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

Rongxing Li; Brent A. Archinal; Raymond E. Arvidson; Jim Bell; Phillip R. Christensen; Larry S. Crumpler; David J. Des Marais; Kaichang Di; Tom Duxbury; Matthew P. Golombek; John Grant; Ronald Greeley; Joe Guinn; Aaron H. Johnson; Randolph L. Kirk; Mark Maimone; Larry H. Matthies; Michael Malin; Timothy Parker; Michael H. Sims; Shane D. Thompson; Steven W. Squyres; Laurence A. Soderblom

doi:10.1029/2005JE002483

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

Journal of Geophysical Research E: Planets

By: Rongxing Li, Brent A. Archinal, Raymond E. Arvidson, Jim Bell, Phillip R. Christensen, Larry S. Crumpler, David J. Des Marais, Kaichang Di, Tom Duxbury, Matthew P. Golombek, John Grant, Ronald Greeley, Joe Guinn, Aaron H. Johnson, Randolph L. Kirk, Mark Maimone, Larry H. Matthies, Michael Malin, Timothy Parker, Michael H. Sims, Shane D. Thompson, Steven W. Squyres, and Laurence A. Soderblom

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.

Additional publication details
Publication type	Article
Publication Subtype	Journal Article
Title	Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars
Series title	Journal of Geophysical Research E: Planets
DOI	10.1029/2005JE002483
Volume	111
Issue	E2
Year Published	2006
Language	English
Publisher	American Geophysical Union
Publisher location	Washington, D.C.
Contributing office(s)	Astrogeology Science Center
Description	13 p.
Larger Work Type	Article
Larger Work Subtype	Journal Article
Larger Work Title	Journal of Geophysical Research E: Planets
Other Geospatial	Gusev crater; Mars
Google Analytic Metrics	Metrics page