Hardware-in-the-loop testing of stereo vision-based hazard-detection method for planetary landing

Svenja Woicke, Hans Krüger, Erwin Mooij

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

1 Citation (Scopus)

Abstract

Hazard-detection and avoidance systems will become an important asset for next-generation landing and exploration missions. To date, multiple studies into these systems were conducted to develop the methods needed and to demonstrate their performance in mainly software-based tests. Few studies were able to demonstrate the performance of the algorithm in hardware-in-the-loop tests, as these are usually difficult to set up and expensive to execute. In this paper, the hardware-in-the-loop testing of a stereo-vision based hazarddetection algorithm is presented. It was performed with the Testbed for Robotic Optical Navigation (TRON) at the German Aerospace Center (DLR) in Bremen, Germany. Since this testbed only allows for testing in a scaled environment, one of the challenging tasks was to design a scaled-down test set-up to represent a real-life lunar descent. The hardwarein- the-loop testing confirmed the results obtained during the earlier software-in-the-loop testing, that stereo vision can successfully be used for hazard detection during planetary descent.

Original languageEnglish
Title of host publicationAIAA Guidance, Navigation, and Control
PublisherAmerican Institute of Aeronautics and Astronautics Inc. (AIAA)
Number of pages15
Edition210039
ISBN (Electronic)9781624105265
DOIs
Publication statusPublished - 1 Jan 2018
EventAIAA Guidance, Navigation, and Control Conference, 2018 - Kissimmee, United States
Duration: 8 Jan 201812 Jan 2018
https://doi.org/10.2514/MGNC18

Conference

ConferenceAIAA Guidance, Navigation, and Control Conference, 2018
CountryUnited States
CityKissimmee
Period8/01/1812/01/18
Internet address

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