Motion estimation from laser ranging for autonomous comet landing

Author

Johnson, Andrew E. ; Martin, A. Miguel San

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

1

fYear

2000

fDate

2000

Firstpage

132

Abstract

This paper describes an algorithm for translational motion estimation near a comet a surface using scanning laser rangefinder data. Our technique is based on terrain map generation from rangefinder data followed by terrain map alignment. The output of our algorithm is estimates of rigid translational motion and motion covariance between scans. Our algorithms have been tested using data acquired with a scanning laser rangefinder designed for comet landing, and results indicated motion estimation accuracies of 0.5 m over 70 m of motion with a processing rate of 4.4 Hz on 10000 sample range scans

Keywords

aerospace robotics; astronomical instruments; cometary nuclei; comets; laser ranging; motion estimation; space vehicles; terrain mapping; 4.4 Hz; autonomous comet landing; laser ranging; motion covariance; rigid translational motion; scanning laser rangefinder data; terrain map alignment; terrain map generation; translational motion estimation; Gravity; Iterative algorithms; Iterative closest point algorithm; Laboratories; Laser modes; Motion estimation; Propulsion; Shape; Solar system; Space vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844050

Filename

844050