Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

Rongxing Li; Brent A. Archinal; Raymond E. Arvidson; James Bell; Philip Christensen; Larry Crumpler; David J. Des Marais; Kaichang Di; Tom Duxbury; Matt P. Golombek; John A. Grant; Ronald Greeley; Joe Guinn; Andrew Johnson; Randolph L. Kirk; Mark Maimone; Larry H. Matthies; Mike Malin; Tim Parker; Mike Sims; Shane Thompson; Steven W. Squyres; Larry A. Soderblom

doi:10.1029/2005JE002483

Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

Rongxing Li, Brent A. Archinal, Raymond E. Arvidson, James Bell, Philip Christensen, Larry Crumpler, David J. Des Marais, Kaichang Di, Tom Duxbury, Matt P. Golombek, John A. Grant, Ronald Greeley, Joe Guinn, Andrew Johnson, Randolph L. Kirk, Mark Maimone, Larry H. Matthies, Mike Malin, Tim Parker, Mike SimsShane Thompson, Steven W. Squyres, Larry A. Soderblom

Research output: Contribution to journal › Article › peer-review

51 Scopus citations

Abstract

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.

Original language	English (US)
Article number	E02S06
Journal	Journal of Geophysical Research E: Planets
Volume	111
Issue number	2
DOIs	https://doi.org/10.1029/2005JE002483
State	Published - Feb 20 2006

ASJC Scopus subject areas

Geophysics
Forestry
Oceanography
Aquatic Science
Ecology
Water Science and Technology
Soil Science
Geochemistry and Petrology
Earth-Surface Processes
Atmospheric Science
Earth and Planetary Sciences (miscellaneous)
Space and Planetary Science
Palaeontology

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Li, R., Archinal, B. A., Arvidson, R. E., Bell, J., Christensen, P., Crumpler, L., Des Marais, D. J., Di, K., Duxbury, T., Golombek, M. P., Grant, J. A., Greeley, R., Guinn, J., Johnson, A., Kirk, R. L., Maimone, M., Matthies, L. H., Malin, M., Parker, T., ... Soderblom, L. A. (2006). Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars. Journal of Geophysical Research E: Planets, 111(2), [E02S06]. https://doi.org/10.1029/2005JE002483

Li, R, Archinal, BA, Arvidson, RE, Bell, J , Christensen, P, Crumpler, L, Des Marais, DJ, Di, K, Duxbury, T, Golombek, MP, Grant, JA, Greeley, R, Guinn, J, Johnson, A, Kirk, RL, Maimone, M, Matthies, LH, Malin, M, Parker, T, Sims, M, Thompson, S, Squyres, SW & Soderblom, LA 2006, 'Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars', Journal of Geophysical Research E: Planets, vol. 111, no. 2, E02S06. https://doi.org/10.1029/2005JE002483

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abstract = "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.",

author = "Rongxing Li and Archinal, {Brent A.} and Arvidson, {Raymond E.} and James Bell and Philip Christensen and Larry Crumpler and {Des Marais}, {David J.} and Kaichang Di and Tom Duxbury and Golombek, {Matt P.} and Grant, {John A.} and Ronald Greeley and Joe Guinn and Andrew Johnson and Kirk, {Randolph L.} and Mark Maimone and Matthies, {Larry H.} and Mike Malin and Tim Parker and Mike Sims and Shane Thompson and Squyres, {Steven W.} and Soderblom, {Larry A.}",

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AU - Christensen, Philip

AU - Crumpler, Larry

AU - Des Marais, David J.

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AU - Duxbury, Tom

AU - Golombek, Matt P.

AU - Grant, John A.

AU - Greeley, Ronald

AU - Guinn, Joe

AU - Johnson, Andrew

AU - Kirk, Randolph L.

AU - Maimone, Mark

AU - Matthies, Larry H.

AU - Malin, Mike

AU - Parker, Tim

AU - Sims, Mike

AU - Thompson, Shane

AU - Squyres, Steven W.

AU - Soderblom, Larry A.

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N2 - 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.

AB - 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.

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Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

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