Motion Estimation from Laser Ranging for Autonomous Comet Landing
This paper describes an algorithm for translational motion estimation near a comet surface using scanning laser rangefinder data.
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Laser beam pointing tests
Laser beam pointing tests for lunar communication and rangefinding and tracking using Surveyor 7 vidicon camera
Alley, C. O.↗
A simplified satellite navigation system for an autonomous Mars roving vehicle.
The use of a retroflecting satellite and a laser rangefinder to navigate a Martian roving vehicle is considered in this paper. It is shown that a simple system can be employed to perform this task. An error analysis is performed on the navigation equations and it is shown that the error inherent in the scheme proposed can be minimized by the proper choice of measurement geometry. A nonlinear programming approach is used to minimize the navigation error subject to constraints that are due to geometric and laser requirements. The problem is solved for a particular set of laser parameters and the optimal solution is presented.
Janosko, R. E.↗
Laser applications to atmospheric sciences: A bibliography
A bibliography is given of 1460 references of the applications of lasers to atmospheric sciences. The subjects covered include: aerosols; clouds; the distribution and motion of atmospheric natural and man-made constituents; winds; temperature; turbulence; scintillation; elastic, Raman and resonance scattering; fluorescence; absorption and transmission; the application of the Doppler effect and visibility. Instrumentation, in particular lidar, is included, also data handling, and interpretation of the data for meteorological processes. Communications, geodesy and rangefinding are not included as distinct areas. The application to the atmosphere is covered, but not the ocean or its surface.
Harris, F. S., Jr.↗
Robots in space exploration
A brief outline of NASA's current robotics program is presented. Efforts are being concentrated on a roving surface vehicle for Mars exploration. This vehicle will integrate manipulative, locomotive, and visual functions and will feature an electromechanical manipulator, stereo TV cameras, a laser rangefinder, a minicomputer, and a remote off-line computer. The program hinges on the iterative development of complex scenarios describing the robot's mission and the interrelationships among its various subsystems.
Dobrotin, B. M.↗
Self-navigating robot
Rangefinding equipment and onboard navigation system determine best route from point to point. Research robot has two TV cameras and laser for scanning and mapping its environment. Path planner finds most direct, unobstructed route that requires minimum expenditure of energy. Distance is used as measure of energy expense, although other measures such as time or power consumption (which would depend on the topography of the path) may be used.
Thompson, A. M.↗
High sensitivity 1.06 micron optical receiver for precision laser range finding
Aluminum gallium antimonide avalanche photodiodes with average gain of 10, internal quantum efficiency of greater than 60%, capacitance less than 0.2pf, and dark current of less than 1 micron were designed and fabricated for use in a low noise optical receiver suitable for 2 cm accuracy rangefinding. Topics covered include: (1) design of suitable photodetector structures; (2) epitaxial growth of AlGaSb devices; (3) fabrication of photodetectors; and (4) electro-optics characterization.
Scholl, F. W.↗
Obstacle detection by rapid estimation scheme with data scaling
A data scaling technique is proposed to improve the performance of a rapid estimation scheme for analyzing rover rangefinder data in the specific area of obstacle outline characterization. The scaling transformation involves multiplying the measured beam length times a scale factor and taking the logarithm in a certain base. Although analysis shows that introducing the scaling transformation has no primary effect on the detection ability and that there is no apparent signal-to-noise ratio improvement, computer simulations show a reduction in the number of false jumps. In the 40-m range the use of data scaling cleared the foreground of obstacles of noise and obtained definition of the near edge of a crater.
Marynowski, R. C.↗
A stochastic analysis of terrain evaluation variables for path selection
A stochastic analysis was performed on the variables associated with the characteristics of the terrain encountered by a roving system with an autonomous navigation system. A laser rangefinder is employed to detect terrain features at ranges up to 75 m. Analytic expressions and a numerical scheme were developed to calculate the variance of data on these four variables: (1) body clearance, (2) in-path slope, (3) tilt slope, and (4) wheel deviation. The variance is due to noise in the range data. It was found that the standard deviation of these terrain variables is large enough to warrant the use of a safety margin to aid the roving vehicle in avoiding high risk areas.
Donohue, J. G.↗
Application of laser ranging and VLBI data to a study of plate tectonic driving forces
The measurability of changes in plate driving or resistive forces associated with plate boundary earthquakes by laser rangefinding or VLBI is considered with emphasis on those aspects of plate forces that can be characterized by such measurements. Topics covered include: (1) analytic solutions for two dimensional stress diffusion in a plate following earthquake faulting on a finite fault; (2) two dimensional finite-element solutions for the global state of stress at the Earth's surface for possible plate driving forces; and (3) finite-element solutions for three dimensional stress diffusion in a viscoelastic Earth following earthquake faulting.
Solomon, S. C.↗
Analysis of lunar laser ranging data for Earth dynamics applications
The effects of elasticity and of tidal friction within the Moon were incorporated into the numerical model of the Moon's rotation which was used in an effort to determine the axial rotation of the Earth, as measured by Universal Time. Some 2,651 normal points representing ranges measured to Lunokhod 2, and to the Apollo 11, 14, and 15 retroflectors were analyzed. Smoothed estimates derived from the lunar rangefinding were compared with smoothed values published by the International Bureau of Time, in the 1968 and 1969 systems. The derived values at the observation sight were connected to corresponding values at the Conventional International Origin, using the BIH data for polar motion. Differences are discussed.
