This work proposes a filter-based combined terrain mapping and landing site selection system for planetary landing. The authors consider a spacecraft acquiring flash lidar measurements of the surface during terminal descent from which it must select a landing site. A quadtree is used to create a variable-resolution map of the terrain in which each element contains a planar estimate. This greatly simplifies the landing site selection system by providing a direct estimate of terrain slope. The authors' system is validated with flight-test data gathered by a rocket-powered vehicle approaching an artificial lunar environment.


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    Title :

    Landing Site Mapping and Selection with Quadtree Map Using Planar Elements


    Contributors:


    Publication date :

    2024-04-23


    Size :

    15 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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