Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing

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dc.contributor.advisor Andre Mazzoleni, Committee Member en_US
dc.contributor.advisor Robert Tolson, Committee Chair en_US
dc.contributor.advisor Fred DeJarnette, Committee Member en_US
dc.contributor.author Aitken, Matthew Lawrence en_US
dc.date.accessioned 2010-04-02T18:01:01Z
dc.date.available 2010-04-02T18:01:01Z
dc.date.issued 2009-07-23 en_US
dc.identifier.other etd-07222009-105511 en_US
dc.identifier.uri http://www.lib.ncsu.edu/resolver/1840.16/1129
dc.description.abstract In support of NASA’s Autonomous Landing and Hazard Avoidance Technology project, an extended Kalman filter (EKF) routine has been developed for estimating the position, velocity, and attitude of a spacecraft during the landing phase of a planetary mission. The EKF is a recursive algorithm for obtaining the minimum variance estimate of a nonlinear dynamic process from a sequence of noisy observations. The proposed filter combines measurements of acceleration and angular velocity from an inertial measurement unit with range and range-rate observations from an onboard light detection and ranging (LIDAR) system. These high-precision LIDAR measurements of distance to the ground and approach velocity will enable both robotic and manned vehicles to land safely and precisely at scientifically interesting sites. The robustness and accuracy of the Kalman filter were first established using a simplified simulation of the final translation and touchdown phase of the Apollo lunar landings. In addition, experimental results from a helicopter flight test performed at NASA Dryden in August 2008 demonstrate the merit in employing LIDAR for pinpoint landing in future space missions. en_US
dc.rights I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dis sertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to NC State University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. en_US
dc.subject planetary landing en_US
dc.subject extended Kalman filter en_US
dc.subject inertial navigation en_US
dc.subject lidar en_US
dc.title Lidar-Aided Inertial Navigation with Extended Kalman Filtering for Pinpoint Landing en_US
dc.degree.name MS en_US
dc.degree.level thesis en_US
dc.degree.discipline Aerospace Engineering en_US


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