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

作     者：LIU ZhaoQin DI KaiChang PENG Man WAN WenHui LIU Bin LI LiChun YU TianYi WANG BaoFeng ZHOU JianLiang CHEN HongMin 

作者机构：State Key Laboratory of Remote Sensing Science Institute of Remote Sensing and Digital Earth (RADI) Chinese Academy of Sciences Beijing Aerospace Control Center (BACC) 

出 版 物：《Science China(Physics,Mechanics & Astronomy)》 (中国科学：物理学、力学、天文学（英文版）)

年 卷 期：2015年第58卷第1期

页      面：139-149页

核心收录：

学科分类：07[理学] 08[工学] 070401[理学-天体物理] 0805[工学-材料科学与工程（可授工学、理学学位）] 082503[工学-航空宇航制造工程] 0704[理学-天文学] 0825[工学-航空宇航科学与技术] 

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) 

主　　题：Chang'e-3 Yutu rover landing site mapping rover localization descent camera navigation camera 

摘      要：This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 ***-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 *** DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover *** lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM *** 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 *** latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly *** 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.