Images and Cartographic Products to Support Lunar Simulations, Training, and

Landing

Images and Cartographic Products to Support Lunar Simulations, Training, and

Landing Brent A. ArchinalU.S. Geological Survey

Flagstaff, AZ

Go for Lunar Landing: From Terminal Decent to Touchdown

Fiesta Inn Resort, Tempe, AZ2008 March 4-5

Brent A. ArchinalU.S. Geological Survey

Flagstaff, AZ

Go for Lunar Landing: From Terminal Decent to Touchdown

Fiesta Inn Resort, Tempe, AZ2008 March 4-5

OverviewOverview

Using imagery and altimetry to create mosaics and topographic models (DEMs or DTMs), for planning, simulation, training, navigation, and operations

Existing and planned data sources <- Just covered by M. Robinson

Most important data sources Mapping product formats – then and now USGS landing site mapping examples Apollo 15 site mapping examples Possible products for Constellation use

Using imagery and altimetry to create mosaics and topographic models (DEMs or DTMs), for planning, simulation, training, navigation, and operations

Existing and planned data sources <- Just covered by M. Robinson

Most important data sources Mapping product formats – then and now USGS landing site mapping examples Apollo 15 site mapping examples Possible products for Constellation use

Data Sources – Planned (most important) imagery, altimetryData Sources – Planned (most important) imagery, altimetry

Altimetry From all upcoming missions (LRO

LOLA, Kaguya (SELENE), Chandrayaan-1, Chang’E-1)

LOLA provides highest accuracy (1 m vertical, ~50 m horizontal) and coverage (5 spot pattern)

All mission data needed for densification

Imagery, global LRO WAC (~70 m resolution,

multispectral), M. Robinson presentation

M3 (~100 m, hyperspectral) Imagery, high resolution and

stereo Apollo stereo, 16% of Moon (1-15

m res) LRO NAC (0.5-2 m resolution),

stereo on many important sites Chandrayaan-1 (5 m resolution),

global stereo, 15 m post spacing Kaguya (10 m resolution), global

stereo, 30 m post spacing Geodetically controlled data

required Tied to lunar laser ranging

network, with LOLA as base All other datasets (past, present,

future) need registered to this

Altimetry From all upcoming missions (LRO

LOLA, Kaguya (SELENE), Chandrayaan-1, Chang’E-1)

LOLA provides highest accuracy (1 m vertical, ~50 m horizontal) and coverage (5 spot pattern)

All mission data needed for densification

Imagery, global LRO WAC (~70 m resolution,

multispectral), M. Robinson presentation

M3 (~100 m, hyperspectral) Imagery, high resolution and

stereo Apollo stereo, 16% of Moon (1-15

m res) LRO NAC (0.5-2 m resolution),

stereo on many important sites Chandrayaan-1 (5 m resolution),

global stereo, 15 m post spacing Kaguya (10 m resolution), global

stereo, 30 m post spacing Geodetically controlled data

required Tied to lunar laser ranging

network, with LOLA as base All other datasets (past, present,

future) need registered to this

LOLA 1 month polar coverage

LOLA 1 month polar coverage

LOLA SpotPatternLOLA SpotPattern

LRO NAC 1 & 2LRO NAC 1 & 2

LRO

WAC

LRO

WAC

Apollo 15 PanoramicCamera image

1 meter resolution(Numerous boulders

visible)

Apollo 15 PanoramicCamera image

1 meter resolution(Numerous boulders

visible)

Mapping Products – ThenMapping Products – Then Paper LO and Apollo “image maps” and topographic (contour) maps.

By USGS and DMA See e.g. LPI site:

http://www.lpi.usra.edu/resources/

Still best data in many areas

Paper LO and Apollo “image maps” and topographic (contour) maps.

By USGS and DMA See e.g. LPI site:

http://www.lpi.usra.edu/resources/

Still best data in many areas

USGS LO map, used for A17 LRV fender repair

USGS LO map, used for A17 LRV fender repair

LO map of Apollo 15 site, with annotation

LO map of Apollo 15 site, with annotation

Mapping Products, Now – for simulations, training, and landing

Mapping Products, Now – for simulations, training, and landing

Digital products – DEMs (or DTMs)

Lend themselves to creating simulations for planning and training

Also for display and terrain matching navigation during landing and surface operations

Illumination possible from any direction

Global and Landing site mapping

GIS systems used for data comparison

Digital products – DEMs (or DTMs)

Lend themselves to creating simulations for planning and training

Also for display and terrain matching navigation during landing and surface operations

Illumination possible from any direction

Global and Landing site mapping

GIS systems used for data comparison

Examples from USGS “PIGWAD” Planetary Mapping site (http://webgis.wr.usgs.gov/)

Examples from USGS “PIGWAD” Planetary Mapping site (http://webgis.wr.usgs.gov/)

Current Landing Site MappingExamples - USGS

Current Landing Site MappingExamples - USGS

Using commercial photogrammetric workstation and software and USGS ISIS planetary mapping software

Recent experience from many missions, including:

Mars Landing site mapping from MGS MOC 1.5 to 6 m resolution), MRO HiRISE (30 cm resolution) (A. McEwen, PI), soon CTX (8 m resolution).

