High precision landing site mapping and rover localization for Chang'e-3 mission

作者:Liu, ZQ (Liu ZhaoQin)[ 1 ] ; Di, KC (Di KaiChang)[ 1 ] ; Peng, M (Peng Man)[ 1 ] ; Wan, WH (Wan WenHui)[ 1 ] ; Liu, B (Liu Bin)[ 1 ] ; Li, LC (Li LiChun)[ 2 ] ; Yu, TY (Yu TianYi)[ 2 ] ; Wang, BF (Wang BaoFeng)[ 2 ] ; Zhou, JL (Zhou JianLiang)[ 2 ] ; Chen, HM (Chen HongMin)[ 2 ]

SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY

卷: 58  期: 1

文献号: 019601

DOI: 10.1007/s11433-014-5612-0

出版年: JAN 2015

摘要

This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang'e-3 mission. High-precision topographic products of the landing site with extremely high resolutions (up to 0.05 m) were generated from descent images and registered to CE-2 DOM. Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse. The lander location was determined to be (19.51256 degrees W, 44.11884 degrees N, -2615.451 m) using a method of DOM matching. In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning, cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints; the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization. The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable. During CE-3 mission operations, landing site mapping and rover localization products including DEMs and DOMs, traverse maps, vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning.

通讯作者地址: Di, KC (通讯作者)

Chinese Acad Sci, Inst Remote Sensing & Digital Earth RADI, State Key Lab Remote Sensing Sci, Beijing 100101, Peoples R China.

地址:

[ 1 ] Chinese Acad Sci, Inst Remote Sensing & Digital Earth RADI, State Key Lab Remote Sensing Sci, Beijing 100101, Peoples R China

[ 2 ] Beijing Aerosp Control Ctr BACC, Beijing 100094, Peoples R China