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NASA NTRS · 20210024986

Performance of Flash Lidar with Real-time Image Enhancement Algorithm for Landing Hazard Avoidance

Farzin Amzajerdian·Paul Brewster·Byron Meadows·Rafia Haq·Alexander Bulyshev·Guoqing Shen·Stefan Bieniawski·Brandon P Smit·Devin Kipp
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Abstract

Performance of a 3-D imaging flash lidar employing a novel super-resolution algorithm is characterized by a series of static and dynamic tests. A gantry test of this lidar in which the lidar was placed in an instrumented moving basket above a calibrated hazard field proved an excellent demonstration of hazard avoidance capabilities. Results of the gantry test are reported and potential of flash lidar utilizing super-resolution algorithm for future landing missions are explained.

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Hazard Detectionprecision landingflash lidar3-D imaging lidar

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Farzin Amzajerdian, Paul Brewster, Byron Meadows, Rafia Haq, Alexander Bulyshev, Guoqing Shen, Stefan Bieniawski, Brandon P Smit, Devin Kipp. 2022-01-03. Performance of Flash Lidar with Real-time Image Enhancement Algorithm for Landing Hazard Avoidance. https://ntrs.nasa.gov/citations/20210024986

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SHERIF is a novel algorithm which defines a unique, non-iterative method for the combination of LiDAR scans into a Digital Elevation Map (DEM) and the simultaneous evaluation of that DEM for Safe Site Selection (SSL) and Hazard Detection (HD). This creates a sensor independent method for a spacecraft conducting Entry Descent and Landing (EDL) operations to synthesize terrain scans and generate a more complete and evolving understanding of the landing site topography as well as the associated hazards. SHERIF aims to increase safety and mission success probability by more effectively using the data from a single sensor to increase situational awareness, knowledge of the landing site and its hazards, as well as informing a more streamlined transition from Terrain Relative Navigation (TRN) to Hazard Relative Navigation (HRN) during descent.

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