Small scale terrain hazards, such as rocks, slopes, and craters, can pose significant risk to landing spacecraft and rover or payload deployment. Onboard Hazard Detection and Avoidance (HDA) systems scan and analyze the landing area for these hazards in real time during descent, and divert the spacecraft to the safest touchdown site. The computationally efficient Simple Safe Site Selection (S4) algorithm combined with a flash LIDAR is an HDA system geared towards small robotic spacecraft. Rather than creating and analyzing a digital elevation map (DEM) from potentially many overlapping range images, S4 operates directly on a single flash LIDAR image. Extending prior work that has analyzed S4 performance for Mars landing using extensive simulations, this paper evaluates S4 performance using actual flash LIDAR images of an artificial hazard field acquired during a 2014 helicopter field test in Death Valley, CA. In particular, we describe LIDAR characterization and calibration, creation of ground truth elevation and safety maps, creation of ground truth sensor poses, actual S4 algorithm processing, and performance analysis. The results show that the safety cost images produced by S4 are remarkably close to the ground truth safety map (computed offline by an HDA algorithm developed under the Autonomous Landing and Hazard Avoidance (ALHAT) project) at significantly reduced computational cost, confirming S4 as a viable candidate algorithm for onboard spacecraft HDA.

Luna, Michael E.↗

NASA NTRS2016

Monolithic High Power Semiconductor Seed Lasers near 2.05 µm

We report on the development and demonstration of a compact 2-micron semiconductor seed laser for CO2 lidar instruments. Our monolithic high-power fiber-pigtailed semiconductor seed laser will greatly enhance the operability and applicability of IPDA (Integrated Path Differential Absorption) lidar systems for high spatial and temporal resolution CO2 airborne measurements as well as future Earth-orbiting CO2 measurement missions. The compact semiconductor transmitter has a suitably narrow linewidth (less than 100 kilohertz) and enables flexible tuning (greater than 150 gigahertz) over several CO2 absorption lines in the 2.05-micron band.The frequency agility and multi-format modulation capability of the proposed technology, its small size and compatibility with standard DFB (Distributed FeedBack) lasers at the telecom band paves the way for adoption of the attractive 2.05-micron band for CO2 profiling and measurements.

Semiconductor Laser↗

NASA NTRS2012

NASA ASCENDS Mission to Measure Atmospheric CO2 from Space: A Status Report

No abstract available

Abshire, James B.↗

NASA NTRS2012

Flash Lidar Performance Testing: Configuration and Results

Lidar-based hazard detection and avoidance will enable safe landing in scientifically interesting terrain with higher hazard abundance. ASC GoldenEye flash lidar was tested at JPL as part of EDL technology development for Mars 2018

Lidar noise parameters↗

NASA NTRS2008

Improved Gas Filling and Sealing of an HC-PCF

An improved packaging approach has been devised for filling a hollow-core photonic-crystal fiber (HC-PCF) with a gas, sealing the HC-PCF to retain the gas, and providing for optical connections and, optionally, a plumbing fitting for changing or augmenting the gas filling. Gas-filled HC-PCFs can be many meters long and have been found to be attractive as relatively compact, lightweight, rugged alternatives to conventional gas-filled glass cells for use as molecular-resonance frequency references for stabilization of lasers in some optical-metrology, lidar, optical-communication, and other advanced applications. Prior approaches to gas filling and sealing of HC-PCFs have involved, variously, omission of any attempt to connectorize the PCF, connectorization inside a vacuum chamber (an awkward and expensive process), or temporary exposure of one end of an HC-PCF to the atmosphere, potentially resulting in contamination of the gas filling. Prior approaches have also involved, variously, fusion splicing of HC-PCFs with other optical fibers or other termination techniques that give rise to Fresnel reflections of about 4 percent, which results in output intensity noise.

Poberezhskiy, Ilya↗

NASA NTRS2008

A Topographical Lidar System for Terrain-Relative Navigation

An imaging lidar system is being developed for use in navigation, relative to the local terrain. This technology will potentially be used for future spacecraft landing on the Moon. Systems like this one could also be used on Earth for diverse purposes, including mapping terrain, navigating aircraft with respect to terrain and military applications. The system has been field-tested aboard a helicopter in the Mojave Desert. When this system was designed, digitizers with sufficient sampling rate (2 GHz) were only available with very limited memory. Also, it was desirable to limit the amount of data to be transferred between the digitizer and the mass storage between individual frames. One of the novelty design features of this system was to design the system around the limited amount of memory of the digitizer. The system is required to operate over an altitude (distance) range from a few meters to approximately 1 km, but for each scan across the full field of view, the digitizer memory is only able to hold data for an altitude range no more than 100 m. Data acquisition methods in support of the limited 100 m wide altitude range are described.

Liebe, Carl Christian↗

NASA NTRS2008

Generic Helicopter-Based Testbed for Surface Terrain Imaging Sensors

To be certain that a candidate sensor system will perform as expected during missions, we have developed a field test system and have executed test flights with a helicopter-mounted sensor platform over desert terrains, which simulate Lunar features. A key advantage to this approach is that different sensors can be tested and characterized in an environment relevant to the flight needs prior to flight. Testing the various sensors required the development of a field test system, including an instrument to validate the truth of the sensor system under test. The field test system was designed to be flexible enough to cover the test needs of many sensors (lidar, radar, cameras) that require an aerial test platform, including helicopters, airplanes, unmanned aerial vehicles (UAV), or balloons. To validate the performance of the sensor under test, the dynamics of the test platform must be known with sufficient accuracy to provide accurate models for input into algorithm development. The test system provides support equipment to measure the dynamics of the field test sensor platform, and allow computation of the truth position, velocity, attitude, and time.

Alexander, James↗