Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase
The Massachusetts Institute of Technology’s Lincoln Laboratory is developing a Lidar scanner to be used on a notional lander mission to Europa, a moon of Jupiter. The goal of this mission is to land safely on the unexplored rough terrain of the moon and analyze samples to detect the possibility of l...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/140202 |
| _version_ | 1811094833656233984 |
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| author | Wenberg, Dakota |
| author2 | Linares, Richard |
| author_facet | Linares, Richard Wenberg, Dakota |
| author_sort | Wenberg, Dakota |
| collection | MIT |
| description | The Massachusetts Institute of Technology’s Lincoln Laboratory is developing a Lidar scanner to be used on a notional lander mission to Europa, a moon of Jupiter. The goal of this mission is to land safely on the unexplored rough terrain of the moon and analyze samples to detect the possibility of life in the subsurface oceans. A critical component to a safe landing is the ability to accurately estimate the state of the lander as it descends. This paper proposes the application of sensor fusion system that combines Inertial Measurement Unit measurements with relative pose data extracted from Lidar scans using an Extended Kalman Filter. The results show that the proposed system can accurately estimate the state in the Z and X axes while further improvements are required to increase the accuracy of the Y axis and the orientation. |
| first_indexed | 2024-09-23T16:06:14Z |
| format | Thesis |
| id | mit-1721.1/140202 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T16:06:14Z |
| publishDate | 2022 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1402022022-02-08T03:05:23Z Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase Wenberg, Dakota Linares, Richard Massachusetts Institute of Technology. Department of Mechanical Engineering The Massachusetts Institute of Technology’s Lincoln Laboratory is developing a Lidar scanner to be used on a notional lander mission to Europa, a moon of Jupiter. The goal of this mission is to land safely on the unexplored rough terrain of the moon and analyze samples to detect the possibility of life in the subsurface oceans. A critical component to a safe landing is the ability to accurately estimate the state of the lander as it descends. This paper proposes the application of sensor fusion system that combines Inertial Measurement Unit measurements with relative pose data extracted from Lidar scans using an Extended Kalman Filter. The results show that the proposed system can accurately estimate the state in the Z and X axes while further improvements are required to increase the accuracy of the Y axis and the orientation. S.M. 2022-02-07T15:30:05Z 2022-02-07T15:30:05Z 2021-09 2021-09-30T17:31:40.262Z Thesis https://hdl.handle.net/1721.1/140202 In Copyright - Educational Use Permitted Copyright MIT http://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | Wenberg, Dakota Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title | Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title_full | Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title_fullStr | Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title_full_unstemmed | Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title_short | Method for Kalman Filtering Pose Estimates from Lidar Scans During the Landing Phase |
| title_sort | method for kalman filtering pose estimates from lidar scans during the landing phase |
| url | https://hdl.handle.net/1721.1/140202 |
| work_keys_str_mv | AT wenbergdakota methodforkalmanfilteringposeestimatesfromlidarscansduringthelandingphase |