Rover localization and landing-site mapping technology for the 2003 Mars Exploration Rover mission

摘要

The technology and experiments planned for rover localization and landing site mapping in the 2003 Mars Exploration Rover (MER) mission are described. We introduce the Mars global and landing site local reference systems. For global rover localization in the Mars body-fixed reference system, a triangulation can be performed using observations of common landmarks on satellite images and the very first set of surface images. Alternatively, ultra-high frequency (UHF) two-way Doppler tracking technology can determine the location. For localization of the rover in the landing site area, onboard rover localization techniques will be performed in real time. A visual odometry experiment will improve localization by over-coming problems associated with wheel odometry such as slippage and low accuracy. Finally, a bundle-adjustment-based rover localization method will build an image network acquired by Pancam, Navcam, and Hazcam cameras. The developed incremental and integrated bundle adjustment models willsupply improved rover locations and image orientation parameters, which are critical for the generation of high quality landing site topographic mapping products. Based on field tests performed on Earth and Mars (MPF mission data), a relative localization accuracy of one percent of the traversing distance from the landing center is expected to be achieved during this mission. In addition, the bundle adjustment results will also enable us to produce high precision landing site topographic mapping products, including seamless panoramic image mosaics, DTMs, and orthophotos.