-point landing capabilities needed for planetary landers. To this end, ADAPT combines two technologies developed at JPL, the Lander Vision System (LVS), and the Guidance for Fuel Optimal Large Diverts (G-FOLD) software. This paper describes the integration and testing of LVS and G-FOLD in the ADAPT payload, culminating in two successful free flight demonstrations on the Xombie vehicle conducted in December 2014. * Work carried out while employed at JPL

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Vision-based navigation and hazard detection for terrestrial rocket approach and landing

Cited by 6 publications

References 17 publications

Graph-based terrain relative navigation with optimal landmark database selection

Graph-based terrain relative navigation with optimal landmark database selection

Visual–inertial navigation for pinpoint planetary landing using scale-based landmark matching

Flight testing of terrain-relative navigation and large-divert guidance on a VTVL rocket

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