Characterizing Richness of Previously Unmapped Terrain and its Impact on Navigation Using 3D Range Sensors
- Magazine Article
Landers to large planetary bodies such as Mars typically use a secondary reconnaissance spacecraft to generate high-fidelity 3D terrain maps that are subsequently used for landing site selection and creating onboard maps for terrain-relative navigation systems. This luxury does not exist with small primitive bodies such as comets and asteroids. For these bodies, the landing spacecraft has to perform the 3D mapping and, with possible help from ground control, choose a feasible landing site. To enable this operation, the spacecraft would need to carry a 3D ranging sensor system such as a LiDAR. With the spacecraft placed in extended mapping orbits, 3D range measurement data is then used to create a shape model of the object. Terrain-based navigation schemes that employ cameras could then be used to image, detect, match, and track features against the map database to provide a 6-degrees-of-freedom (DOF) navigation solution during descent. Camera-based systems, however, are not robust to lighting variations and do not provide a direct 3D position/range feedback.