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LIDAR-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint LandingIn 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.
Document ID
Document Type
Conference Paper
Busnardo, David M. (North Carolina State Univ. Raleigh, NC, United States)
Aitken, Matthew L. (North Carolina State Univ. Raleigh, NC, United States)
Tolson, Robert H. (North Carolina State Univ. Raleigh, NC, United States)
Pierrottet, Diego (Coherent Applications, Inc. Hampton, VA, United States)
Amzajerdian, Farzin (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
August 25, 2013
Publication Date
January 4, 2011
Subject Category
Spacecraft Design, Testing and Performance
Report/Patent Number
AIAA Paper 2011-0428
Meeting Information
49th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition(Orlando, FL)
Distribution Limits
Public Use Permitted.

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