Counselman, C. C., III↗
A linear photodiode array employed in a short range laser triangulation obstacle avoidance sensor
An opto-electronic receiver incorporating a multi-element linear photodiode array as a component of a laser-triangulation rangefinder was developed as an obstacle avoidance sensor for a Martian roving vehicle. The detector can resolve the angle of laser return in 1.5 deg increments within a field of view of 30 deg and a range of five meters. A second receiver with a 1024 elements over 60 deg and a 3 meter range is also documented. Design criteria, circuit operation, schematics, experimental results and calibration procedures are discussed.
Odenthal, J. P.↗
Data acquisition and analysis of range-finding systems for spacing construction
For space missions of future, completely autonomous robotic machines will be required to free astronauts from routine chores of equipment maintenance, servicing of faulty systems, etc. and to extend human capabilities in hazardous environments full of cosmic and other harmful radiations. In places of high radiation and uncontrollable ambient illuminations, T.V. camera based vision systems cannot work effectively. However, a vision system utilizing directly measured range information with a time of flight laser rangefinder, can successfully operate under these environments. Such a system will be independent of proper illumination conditions and the interfering effects of intense radiation of all kinds will be eliminated by the tuned input of the laser instrument. Processing the range data according to certain decision, stochastic estimation and heuristic schemes, the laser based vision system will recognize known objects and thus provide sufficient information to the robot's control system which can develop strategies for various objectives.
Shen, C. N.↗
Estimating planetary terrain slopes from range measurements using a two dimensional spline smoothing technique
A new scanning scheme is presented for implementation for terrain slope estimation on a Martian exploratory rover. The rover will be equipped with a laser rangefinder as a principal sensing device for distance in its navigational equipment. A scan of the horizontal terrain from 5-50 m is indicated, and calculations are devised for quantifying the range errors. A constant incremental pointing angle is ruled out and a set of three pointing angles for different sub-areas of scan are defined. A two-dimensional smoothing algorithm is described for estimating slopes. The resultant scanning scheme involves the use of the characteristic curves derived from the relationships between the incremental elevation angle and the horizontal data spacing and the slope error index. A simulation was run and wavy terrain was produced from noise corrupted range measurements.
Kim, C. S.↗
Angle-Measurement and Ranging System
Optical system automatically supplies information on angular position and range of object. Stereo rangefinder video signals from cameras processed to determine center of brightness for images of beacon on target vehicle. Range updated by onboard computer. Originally developed for spacecraft rendezvous and guidance, features of system adapted to angle-measurement and ranging problems on Earth. Technique also used for tool alinement inspections and color recognition.
Tietz, J. C.↗
Cloud detection by lidar extinction calculations
A new lidar method of measuring cloud ceiling height using the Klett solution to the lidar equation was developed. This simple technique will find cloud ceiling height for clouds that rangefinder-like lidars cannot theoretically detect. In addition, the noise signals that do not correspond to clouds removed by using the convergence of the Klett solution to discriminate between signal changes and broader signal changes due to clouds. Clouds above rain or light fog can be detected without error, and it is possible to discriminate against haze layers by the magnitude of their maximum extinction.
Lentz, W. J.↗
High repetition rate sealed CO2 TEA lasers using heterogeneous catalysts
The significant operational advantages offered by CO2 lasers, operating in the 10.6 micron region of the spectrum, over current solid state lasers, emitting in the near IR region, have prompted increased interest in the development of compact, reliable, rugged CO2 laser sources. Perhaps the most critical aspect associated with achieving a laser compatible with military use is the development of lasers which require no gas replenishment. Sealed, single shot, CO2 TEA lasers have been available for a number of years. Stark et al were first to demonstrate reliable sealed operation in single shot CO2 TEA lasers in 1975 using gas catalysis. GEC Avionics reported the compact, environmentally qualified, MKIII CO2 TEA laser with a pulse life of greater than 10 to the 6th power pulses in 1980. A sealed laser lifetime of greater than 10 to the 6th power pulses is acceptable for single shot cases, such as direct detection rangefinders for tank laser sights. However, in many other applications, such as tracking of fast moving targets, it is essential that a repetition rate of typically 30Hz to 100Hz is employed. In such cases, a pulse lifetime of 10 to the 6th power pulses is no longer sufficient and a minimum pulse lifetime 10 to the 7th power pulses is essential to ensure a useful service life. In 1983 Stark el al described a sealed, 100Hz CO2 TEA laser, with a life of greater than 2.6 x 10 to the 6th power, which employed heterogeneous catalysis. Following this pioneering work, GEC Avionics has been engaged in the development of sealed high repetition rate lasers with a pulse lifetime of 20 million pulses.
Price, H. T.↗
Infrared technology and applications; Proceedings of the Meeting, Cannes, France, November 26-29, 1985
The present conference on state-of-the-art IR systems and components technologies and their applications encompasses developments in IR systems design, production technologies, IR component testing, IR systems evaluations, laboratory and industrial applications, and aerospace ranging sensor and surveillance sensor applications. Attention is given to IR zoom lens telescopes, large zinc sulphide windows for airborne applications, thermal imaging system evaluation, minimum resolvable temperature difference measurement methods, industrial use of IR spectroscopy, platinum silicide sensor imagery, and recent developments in laser rangefinders.
Baker, Lionel R.↗