Performance envelope characterization of scanning LiDARs for terminal approach guidance with non-cooperative targets

Mission-level performance assessment of scanning LiDAR systems is essential for non-cooperative proximity operations, where sensing configuration directly affects point-cloud geometry, pose-tracking observability, and reliable operating range. Existing studies on model-based pose estimation have mainly focused on acquisition and tracking algorithms under given sensing conditions, while the quantitative influence of configurable LiDAR parameters on terminal approach tracking capability remains insufficiently characterized. This paper presents a mission-oriented evaluation framework that links scanning LiDAR sensing parameters to ICP-based relative pose tracking performance. The framework derives an observability–uncertainty indicator from the linearized point-to-plane ICP objective. Defined as the trace of the inverse normal matrix, this indicator captures both the local geometric constraint strength of the visible point-to-plane correspondences and the uncertainty amplification of the pose estimate. Based on this formulation, Field of View (FoV) and angular resolution are interpreted through complementary mechanisms: FoV determines the visible target envelope and the onset of geometric observability degradation, while angular resolution controls the sampling density of the visible geometry and the resulting uncertainty amplification. A dynamic terminal approach simulation framework and a 64-line scanning LiDAR hardware-in-the-loop semi-physical testbed are established to evaluate these effects along representative approach trajectories. Multiple FoV and angular-resolution configurations are tested to map the trajectory-wide variation of ICP observability, uncertainty amplification, and tracking accuracy. The results provide quantitative performance boundaries for scanning LiDAR configuration design, sensing-parameter selection, and terminal approach GNC requirement co-design.