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Planetary lander guidance using binary phase-only filtersWe demonstrate the use of binary phase-only filters (BPOFs) in a closed loop guidance system for a laboratory lander mockup. Images of a 3-D terrain board taken by the lander's video camera are preprocessed to produce 128 x 128 binary intensity contour maps of the simulated planetary surface. A BPOF is made from a section of the current preprocessed image centered on the exact desired landing site. After the lander has descended to a lower altitude, the BPOF is correlated with a new image. The position of the correlation peak is used in making the next filter and to guide the lander so as to recenter the landing site in the camera's view. We present results of the accuracy with which a site may be tracked from orbit to landing, and the maximum scale, translation, and rotation which can be tolerated between subsequent images. The tolerable scale distortion is quite critical, as it determines the maximum filter update time available at a given descent rate. Application of the results to NASA's proposed Mars Rover Sample Return (MRSR) and Mars Environmental Survey (MESUR) missions is discussed. In both cases, electronic implementations of the algorithm may be sufficient to provide the required guidance system performance.
Document ID
19930060469
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Reid, Max B.
(NASA Ames Research Center Moffett Field, CA, United States)
Hine, Butler P.
(NASA Ames Research Center Moffett Field, CA, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1991
Publication Information
Publication: In: Optical information processing systems and architectures III; Proceedings of the Meeting, San Diego, CA, July 23-26, 1991 (A93-44457 18-74)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Ground Support Systems And Facilities (Space)
Accession Number
93A44466
Distribution Limits
Public
Copyright
Other

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