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Full-scale testing and platform stabilization of a scanning lidar systemfor planetary landing

机译：用于行星着陆的扫描激光雷达系统的全面测试和平台稳定性

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In August 2007, the engineering model of the Rendezvous Lidar System (RLS) was tested at the Sensor Test Range Facility that has been developed at NASA Langley Research Center for the calibration and characterization of 3-D imaging sensors. The three-dimensional test pattern used in this characterization is suitable for an empirical verification of the resolving capability of a lidar for both mid-range terminal rendezvous and hazard avoidance landing. The results of the RLS lidar measurements are reported and compared with image frames generated by a lidar simulator with an Effective Instantaneous Field of View (EIFOV) consistent with the actual scanning time-of-flight lidar specifications. These full-scale tests demonstrated the resolving capability of the lidar under static testing conditions. In landing operations, even though the lidar has a very short exposure time on a per-pulse basis, the dynamic motion of a lander spacecraft with respect to the landing site will cause pulse-to-pulse imaging distortion. MDA, Optech, and NGC Aerospace have teamed together to resolve this issue using motion compensation (platform stabilization) and motion correction (platform residual correction) techniques. Platform stabilization permits images with homogenous density to be generated so that no safe landing sites will be missed; platform residual errors that are not prevented by this stabilization are then corrected in the measurement data prior to map generation. The results of recent developments in platform stabilization and motion correction are reported and discussed in the context of total imaging error budget.
机译：2007年8月，交会激光雷达系统（RLS）的工程模型在NASA兰利研究中心开发的传感器测试范围设施中进行了测试，以校准和表征3-D成像传感器。在此表征中使用的三维测试图案适用于对中距离终端集合点和避险着陆的激光雷达分辨能力的经验验证。报告RLS激光雷达测量的结果，并将其与由激光雷达模拟器生成的图像帧进行比较，该图像帧的有效瞬时视场（EIFOV）与实际的扫描飞行时间激光雷达规格一致。这些全面测试证明了激光雷达在静态测试条件下的分辨能力。在着陆操作中，即使激光雷达在每个脉冲的基础上具有很短的曝光时间，着陆器航天器相对于着陆点的动态运动也会引起脉冲间的成像失真。 MDA，Optech和NGC Aerospace携手合作，使用运动补偿（平台稳定）和运动校正（平台残差校正）技术来解决此问题。平台稳定功能可以生成密度均匀的图像，从而不会错过安全着陆点；然后，在生成地图之前，先在测量数据中更正此稳定所无法避免的平台残留误差。在总成像误差预算的背景下，报告并讨论了平台稳定和运动校正的最新发展成果。

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