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G-LiHT: Goddard's LiDAR, Hyperspectral and Thermal Airborne Imager

Scientists at NASA's Goddard Space Flight Center have developed an ultra-portable, low-cost, multi-sensor remote sensing system for studying the form and function of terrestrial ecosystems. G-LiHT integrates two LIDARs, a 905 nanometer single beam profiler and 1550 nm scanner, with a narrowband (1.5 nanometers) VNIR imaging spectrometer and a broadband (8-14 micrometers) thermal imager. The small footprint (approximately 12 centimeters) LIDAR data and approximately 1 meter ground resolution imagery are advantageous for high resolution applications such as the delineation of canopy crowns, characterization of canopy gaps, and the identification of sparse, low-stature vegetation, which is difficult to detect from space-based instruments and large-footprint LiDAR. The hyperspectral and thermal imagery can be used to characterize species composition, variations in biophysical variables (e.g., photosynthetic pigments), surface temperature, and responses to environmental stressors (e.g., heat, moisture loss). Additionally, the combination of LIDAR optical, and thermal data from G-LiHT is being used to assess forest health by sensing differences in foliage density, photosynthetic pigments, and transpiration. Low operating costs (approximately $1 ha) have allowed us to evaluate seasonal differences in LiDAR, passive optical and thermal data, which provides insight into year-round observations from space. Canopy characteristics and tree allometry (e.g., crown height:width, canopy:ground reflectance) derived from G-LiHT data are being used to generate realistic scenes for radiative transfer models, which in turn are being used to improve instrument design and ensure continuity between LiDAR instruments. G-LiHT has been installed and tested in aircraft with fuselage viewports and in a custom wing-mounted pod that allows G-LiHT to be flown on any Cessna 206, a common aircraft in use throughout the world. G-LiHT is currently being used for forest biomass and growth estimation in the CONUS and Mexico in support of NASA's Carbon Monitoring System (CMS) and AMIGA-Carb (AMerican Icesat Glas Assessment of Carbon). For NASA's CMS, wall-to-wall G-LiHT data have been acquired over intensive study sites with historic LiDAR datasets, dense inventory data, stem maps and flux tower observations. For AMIGA-Carb, G-LiHT transects have been acquired over ICESat tracks and USDA-FS inventory plots throughout the CONUS, and similar data will be acquired in Mexico during 2013. This talk will highlight recent science results from continental-scale transects landscape-scale deployments of G-LiHT, as well as seasonal forest dynamics from repeat pass G-LiHT acquisitions.

Cook, Bruce↗

Evaluation of the Simple Safe Site Selection (S4) Hazard Detection Algorithm Using Helicopter Field Test Data

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.↗

A Comparison of Foliage Profiles in the Sierra National Forest Obtained with a Full-Waveform Under-Canopy EVI Lidar System with the Foliage Profiles Obtained with an Airborne Full-Waveform LVIS Lidar System

Foliage profiles retrieved froma scanning, terrestrial, near-infrared (1064 nm), full-waveformlidar, the Echidna Validation Instrument (EVI), agree well with those obtained from an airborne, near-infrared, full-waveform, large footprint lidar, the Lidar Vegetation Imaging Sensor (LVIS). We conducted trials at 5 plots within a conifer stand at Sierra National Forest in August, 2008. Foliage profiles retrieved from these two lidar systems are closely correlated (e.g., r = 0.987 at 100 mhorizontal distances) at large spatial coverage while they differ significantly at small spatial coverage, indicating the apparent scanning perspective effect on foliage profile retrievals. Alsowe noted the obvious effects of local topography on foliage profile retrievals, particularly on the topmost height retrievals. With a fine spatial resolution and a small beam size, terrestrial lidar systems complement the strengths of the airborne lidars by making a detailed characterization of the crowns from a small field site, and thereby serving as a validation tool and providing localized tuning information for future airborne and spaceborne lidar missions.

Full-waveform↗

Smart Crop Farming Systems for Artemis Exploration Missions

Space crop production systems that mitigate risks of crew poor performance or illness due to inadequate food and nutrition are needed during manned Artemis exploration missions beyond LEO. Prototype farms must be designed for deployment on ISS and tested in manned platforms: Gateway, lunar habitats, and Mars trans-hab spacecraft in preparation for human missions to Mars. Food production must be optimal and safe for human consumption. Thus, plant growth facilities (i.e. Veggie and APH) can be enhanced with imaging systems (including hyperspectral, multispectral, lidar, and fluorescence imaging systems) for nondestructive monitoring of plant health, stress and assessing food safety. Databases of crop responses to stress obtained during ground studies can be used to develop novel artificial intelligence (AI) algorithms for optimizing crop production (i.e. environmental settings during growth) and for detecting crop indices that ensure food safety. Future farming systems should be sustainable and smart. Novel adaptive AI algorithms requiring limited data sets for calibration are needed for reducing crew intervention during plant cultivation except for maintenance and harvesting events. Eventually, AI driven control systems that include autonomous planting, growing, and harvesting as well as periodic sanitization need evaluation for supplementing crew diets with fresh produce during future Mars exploration missions.

