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NASA NTRS1978

A bibliography of planetary geology principal investigators and their associates, 1976-1978

This bibliography cites publications submitted by 484 principal investigators and their associates who were supported through NASA's Office of Space Sciences Planetary Geology Program. Subject classifications include: solar system formation, comets, and asteroids; planetary satellites, planetary interiors, geological and geochemical constraints on planetary evolution; impact crater studies, volcanism, eolian studies, fluvian studies, Mars geological mapping; Mercury geological mapping; planetary cartography; and instrument development and techniques. An author/editor index is provided.

Source record↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SlLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.

LiDAR↗
NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗
NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗
NASA NTRSDate not supplied

Mobile LiDAR as a Tool for Terrestrial and Planetary Cave Exploration and Mapping

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗
NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments. Lightning Talk. LSIC 2023 Fall Meeting.

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

Relevant environment testing↗
NASA NTRSDate not supplied

Mobile Lidar as A Tool for Terrestrial and Planetary Cave Exploration and Mapping

The Kinematic Navigation and Cartography Knapsack (KNaCK) team at NASA’s Marshall Space Flight Center in Huntsville, Alabama is developing tools that enable ultra-high resolution terrain mapping and navigation using mobile LiDAR (Light Detection and Ranging) and SLAM (Simultaneous Localization and Mapping) algorithms in fully GPS-denied and unilluminated environments [1,2]. The backpack mounted LiDAR instrument under development by our team demonstrates the potential of mobile SLAM LiDAR for use in challenging lunar and planetary surface environments as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

Lunar Skylight↗
NASA NTRSDate not supplied

Caves as Terrestrial Analogs for Mapping and Exploration in Planetary Surface and Subsurface Environments.

The Kinematic Navigation and Cartography Knapsack (KNaCK) team is developing tools that will enable ultra-high resolution terrain mapping and navigation at the lunar surface. KNaCK uses mobile light detection and ranging (LiDAR) and simultaneous localization and mapping (SLAM) algorithms to operate in fully GPS-denied and unilluminated environments. Testing in relevant analogs is key to perfecting this technology for planetary applications. After utilizing desert and volcanic environments for multiple tests, the team is now using caves as an additional proving ground. Tests in terrestrial caves have demonstrated the potential of mobile SLAM LiDAR for use in challenging surface environments such as steep walled craters and permanently shadowed regions as well as for lunar, planetary, and terrestrial cave exploration, study, and utilization.

LiDAR↗
NASA NTRSDate not supplied

Caves as Planetary Analogs for GPS Denied, Low-Light Mapping and Navigation in Rugged Environments

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile mapping system. It can map its surroundings in 3 dimensions and localize itself in space using a LiDAR (Light Detection and Ranging) sensor and SLAM (Simultaneous Localization and Mapping) algorithm. The KNaCK team is leveraging caves as a proving ground to refine technology for mapping and navigation on other worlds while simultaneously advancing the State of the Art for terrestrial cave exploration and study.

LiDAR↗
NASA NTRS1991

Depth/diameter relationships of fresh craters within Hesperia Planum, Mars

Meteorite impact craters represent important geological features for revealing the near-surface layers of a planetary surface. In the case of Mars, this characteristic was proposed as a useful method to study spatial variations of such attributes as the distribution of sub-surface volatiles, and heat flow. Using the Planetary Image Cartography System (PICS) software, a quantitative analysis was completed of the geometry of fresh impact craters in the Hesperia Planum region of Mars, where an uniform target material and optimum viewing geometry make possible an analysis of target effects over a large geographic region. Because of the morphologic similarity to the lunar maria, it is likely that Hesperia Planum comprises a series of flood lavas that partially infilled topographic depressions within the Martian highlands. Measurements of partially buried crater rims suggest that the lava flows within Hesperia Planum are between 200-400 m thick.

Mouginis-Mark, P. J.↗
NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves.

Renewed interest in deep space exploration has made establishing a persistent human presence on the Moon and eventually Mars a priority. Sustained habitation of the Moon will require in-situ resource utilization (ISRU) and protection from radiation at the lunar surface. Lunar caves are of interest to the space community because they could provide shelter from radiation, access to water deposits, and a space for habitation, as well as hold information about the geology, volcanology, and evolution of the Moon. Developing the tools to explore, map, and characterize these voids is key to understanding the Moon as a planetary body and to establishing a permanent human presence there. Our team is currently developing tools that enable ultra-high resolution terrain mapping and navigation using mobile light detection and ranging (LIDAR) technology and simultaneous localization and mapping (SLAM) algorithms in fully GPS-denied and no-light environments. 3D mapping with LiDAR and SLAM is relatively under-used, particularly in the context of planetary exploration and planetary analog environments. The backpack mounted LiDAR instrument currently under development by the KNaCK (Kinematic Navigation and Cartography Knapsack) team has demonstrated the potential of mobile SLAM LiDAR for lunar, planetary, and terrestrial cave exploration, study, and utilization. A description of the instrument and associated SLAM algorithms used for mapping in GPS-denied environments are referenced here.

