NDLI: Lidar-aided inertial navigation with extended kalman filtering for pinpoint landing

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Lidar-aided inertial navigation with extended kalman filtering for pinpoint landing

Content Provider	NASA Technical Reports Server (NTRS)
Author	Busnardo, David M. Aitken, Matthew L. Amzajerdian, Farzin Pierrottet, Diego Tolson, Robert H.
Copyright Year	2011
Description	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.
File Size	482005
Page Count	16
File Format	PDF
Alternate Webpage(s)	http://archive.org/details/NASA_NTRS_Archive_20110004026
Archival Resource Key	ark:/13960/t71w0h48v
Language	English
Publisher Date	2011-01-04
Access Restriction	Open
Subject Keyword	Spacecraft Design, Testing And Performance Landing Simulation Inertial Navigation Navigation Aids Angular Velocity Flat Surfaces Velocity Measurement Kalman Filters Robotics Optical Radar Lunar Landing Radar Measurement Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science
Content Type	Text
Resource Type	Article

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