Two flash lidars, integrated from a number of cutting-edge components from industry and NASA, are lab characterized and flight tested under the Autonomous Landing and Hazard Avoidance (ALHAT) project (in its fourth development and field test cycle) which is seeking to develop a guidance, navigation, and control (GNC) and sensing system based on lidar technology capable of enabling safe, precise human-crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The flash lidars incorporate pioneering 3-D imaging cameras based on Indium-Gallium-Arsenide Avalanche Photo Diode (InGaAs APD) and novel micro-electronic technology for a 128 x 128 pixel array operating at 30 Hz, high pulse-energy 1.06 ?m Nd:YAG lasers, and high performance transmitter and receiver fixed and zoom optics. The two flash lidars are characterized on the NASA-Langley Research Center (LaRC) Sensor Test Range, integrated with other portions of the ALHAT GNC system from around the country into an instrument pod at NASA-JPL, integrated onto an Erickson Aircrane Helicopter at NASA-Dryden, and flight tested at the Edwards AFB Rogers dry lakebed over a field of human-made geometric hazards. Results show that the maximum operational range goal of 1000m is met and exceeded up to a value of 1200m, that the range precision goal of 8 cm is marginally met, and that the transmitter zoom optics divergence needs to be extended another eight degrees to meet the zoom goal 6° to 24°. Several hazards are imaged at medium ranges to provide three-dimensional Digital Elevation Map (DEM) information. / Master of Science

<p dir="ltr">As a new spaceborne laser remote sensing system, the Global Ecosystem Dynamics Investigation, or GEDI, is being widely used for monitoring forest ecosystems. However, its measurements are subject to uncertainties that will affect the calculation of ground elevation and vegetation height. This research intends to investigate the quality of the GEDI elevation data and its relevance to topography and land cover.</p><p dir="ltr">In this study, the elevation of the GEDI data is compared to 3DEP DEM, which has a higher resolution and accuracy. All the experiments in this study are conducted for two locations with vastly different terrain and land cover conditions, namely Tippecanoe County in Indiana and Mendocino County in California. Through this investigation we expect to gain a comprehensive understanding of GEDI’s elevation quality in various terrain and land cover conditions.</p><p dir="ltr">The results show that GEDI data in Tippecanoe County has better elevation accuracy than the GEDI data in Mendocino County. GEDI in Tippecanoe County is almost four times more accurate than in Mendocino County. Regarding land cover, GEDI have better accuracy in low vegetation areas than in forest areas. The ratio can be around three times better in Tippecanoe County and around one and half times better in Mendocino County. In terms of slope, GEDI data shows a clear positive correlation between RMSE and slope. The trend indicates as slope increases, the RMSE increases concurrently. In other words, slope and GEDI elevation accuracy are inversely related. In the experiment involving slope and land cover, the results show that slope is the most influential factor to GEDI elevation accuracy.</p><p dir="ltr">This study informs GEDI users of the factors they must consider for forest biomass calculation and topographic mapping applications. When high terrain slope and/or high vegetation is present, the GEDI data should be checked with other data sources like 3DEP DEM or any ground truth measurements to assure its quality. We expect these findings can help worldwide users understand that the quality of GEDI data is variable and dependent on terrain relief and land cover.</p>