LiDAR-based Navigation and Mapping for Rendezvous, Proximity Operations, Docking

High-fidelity relative navigation and three-dimensional mapping are key competencies to achieve a variety of mission objectives in Earth, Lunar, and eventually Martian Orbit. Developing autonomous and reliable Rendezvous, Proximity Operations, and Docking (RPOD) technologies will play a key role in the ability to build infrastructure in orbit by providing autonomous satellite inspection and servicing capabilities, among many other applications. Astrobotic, a Pittsburgh, PA-based space robotics company, proposes to further develop existing in-house technology to create the Astrobotic LiDAR-Inertial Navigation (ALIN) software package. This modular and versatile software leverages LiDAR Simultaneous Localization and Mapping (SLAM) to provide navigation and mapping capabilities. ALIN will specifically target applications requiring high fidelity relative navigation solutions to non-cooperative dynamic spacecraft, such as the inspection and servicing of satellites. Phase I will yield a prototype system featuring a space-relevant compute platform capable of real time data collection from a terrestrial grade scanning LiDAR and analysis of the system to provide a clear path forward for achieving real time mapping and relative navigation on space hardware. Phase II, if awarded, would focus on optimizing algorithmic localization, mapping performance, and timing to meet RPOD-specific mission requirements. Specifically, development would focus on improving localization and mapping under the challenging circumstances of a very sparse scene with a single dynamic LiDAR-observable object being observed from a non-inertial reference frame, as is the case in most RPOD missions. The results of a Phase II will demonstrate the viability of the ALIN software package in simulation, and with follow-on investment the system could be infused into a flight program.