LiDAR↗
NASA NTRS2001

Mars and Phobos DTM's for planning new missions

The global digital topography and elevation models of Mars produced by the Mars Global Surveyor (MGS) Mars Orbiter Laser Altimeter (MOLA) and of Mars derived from Viking Orbiter stereo imaging have many uses for geodesy, geophysics, morphology and cartography studies of these two planetary bodies.

Phobos DTM's new mission planning↗
NASA NTRSDate not supplied

KNaCK-SLAM: Kinematic Navigation and Cartography Knapsack Velocity-aided LiDAR Inertial Simultaneous Localization and Mapping (SLAM)

As manned missions return to the Moon and continue on to Mars in the near future, surface navigation and mapping in extremely low solar illumination and unstructured environments without navigation aids like Global Navigation Satellite Systems (GNSS) becomes more important than even. This work explores the use of LiDAR-based Simultaneous Localization and Mapping (SLAM) to solve those problems. A LiDAR-based SLAM system be deployed as a self-contained instrument independent of external sensor inputs, and can operate in unlit environments where Vision-based SLAM system are inoperable. Furthermore, the advent of chip-scale frequency modulated continuous wave (FMCW) LiDAR technology provides Doppler-velocity information for each sensed point in the scene, which can be used to further constrain localization error in the SLAM front-end. Here we discuss the development of SLAM algorithm that makes use of the unique velocity and range sensing capabilities of FMCW-LiDAR based sensors for rover and kinematic (i.e. person-mounted) mobile navigation and terrain mapping applications for surface exploration and scientific investigations.

Kyle Miller↗
NASA NTRS1981

Reports of Planetary Geology Program, 1981

Abstracts of 205 reports from Principal investigators of NASA's Planetary Geology Program succinctly summarize work conducted and reflect the significant accomplishments. The entries are arranged under the following topics: (1) Saturnian satellites; (2) asteroids, comets and Galilean satellites; (3) cratering processes and landform development; (4) volcanic processes and landforms; (5) Aerolian processes and landforms; (6) fluvial, preglacial, and other processes of landform development; (7) Mars polar deposits, volatiles, and climate; (8) structure, tectonics, and stratigraphy; (9) remote sensing and regolith chemistry; (10) cartography and geologic mapping; and (11) special programs.

Holt, H. E.↗
NASA NTRS1978

Significant achievements in the Planetary Geology Program

Developments reported at a meeting of principal investigators for NASA's planetology geology program are summarized. Topics covered include: constraints on solar system formation; asteriods, comets, and satellites; constraints on planetary interiors; volatiles and regoliths; instrument development techniques; planetary cartography; geological and geochemical constraints on planetary evolution; fluvial processes and channel formation; volcanic processes; Eolian processes; radar studies of planetary surfaces; cratering as a process, landform, and dating method; and the Tharsis region of Mars. Activities at a planetary geology field conference on Eolian processes are reported and techniques recommended for the presentation and analysis of crater size-frequency data are included.

Head, J. W.↗
NASA NTRS2003

ISIS Processing Tools for Thermal Emission Spectrometer Data

The Integrated Software for Imagers and Spectrometers (ISIS) package is a widely used planetary data processing and cartography software system produced by the Astrogeology program of the USGS in Flagstaff, AZ. Recent additions to the ISIS system provide useful tools for extracting and projecting Thermal Emission Spectrometer (TES) data for use with other ISIS programs to process, analyze, and visualize these data, particularly in comparison with other Mars data sets. A general overview of various programs and tools used for extracting and processing TES data are presented.

K Becker↗
NASA NTRS1987

Voyager cartography

The Jovian and Saturnian satellites are being mapped at several scales from Voyager 1 and 2 data. The maps are especially formatted color mosaics, controlled photomosaics, and airbrush maps. At 1:5,000,000 scale, mapping of Io, Europa, and Ganymede is complete. At 1:15,000,000 scale, mapping of Io and Europa is complete, and mapping of Ganymede is approximately complete. A controlled mosaic of Rhea has been compiled as a Digital Image Model (DIM) in the same format as is being used for Mars. The mosaic is being formatted for publication as a two-sheet set (Lambert Azimuthal Equal Area, Mercator, and Polar Stereographic projections). Magnetic tape copies of the DIM have been distributed to regional Planetary Image Facilities and other interested users. The DIM has a scale of 1/16 degree/pixel, corresponding to approximately 833 m/pixel on Rhea. Details of the status of the various map series are reported quarterly to Planetary Geology Principal Investigators.

Batson, R. M.↗