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dc.contributor.authorRoback, Vincent Ericen_US
dc.date.accessioned2017-04-04T19:49:41Z
dc.date.available2017-04-04T19:49:41Z
dc.date.issued2012-08-13en_US
dc.identifier.otheretd-08182012-165802en_US
dc.identifier.urihttp://hdl.handle.net/10919/76845
dc.description.abstractTwo flash lidars, integrated from a number of cutting-edge components from industry and NASA, are lab characterized and flight tested under the Autonomous Landing and Hazard Avoidance (ALHAT) project (in its fourth development and field test cycle) which is seeking to develop a guidance, navigation, and control (GNC) and sensing system based on lidar technology capable of enabling safe, precise human-crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The flash lidars incorporate pioneering 3-D imaging cameras based on Indium-Gallium-Arsenide Avalanche Photo Diode (InGaAs APD) and novel micro-electronic technology for a 128 x 128 pixel array operating at 30 Hz, high pulse-energy 1.06 ?m Nd:YAG lasers, and high performance transmitter and receiver fixed and zoom optics. The two flash lidars are characterized on the NASA-Langley Research Center (LaRC) Sensor Test Range, integrated with other portions of the ALHAT GNC system from around the country into an instrument pod at NASA-JPL, integrated onto an Erickson Aircrane Helicopter at NASA-Dryden, and flight tested at the Edwards AFB Rogers dry lakebed over a field of human-made geometric hazards. Results show that the maximum operational range goal of 1000m is met and exceeded up to a value of 1200m, that the range precision goal of 8 cm is marginally met, and that the transmitter zoom optics divergence needs to be extended another eight degrees to meet the zoom goal 6° to 24°. Several hazards are imaged at medium ranges to provide three-dimensional Digital Elevation Map (DEM) information.
dc.language.isoen_USen_US
dc.publisherVirginia Techen_US
dc.rightsI hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Virginia Tech or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report.en_US
dc.subjectPrecision Landingen_US
dc.subjectSafe Landingen_US
dc.subject3-D Imagingen_US
dc.subjectFlash Lidaren_US
dc.subjectLaser Remote Sensingen_US
dc.subjectHazard Detectionen_US
dc.subjectALHATen_US
dc.subjectFlight Testen_US
dc.subjectPlanetary Landingen_US
dc.subjectLunar Landingen_US
dc.titleCharacterization and Helicopter Flight Test of 3-D Imaging Flash LIDAR Technology for Safe, Autonomous, and Precise Planetary Landingen_US
dc.typeThesisen_US
dc.contributor.departmentElectrical and Computer Engineeringen_US
dc.description.degreeMaster of Scienceen_US
thesis.degree.nameMaster of Scienceen_US
thesis.degree.levelmastersen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineElectrical and Computer Engineeringen_US
dc.contributor.committeechairBailey, Scott M.en_US
dc.contributor.committeememberScales, Wayne A.en_US
dc.contributor.committeememberHenderson, Troy A.en_US
dc.type.dcmitypeTexten_US
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-08182012-165802/en_US
dc.date.sdate2012-08-18en_US
dc.date.rdate2016-10-17
dc.date.adate2012-09-17en_US


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