O Monje↗

Method for Enhancing a Three Dimensional Image from a Plurality of Frames of Flash LIDAR Data

A method for enhancing a three dimensional image from frames of flash LIDAR data includes generating a first distance R(sub i) from a first detector i to a first point on a surface S(sub i). After defining a map with a mesh theta having cells k, a first array S(k), a second array M(k), and a third array D(k) are initialized. The first array corresponds to the surface, the second array corresponds to the elevation map, and the third array D(k) receives an output for the DEM. The surface is projected onto the mesh theta, so that a second distance R(sub k) from a second point on the mesh theta to the detector can be found. From this, a height may be calculated, which permits the generation of a digital elevation map. Also, using sequential frames of flash LIDAR data, vehicle control is possible using an offset between successive frames.

Vanek, Michael D.↗

Simulation Studies of Forest Structure using 3D Lidar and Radar Models

The use of lidars and radars to measure forest structure attributes such as height and biomass are being considered for future Earth Observation missions. Large footprint lidar makes a direct measurement of the heights of scatterers in the illuminated footprint and can yield information about the vertical profile of the canopy. Synthetic Aperture Radar (SAR) is known to sense the canopy volume, especially at longer wavelengths and is useful for estimating biomass. Interferometric SAR (InSAR) has been shown to yield forest canopy height information. For example, the height of scattering phase retrieved from InSAR data is considered to be correlated with the three height and the spatial structure of the forest stand. There is much interest in exploiting these technologies separately and together to get important information for carbon cycle and ecosystem science. More detailed information of the electromagnetic radiation interactions within forest canopies is needed. And backscattering models can be of much utility here. As part of a NASA funded project to explore data fusion, a three-dimensional (3D) coherent radar backscattering model and a 3D lidar backscatter models were used to investigate the use of large footprint lidar, SAR and InSAR for characterizing realistic forest scenes. For this paper, we use stem maps and other forest measurements to develop a realistic spatial structure of a spruce-hemlock forest canopy found in Maine, USA. The radar and lidar models used measurements of the 3D forest scene as input and simulated the coherent radar backscattering signature and 1064nm energy backscatter, respectively. The relationships of backscatter derived forest structure were compared with field measurements. In addition, we also had detailed airborne lidar (Laser Imaging Vegetation Sensor, LVIS) data available over the stem map sites that was used to study the accuracies of tree height derived from modeled SAR backscatter and the scattering phase center retrieved from the simulated InSAR data will be compared with the height indices, or other structure parameters derived from the lidar data. These results will address the possible synergies between lidar and radar in data in terms of forest structural information.

Sun, Guoqing↗

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, guide the Morpheus autonomous, rocket-propelled, free-flying test bed to a safe landing on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging flash lidar is a second generation, compact, real-time, air-cooled instrument developed from a number of cutting-edge components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The flash lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision at 1 sigma. The flash lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Doppler Lidar system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The Doppler Lidar's measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter, also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the flash lidar, can provide range along a separate vector. The Laser Altimeter measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the lidar suite and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. The flash lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide, however, it was occasionally susceptible to an increase in range noise due to heated air from the Morpheus rocket plume which entered its Field-of-View (FOV). The flash lidar was also susceptible to pre-triggering on dust during the HRN phase which was created during launch and transported by the wind. The Doppler Lidar provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The Laser Altimeter, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, Vincent E.↗

