| タイトル | LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing |
| 本文（外部サイト） | http://hdl.handle.net/2060/20110004026 |
| 著者（英） | Aitken, Matthew L.; Pierrottet, Diego; Amzajerdian, Farzin; Busnardo, David M.; Tolson, Robert H. |
| 著者所属（英） | NASA Langley Research Center |
| 発行日 | 2011-01-04 |
| 言語 | eng |
| 内容記述 | 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. |
| NASA分類 | Spacecraft Design, Testing and Performance |
| レポートNO | AIAA Paper 2011-0428
NF1676L-11902 |
| 権利 | Copyright, Distribution as joint owner in the copyright |
