Open AccessSpirit rover localization and topographic mapping at the landing site of Gusev crater, Mars
Author(s) -
Li Rongxing,
Archinal Brent A.,
Arvidson Raymond E.,
Bell Jim,
Christensen Philip,
Crumpler Larry,
Des Marais David J.,
Di Kaichang,
Duxbury Tom,
Golombek Matt,
Grant John,
Greeley Ronald,
Guinn Joe,
Johnson Andrew,
Kirk Randolph L.,
Maimone Mark,
Matthies Larry H.,
Malin Mike,
Parker Tim,
Sims Mike,
Thompson Shane,
Squyres Steven W.,
Soderblom Larry A.
Publication year - 2006
Publication title -
journal of geophysical research: planets
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.67
H-Index - 298
eISSN - 2156-2202
pISSN - 0148-0227
DOI - 10.1029/2005je002483
Subject(s) - impact crater , traverse , geology , mars exploration program , terrain , remote sensing , azimuth , geodesy , astrobiology , geography , cartography , physics , astronomy
By sol 440, the Spirit rover has traversed a distance of 3.76 km (actual distance traveled instead of odometry). Localization of the lander and the rover along the traverse has been successfully performed at the Gusev crater landing site. We localized the lander in the Gusev crater using two‐way Doppler radio positioning and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high‐resolution orbital images were used to verify the determined lander position. Visual odometry and bundle adjustment technologies were applied to compensate for wheel slippage, azimuthal angle drift, and other navigation errors (which were as large as 10.5% in the Husband Hill area). We generated topographic products, including 72 ortho maps and three‐dimensional (3‐D) digital terrain models, 11 horizontal and vertical traverse profiles, and one 3‐D crater model (up to sol 440). Also discussed in this paper are uses of the data for science operations planning, geological traverse surveys, surveys of wind‐related features, and other science applications.