Lidar Sensor Performance in Closed-Loop Flight Testing of the Morpheus Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a suite of three lidar sensors have been used in flight to scan a lunar-like hazard field, identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The lidar sensors and GN&C system are part of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) project which has been seeking to develop a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The 3-D imaging Flash Lidar is a second generation, compact, real-time, aircooled instrument developed from a number of components from industry and NASA and is used as part of the ALHAT Hazard Detection System (HDS) to scan the hazard field and build a 3-D Digital Elevation Map (DEM) in near-real time for identifying safe sites. The Flash Lidar is capable of identifying a 30 cm hazard from a slant range of 1 km with its 8 cm range precision (1-s). The Flash Lidar is also used in Hazard Relative Navigation (HRN) to provide position updates down to a 250m slant range to the ALHAT navigation filter as it guides Morpheus to the safe site. The Navigation Doppler Lidar (NDL) system has been developed within NASA to provide velocity measurements with an accuracy of 0.2 cm/sec and range measurements with an accuracy of 17 cm both from a maximum range of 2,200 m to a minimum range of several meters above the ground. The NDLâ€"TM"s measurements are fed into the ALHAT navigation filter to provide lander guidance to the safe site. The Laser Altimeter (LA), also developed within NASA, provides range measurements with an accuracy of 5 cm from a maximum operational range of 30 km down to 1 m and, being a separate sensor from the Flash Lidar, can provide range along a separate vector. The LA measurements are also fed into the ALHAT navigation filter to provide lander guidance to the safe site. The flight tests served as the culmination of the TRL 6 journey for the ALHAT system and included launch from a pad situated at the NASA-Kennedy Space Center Shuttle Landing Facility (SLF) runway, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range just off the North end of the runway. The tests both confirmed the expected performance and also revealed several challenges present in the flight-like environment which will feed into future TRL advancement of the sensors. Guidance provided by the ALHAT system was impeded in portions of the trajectory and intermittent near the end of the trajectory due to optical effects arising from air heated by the rocket engine. The Flash Lidar identified hazards as small as 30 cm from the maximum slant range of 450 m which Morpheus could provide; however, it was occasionally susceptible to an increase in range noise due to scintillation arising from air heated by the Morpheus rocket engine which entered its Field-of-View (FOV). The Flash Lidar was also susceptible to pre-triggering, during the HRN phase, on a dust cloud created during launch and transported down-range by the wind. The NDL provided velocity and range measurements to the expected accuracy levels yet it was also susceptible to signal degradation due to air heated by the rocket engine. The LA, operating with a degraded transmitter laser, also showed signal attenuation over a few seconds at a specific phase of the flight due to the heat plume generated by the rocket engine.

Roback, V. Eric↗

The NASA Micro-Pulse Lidar Network (MPLNET): Co-location of Lidars with AERONET

We present the formation of a global-ground based eye-safe lidar network, the NASA Micro-Pulse Lidar Network (MPLNET). The aim of MPLNET is to acquire long-term observations of aerosol and cloud vertical profiles at unique geographic sites within the NASA Aerosol Robotic Network (AERONET). Network growth follows a federated approach, pioneered by AERONET, wherein independent research groups may join MPLNET with their own instrument and site. MPLNET utilizes standard instrumentation and data processing algorithms for efficient network operations and direct comparison of data between each site. The micro-pulse lidar is eye-safe, compact, and commercially available, and most easily allows growth of the network without sacrificing standardized instrumentation gods. Red-time data products (next-day) are available, and include Level 1 daily lidar signal images from the surface to -2Okm, and Level 1.5 aerosol extinction provides at times co-incident with AERONET observations. Testing of our quality assured aerosol extinction products, Level 2, is near completion and data will soon be available. Level 3 products, continuous daylight aerosol extinction profiles, are under development and testing has begun. An overview of h4PL" will be presented. Successful methods of merging standardized lidar operations with AERONET will also be discussed, with the first 4 years of MPLNET results serving as an example.

Welton, Ellsworth J.↗

Forest Attributes from Radar Interferometric Structure and its Fusion with Optical Remote Sensing

The possibility of global, three-dimensional remote sensing of forest structure with interferometric synthetic aperture radar (InSAR) bears on important forest ecological processes, particularly the carbon cycle. InSAR supplements two-dimensional remote sensing with information in the vertical dimension. Its strengths in potential for global coverage complement those of lidar (light detecting and ranging), which has the potential for high-accuracy vertical profiles over small areas. InSAR derives its sensitivity to forest vertical structure from the differences in signals received by two, spatially separate radar receivers. Estimation of parameters describing vertical structure requires multiple-polarization, multiple-frequency, or multiple-baseline InSAR. Combining InSAR with complementary remote sensing techniques, such as hyperspectral optical imaging and lidar, can enhance vertical-structure estimates and consequent biophysical quantities of importance to ecologists, such as biomass. Future InSAR experiments will supplement recent airborne and spaceborne demonstrations, and together with inputs from ecologists regarding structure, they will suggest designs for future spaceborne strategies for measuring global vegetation structure.

InSAR↗

Multi-Functional Flash Lidar for Precision Safe Landing in Challenging Terrains

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

3-D Imaging↗

Development of Flash Lidar Sensor for Precision Safe Landing

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

3-D Imaging↗

Development of a Compact Lidar Sensor for Terrain Relative Navigation and Terrain Hazard Avoidance

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

3-D Imaging↗

Multi-Functional Flash Lidar for Precision Safe Landing in Challenging Terrains

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

3-D Imaging↗

High Resolution Terrain Sensing Lidar for Precision Navigation and Safe Landing of Space and Aerial Vehicles

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

Precision Landing↗

Development of a Compact Lidar Sensor for Terrain Relative Navigation and Terrain Hazard Avoidance

A Lidar sensor utilizing linear-mode flash lidar technology and a novel Super-Resolution technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps to achieve high reliability operation in near real-time. This paper describes the results of drone and helicopter flight tests of a breadboard system, explains the design and capabilities of a recently built compact prototype unit, and proposes a concepts of operation for future landing missions.

3-D Imaging↗