Test implementation to evaluate technologies for safe lunar landing

From June 20 through July 7 of 2009, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) Exploration Technology Development Program carried out an aircraft field test over Moon like terrains to assess the use of sensors and algorithms being developed for autonomous, safe lunar landing. The field test data has been used to evaluate the performance of a lidar, a passive optical camera system, and associated algorithms for Terrain Relative Navigation. Reported here is a comprehensive description of the field test hardware, ground infrastructure and trajectory reconstruction methodologies.