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Simulation of a Doppler lidar system for autonomous navigation and hazard avoidance during planetary landing

机译：多普勒激光雷达系统的仿真，用于行星航行期间的自主导航和危险规避

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The latest mission proposals for exploration of solar system bodies require accurate position and velocity data during the descent phase in order to ensure safe, soft landing at the pre-designated sites. During landing maneuvers, the accuracy of the on-board inertial measurement unit (IMU) may not be reliable due to drift over extended travel times to destinations. NASA has proposed an advanced Doppler lidar system with multiple beams that can be used to accurately determine attitude and position of the landing vehicle during descent, and to detect hazards that might exist in the landing area.In order to assess the effectiveness of such a Doppler lidar landing system, it is valuable to simulate the system with different beam numbers and configurations. In addition, the effectiveness of the system to detect and map potential landing hazards must be understood. This paper reports the simulated system performance for a proposed multi-beam Doppler lidar using the LadarSIM system simulation software. Details of the simulation methods are given, as well as lidar performance parameters such as range and velocity accuracy, detection and false alarm rates, and examples of the Doppler lidars ability to detect and characterize simulated hazards in the landing site. The simulation includes modulated pulse generation and coherent detection methods, beam footprint simulation, beam scanning, and interaction with terrain.
机译：最新的探索太阳系物体的任务建议要求在下降阶段提供准确的位置和速度数据，以确保在预定地点安全，软着陆。在着陆演习期间，由于在到达目的地的较长行驶时间内会发生漂移，因此车载惯性测量单元（IMU）的准确性可能不可靠。 NASA提出了一种先进的多光束多普勒激光雷达系统，该系统可用于精确确定下降过程中着陆车的姿态和位置，并检测着陆区可能存在的危险，以评估这种多普勒雷达的有效性激光雷达着陆系统，对具有不同光束数量和配置的系统进行仿真非常有价值。此外，必须了解系统检测和绘制潜在着陆危险的有效性。本文使用LadarSIM系统仿真软件报告了拟议的多光束多普勒激光雷达的仿真系统性能。给出了模拟方法的详细信息，以及激光雷达性能参数，例如范围和速度精度，检测和误报率，以及多普勒激光雷达能够检测和表征着陆点模拟危险的能力示例。该模拟包括调制脉冲生成和相干检测方法，射束足迹模拟，射束扫描以及与地形的交互作用。

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