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

	High precision landing site mapping and rover localization for Chang'e-3 mission
	Liu ZhaoQin 1; Di KaiChang 1; Peng Man 1; Wan WenHui 1; Liu Bin 1; Li LiChun 1; Yu TianYi 1; Wang BaoFeng 1; Zhou JianLiang 1; Chen HongMin 1
刊名	SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY
	2015
卷号	58 期号:1 页码:510-526
关键词	Chang'e-3 Yutu rover landing site mapping rover localization descent camera navigation camera
通讯作者	Di, KC (reprint author), Chinese Acad Sci, Inst Remote Sensing & Digital Earth RADI, State Key Lab Remote Sensing Sci, Beijing 100101, Peoples R China.
英文摘要	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 degrees W, 44.11884 degrees 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.
研究领域[WOS]	Physics, Multidisciplinary
收录类别	SCI
语种	英语
WOS记录号	WOS:000349872500016
内容类型	期刊论文
源URL	[http://ir.ceode.ac.cn/handle/183411/38326]
专题	遥感与数字地球研究所_SCI/EI期刊论文_期刊论文
作者单位	1.[Liu ZhaoQin 2.Di KaiChang 3.Peng Man 4.Wan WenHui 5.Liu Bin] Chinese Acad Sci, Inst Remote Sensing & Digital Earth RADI, State Key Lab Remote Sensing Sci, Beijing 100101, Peoples R China 6.[Li LiChun 7.Yu TianYi 8.Wang BaoFeng 9.Zhou JianLiang 10.Chen HongMin] Beijing Aerosp Control Ctr BACC, Beijing 100094, Peoples R China
推荐引用方式 GB/T 7714	Liu ZhaoQin,Di KaiChang,Peng Man,et al. High precision landing site mapping and rover localization for Chang'e-3 mission[J]. SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,2015,58(1):510-526.
APA	Liu ZhaoQin.,Di KaiChang.,Peng Man.,Wan WenHui.,Liu Bin.,...&Chen HongMin.(2015).High precision landing site mapping and rover localization for Chang'e-3 mission.SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY,58(1),510-526.
MLA	Liu ZhaoQin,et al."High precision landing site mapping and rover localization for Chang'e-3 mission".SCIENCE CHINA-PHYSICS MECHANICS & ASTRONOMY 58.1(2015):510-526.