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Completed TRL 4 (started at 2, targeting 4)
Future lunar and planetary exploration by landers, rovers, and humans will require the ability to navigate in environments without Global Positioning System (GPS) data to measure topography in high-resolution for scientific investigations and virtual environment reconstruction. This proposal describes the development, testing, and demonstration of a mobile, Frequency-Modulated Continuous-Wave (FMCW) scanning Light Detection and Ranging (LiDAR) system for 3D terrain mapping and navigation in a GPS-denied environment. Scanning FMCW-LiDAR, adapted from state-of-the-art self-driving automotive hardware, provides velocity and range information for each of millions of points per second. Our proposed instrument, the Kinematic Navigation and Cartographic Knapsack (KNaCK), will use this technology to enable centimeter-scale topographic mapping over huge areas (acres) traversed by astronauts or robotic vehicles, data that will provide accurate navigation in areas where existing methods will be impractical. A terrestrial prototype system built early in the project will serve as a test-article to develop novel position-from-velocity and simultaneous-localization-and-mapping (SLAM) algorithms necessary for GPS-denied operation. Concurrent with the KNaCK terrestrial system development, we will design and validate a space-environment hardened version of scanning FMCW-LiDAR technology at TRL-5. Our external partner, Torch Technologies, is an established world-class leader in sensor technology development and integration and brings a high level of both technical and managerial excellence to the team. Torch Technologies will work closely with the NASA Early Career Initiative (ECI) investigators in developing the algorithms, software, sensor space-hardening, and testing approaches. Torch will also teach the ECI team their innovative Agile project management (APM) and Model Based Systems Engineering (MBSE) methods. We will use and scrutinize these PM methods to understand the benefits they provide to this fast-paced and iterative technology development project. A progressive, team-based mentorship approach will use senior NASA and Torch Technologies personnel to provide management, technical content, and professional development counsel. This proposal addresses the Science and Technology Mission Directorate (STMD) capabilities strategic thrust “Explore: Extreme Access,” as well as several NASA Technical Focus Areas. Advancements made by this project will be essential for the robust exploration of the lunar surface, significantly enhance future Mars science and exploration capabilities, and provide an Earth Science instrument for terrain mapping and exploration in GPS-denied environments.
Design and build a radiation-hard backpack-mountable LIDAR system for centimeter-accurate lunar terrain mapping and navigation
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