IMAGING LIDAR MAPPING OF ASTEROIDS FOR ONBOARD AUTONOMY OF SCOUT SPACECRAFT

摘要

In order to decrease the risk of landing on an asteroid, a Light Detection and Ranging (LIDAR) system can be utilized. While in orbit the imaging LIDAR will generate a theoretically more detailed shape model than one which can be developed from Earth based observations. Using this model a more accurate gravitation field model can be generated on board by using a variable sphere method, and thus better landing trajectories can be determined. The LIDAR mapping phase of the autonomous proximity operations of an asteroid scout spacecraft is analyzed for the purpose of specifying requirements for the guidance navigation and control subsystem of the spacecraft, identify performance metrics for on-board autonomy, and develop navigation and mapping algorithms. The long term goal is to integrate the sensor models and the algorithms into an onboard autonomy architecture controlled by a system such as Jet Propulsion Laboratory's Continuous Activity Scheduling Planning Execution and Replanning (CASPER).