Growing interest in autonomous landing on the lunar surface has motivated in-depth studies of the navigation architectures to support such missions. The research presented in this paper extends linear covariance models of terrain-relative navigation architectures to incorporate both image-based measurements to known landmarks and laser range measurements to the lunar surface. The benefit of the range measurements is shown to be significant in reducing relative position and velocity errors in the altitude channel, as compared to an image-only navigation architecture. The range measurements are also shown to reduce the sensitivity of final relative navigation errors to the turn-on time of both image and range measurements, resulting in a more robust system design.
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