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Completed TRL 3 (started at 3, targeting 4)
Project Objective
Advance planetary surface-based navigation and mapping using Light Detection and Ranging (LiDAR) through design and development of a prototype modular lunar LiDAR instrument for use on planetary rovers.
Project Description
Goals of the project were to design, fabricate, and field test a "flight-like" lunar-surface 3D mapping and navigation mobile LiDAR scanning system for GPS-denied extreme environments. This included an Advanced Concepts Office (ACO) study of the possible design of a LiDAR sensor and associated avionics (computer hardware, power, inertial measurement) required for a standalone LiDAR sensor - a device modular enough to be included in a rover platform if an integrated solution for LiDAR navigation and mapping were not feasible. The design included consideration of relevant lunar specs (e.g., form-factor, thermal, radiation, dust-ingress, batteries, compute-level, etc.) and centered around a lunar LiDAR sensor design currently in SBIR-2 development. A field-capable prototype brass board with functionally equivalent commercial-off-the-shelf hardware was produced for testing of relevant simultaneous localization and mapping algorithms required for creating science and navigation data products. The long-term goal is to provide the hardware and software needed for a LiDAR-based perception system for planetary rovers. Project used $150K from MSFC Center Investment fund for one year to support four civil servants for design, fabrication, and testing, the ACO design study, and procurement of prototype materials.
Project Results and Conclusions
Project results included: 1) A detailed study of the requirements for a modular packaging of a LiDAR sensor and associated avionics for a standalone instrument. This was done using the SMD F.12 Lunar Terrain Vehicle Stand-alone instrument solicitation (Oct 2024) as a guidepost for requirements; 2) A functioning prototype brass-board of a LiDAR sensor, inertial measurement unit (IMU), computer, power supply, batteries, and housing that could collect data in a relevant planetary analog environment; 3) Advancements in simultaneous localization and mapping (SLAM) algorithms that create ultra-high resolution (1-3 cm/ pixel) 3D point cloud topography along traverses; and 4) Successful data collection in GPS-denied environments, including the interior scaffolding of MSFC's Dynamic Test Stand, MSFC's Lunar Regolith Terrain Field sandbox, and a collaboration with the Nevada National Security Site for field scanning of abandoned mineshafts.
ACO study results showed that a LiDAR sensor has strong potential as a perception system for lunar surface navigation and mapping on a rover platform. Advantages of LiDAR, such as active-source imaging (no external lighting required), make it a useful technology for hazard detection and avoidance in challenging Lunar South Pole illumination conditions. The study showed a standalone LiDAR instrument would create valuable science data products including high-resolution topography for geomorphology and geologic context. However, the benefits of LiDAR sensing and the data products are better utilized when integrated into a planetary surface rover as part of the navigation and perception system requirements, rather than duplicating compute, power, and IMU hardware (as would happen if added afterwards). Data handling of LiDAR data is also a major challenge to acceptance (with respect to long-duration scanning, storage of raw data, and production of ultra-high resolution maps), but can be overcome through compression algorithms, sufficient on-board data storage and processing, and mission operations with targeted mapping. Hazard detection and avoidance are not strongly affected by data handling challenges.
The functioning prototype LiDAR scanning system successfully collected data in multiple examples, including a cross-agency collaboration with the Nevada National Security Site (NNSS) in May 2025.
The project gained valuable knowledge of the design gaps related to LiDAR data handling and compute performance for a rover-mounted mapping and navigation instrument. The functional prototype has been used in multiple different center, cross-center, and cross-agency scanning operations and will continue to be used for terrestrial science data collection and asset monitoring (i.e., 3D scanning for geomorphology and also built assets as well as change detection through repeated scanning). The project resulted in a cross-agency (NASA and NNSS) collaboration for a proof-of-concept LIDAR scanning instrument for detailed mapping of mine shafts with strong potential for long-term collaboration and asset monitoring. The project also led directly into additional funded work with the Extravehicular Activity and Human Surface Mobility Program at Johnson Space Center for astronaut navigation with a hand-held LiDAR system.
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