# Test F3D - LIDAR

**Goal:** SPC solves for both the shape model and the spacecraft position/pointing using the same data set. As such, the two solutions are not bounded or unique. The assumption is that the navigational error is small enough and random enough that the shape model converges to a correct solution. LIDAR range information can be used to control 1 of 6 variables for the spacecraft positions/pointing solutions, and thereby reduce the number of degrees of freedom from six to two. Plus, as seen from the SPC Component Test, range is the one error that can create a systemic bias of being too big.

## Test Set Up

**Data:** DS images

**Start:** 35cm Detailed Survey Shape Model

**Build:** TAG #1

**Sub-Test F3D-1**

- Tile down to 5cm
- Iterate for 20 iterations with geometry every 5

**Sub-Test F3D-2**

- Set the distance with LIDAR value and tile down to 5cm.
- Iterate for 20 iterations with geometry every 5

**Evaluate:**

- Change in S/C position
- Accuracy
- Relative Accuracy