Ground Testbed Development of Navigation System for Lunar Lander

Abstract

This paper introduces a project overview of the ground testbed development of navigation system for lunar lander. On the very early stage of lunar exploration, it is difficult to realize the actual lander model to test navigation algorithm. Therefore, the six-wheel type mobile robot is designed for ground testbed in this study. Navigation sensors as flash Lidar, camera and IMU are selected and integrated with on-board computer. Using this platform, crater matching based terrain relative navigation algorithm and hazard detection algorithm are implemented. Suggested system in here might be used for pre-prototype to verify navigation system of lander.