| With the rapid development of laser technology, laser measurement methods, represented by laser ranging technology, have been used in various engineering fields. Currently3-d modelling is a hotspot of laser measurement applications. On the background of planetary soft landing mission in the deep space explorations, a3-d laser scanning system is developed，and the application in planetary landing terrain modelling and landing sites selection is studied based on this system.The research content of this paper is divided into two parts, hardware development and algorithm study. A pulsed3-d laser scanning system is built in hardware development, and the algorithm mainly consists of the research on planetary soft landing terrain modelling based on laser scanning, and landing sites selection based on the terrain elevation map.First of all, through the analysis of3-d laser scanning system working principle, pulse laser is selected as laser generator. Scanning motion platform is built from one-dimensional laser beam to two-dimensional linear array scanning, and then to the three-dimensional area array scanning. Thus, data format and communication interface is specified. Therefore, hardware system and data sources are provided for the actual application.Second, the laser scanning system is used to scan the planetary terrain sand table. Original data are measured, followed by coordinate transformation, de-noising, plane fitting and data points interpolation to model the digital elevation map of terrain.Finally, on the basis of the digital elevation map of terrain, terrain slope and roughness are derived from the DEM to design a criterion of candidate landing sites. The safety of the landing sites is evaluated by fuzzy rule-based reasoning, so as to find the appropriate landing sites meet the lander landing conditions. |
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