Title:
Visual Odometry for Precision Lunar Landing

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AAS-22-113.pdf (39.58 MB)
Author(s)
Molina, Giovanni
 Hansen, Michael
 Getchius, Joel
 Christensen, Randall
 Christian, John A.
 Stewart, Shaun
 Crain, Tim
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Daniel Guggenheim School of Aerospace Engineering
The Daniel Guggenheim School of Aeronautics was established in 1931, with a name change in 1962 to the School of Aerospace Engineering
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https://hdl.handle.net/1853/74887
Abstract
Intuitive Machines has developed a state-of-the-art precision landing and hazard avoidance (PLHA) system that will enable its Nova-C lunar lander to safely touch down on the lunar surface. This system consists of an array of sensors that includes an inertial measurement unit (IMU), optical camera, and a laser range finder sensor (LRFS) as well a series of algorithms which process and fuse the sensor data and produce measurements used in the navigation system. One of the measurements utilizes image processing and visual odometry (VO) to compute a delta-position (DPOS) measurement which describes the lander's direction of motion between two image captures. In this paper, we detail the development and implementation of this measurement for the Nova-C lander, demonstrate our rigorous testing methodologies and present our findings and results.
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2022-02
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Paper
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