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Using an UAV for Testing an Autonomous Terrain-based Optical Navigation System for Lunar Landing

Ammann, Nikolaus Alexander and Theil, Stephan (2018) Using an UAV for Testing an Autonomous Terrain-based Optical Navigation System for Lunar Landing. In: IEEE Aerospace Conference Proceedings. IEEE Aerospace Conference, 03.-09. März 2018, Big Sky, Montana, USA.

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Abstract

This paper presents the application of a rotary wing Unmanned Aerial Vehicle (UAV) as a testbed for the optical navigation system developed in the project Autonomous Terrain-based Optical Navigation (ATON) of the German Aerospace Center (DLR). Since using optical sensor data in navigation Systems for exploration missions is a promising technology, many projects have focused on the development of such Navigation systems. To allow autonomous operation of these developed navigation technologies in the targeted environment extensive testing is necessary for achieving an appropriate grade of reliability. A review of the current approaches for true-scale testing of optical navigation systems for lunar or planetary landing missions is conducted, and the proposed testing methodology is motivated. The paper describes the development steps necessary to conduct closed-loop real-time flight tests using a rotary wing UAV. This includes the sensor configuration, preparation of the flight test area and ground truth generation. Finally, the resulting navigation performance of the ATON navigation system in the closed-loop real-time flight tests is presented.

Item URL in elib:https://elib.dlr.de/119361/
Document Type:Conference or Workshop Item (Speech)
Title:Using an UAV for Testing an Autonomous Terrain-based Optical Navigation System for Lunar Landing
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Ammann, Nikolaus AlexanderNikolaus.Ammann (at) dlr.dehttps://orcid.org/0000-0001-6091-4478
Theil, StephanStephan.Theil (at) dlr.dehttps://orcid.org/0000-0002-5346-8091
Date:6 March 2018
Journal or Publication Title:IEEE Aerospace Conference Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
Status:Published
Keywords:Unmanned Aerial Vehicle, UAV, Autonomous Terrain-based Optical Navigation ATON Lunar Landing closed-loop flight test
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, USA
Event Type:international Conference
Event Dates:03.-09. März 2018
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Projekt ATON
Location: Braunschweig , Bremen
Institutes and Institutions:Institute of Flight Systems > Unmanned Aircraft
Institute of Space Systems > Navigation and Control Systems
Deposited By: Ammann, Nikolaus Alexander
Deposited On:19 Mar 2018 16:17
Last Modified:31 Jul 2019 20:16

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