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...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°W,44.11884°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.展开更多
The global map of potassium is represented in this paper from Chang'E-1 (CE-1) Gamma-ray Spectrometer (CGRS) for its one-year mission.Assuming a linear relationship between net count rate and its abundance,the ave...The global map of potassium is represented in this paper from Chang'E-1 (CE-1) Gamma-ray Spectrometer (CGRS) for its one-year mission.Assuming a linear relationship between net count rate and its abundance,the average potassium abundance of individual landing sites is used as ground-truth for the calibration to derive the global map of absolute concentration.Although CGRS spectra have a lower signal-to-noise ratio,the translated map still keeps relative variations.As calculated from Apollo,Lunar Prospector,and Kaguya,global potassium map from CGRS shows high concentrations on the lunar nearside and secondary concentrations located in the South Pole-Aitken (SPA) basin on the farside.The comparison with Lunar Prospector potassium map shows a good correlation,though abundances on the highlands of the farside are much lower than that of Lunar Prospector.Since the footprint of CGRS measurements is larger than the sampling radius of each landing site,the calibrated map shows a larger variation range of the scale than that of Lunar Prospector,which was derived using theoretical calculation;namely,the calibrated map has higher values in the areas with high concentration while having lower values for the areas with lower concentration.However,the derived potassium map is more consistent with the lunar sample data than that of Lunar Prospector.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.41201480,41171355 and 41301528)the Key Research Program of the Chinese Academy of Sciences(Grant No.KGZD-EW-603)
文摘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°W,44.11884°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.
基金Financial supports from the Science and Technology of Development Fund of Macao (Grant Nos. 004/2011/A1,003/2008/A1 and 042/2007/A3)
文摘The global map of potassium is represented in this paper from Chang'E-1 (CE-1) Gamma-ray Spectrometer (CGRS) for its one-year mission.Assuming a linear relationship between net count rate and its abundance,the average potassium abundance of individual landing sites is used as ground-truth for the calibration to derive the global map of absolute concentration.Although CGRS spectra have a lower signal-to-noise ratio,the translated map still keeps relative variations.As calculated from Apollo,Lunar Prospector,and Kaguya,global potassium map from CGRS shows high concentrations on the lunar nearside and secondary concentrations located in the South Pole-Aitken (SPA) basin on the farside.The comparison with Lunar Prospector potassium map shows a good correlation,though abundances on the highlands of the farside are much lower than that of Lunar Prospector.Since the footprint of CGRS measurements is larger than the sampling radius of each landing site,the calibrated map shows a larger variation range of the scale than that of Lunar Prospector,which was derived using theoretical calculation;namely,the calibrated map has higher values in the areas with high concentration while having lower values for the areas with lower concentration.However,the derived potassium map is more consistent with the lunar sample data than that of Lunar Prospector.
