Landing Site Mapping and Selection with Quadtree Map Using Planar Elements

Abstract

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.