Titan surface mapping from Huygens DISR imaging

Lunar landing site mapping from Lunar Orbiter, Apollo Metric, and Apollo Panoramic cameras (10 m post spacing, ~3 m possible) (next slides)

Via stereo (see M. Broxton presentation) with photoclinometry (shape from shading) for single pixel DEMs – similar to A. McEwen “photometric stereo”

Manual editing and QC absolutely essential for mission success compared to fully automatic techniques

Using commercial photogrammetric workstation and software and USGS ISIS planetary mapping software

Recent experience from many missions, including:

Mars Landing site mapping from MGS MOC 1.5 to 6 m resolution), MRO HiRISE (30 cm resolution) (A. McEwen, PI), soon CTX (8 m resolution).

Titan surface mapping from Huygens DISR imaging

Lunar landing site mapping from Lunar Orbiter, Apollo Metric, and Apollo Panoramic cameras (10 m post spacing, ~3 m possible) (next slides)

Via stereo (see M. Broxton presentation) with photoclinometry (shape from shading) for single pixel DEMs – similar to A. McEwen “photometric stereo”

Manual editing and QC absolutely essential for mission success compared to fully automatic techniques

USGS Digital Photogrammetric Workstation

running Leica SOCET SET

USGS Digital Photogrammetric Workstation

running Leica SOCET SET

Model of ~1 km Victoria Crater on Mars

Model of ~1 km Victoria Crater on Mars

Opportunity RoverOpportunity Rover

From ~30 cm resolution

HiRISE stereo images

From ~30 cm resolution

HiRISE stereo images

Model of ~3 km area of surface of

Titan

Model of ~3 km area of surface of

Titan

Apollo 15 Site Mapping - ExampleApollo 15 Site Mapping - Example

Lunar OrbiterApollo Metric CameraApollo Panoramic

camera

Lunar OrbiterApollo Metric CameraApollo Panoramic

camera

USGS mapped Apollo 15 landing site with scanned Apollo Pan, LO IV global HR, LO V site MR images

From 2 to 30 m/pixel

Good sub pixel matching except in shadows, bland areas at highest resolution

No “cliffs” in LO models but other distortions found

10s % of Moon could be mapped now with 10 to 150 m post spacing

USGS mapped Apollo 15 landing site with scanned Apollo Pan, LO IV global HR, LO V site MR images

From 2 to 30 m/pixel

Good sub pixel matching except in shadows, bland areas at highest resolution

No “cliffs” in LO models but other distortions found

10s % of Moon could be mapped now with 10 to 150 m post spacing

Apollo 15 Site – Simulation ExampleApollo 15 Site – Simulation Example

Ground truth

Mosaic of Apollo 15 photos by David Scott from surface

Ground truth

Mosaic of Apollo 15 photos by David Scott from surface

Simulation from

Apollo 15 stereo Pan images

10 m post spacing, 2 m resolution

Simulation from

Apollo 15 stereo Pan images

10 m post spacing, 2 m resolution

Possible Products For Constellation Use

Possible Products For Constellation Use

Use merged altimeter datasets for global DEM Global reference frame Dense coverage High resolution polar

coverage Use global stereo for

densifying global DEM Apollo Chandrayaan-1 or Kaguya

Landing site mapping LROC NAC when available Apollo Panoramic Chandrayaan-1

Use merged altimeter datasets for global DEM Global reference frame Dense coverage High resolution polar

coverage Use global stereo for

densifying global DEM Apollo Chandrayaan-1 or Kaguya

Landing site mapping LROC NAC when available Apollo Panoramic Chandrayaan-1

Polar mapping / DEMs Mini-RF (LRO, Chandrayaan-

1) for shadowed areas Product formats:

Controlled global mosaics and DEMs for planning, simulation, terrain following navigation

Controlled site mosaics and DEMs for landing and surface planning, simulation, and navigation

Digital products and some hardcopy products

Polar mapping / DEMs Mini-RF (LRO, Chandrayaan-

1) for shadowed areas Product formats:

Controlled global mosaics and DEMs for planning, simulation, terrain following navigation

Controlled site mosaics and DEMs for landing and surface planning, simulation, and navigation

Digital products and some hardcopy products

Key is post mission processing and geodetic control (registration) of data

Via Lunar Mapping and Modeling Project? – See Ray French presentation

What products are really needed for Constellation? Processing beyond that likely needed as well, for resource

location and science

Key is post mission processing and geodetic control (registration) of data

Via Lunar Mapping and Modeling Project? – See Ray French presentation

What products are really needed for Constellation? Processing beyond that likely needed as well, for resource

location and science

BackupBackup

Data Sources – Existing (important) imagery, altimetry

Data Sources – Existing (important) imagery, altimetry

Lunar Orbiter Still best coverage for much of Moon Global digital mosaic finally completed

last month! Some areas, 1 m resolution and stereo

Apollo (see M. Robinson presentation)

A15-A17, covers ~16% of Moon Metric camera gives 4 fold stereo, at

7-15 m resolution, 160 x 160 km Panoramic camera gives stereo at 1-4

m resolution, 339 x 26 km Will likely _not_ be superseded for

some time Clementine

Near global coverage at ~150-200 m resolution

Multispectral, but high sun angle, some stereo info

Only existing altimetry but sparse (~70,000 points)

Basis for current Unified Lunar Control Network 2005 (~44,000 images, ~273,000 points & topography)

Lunar Orbiter Still best coverage for much of Moon Global digital mosaic finally completed

last month! Some areas, 1 m resolution and stereo

Apollo (see M. Robinson presentation)

A15-A17, covers ~16% of Moon Metric camera gives 4 fold stereo, at

7-15 m resolution, 160 x 160 km Panoramic camera gives stereo at 1-4

m resolution, 339 x 26 km Will likely _not_ be superseded for

some time Clementine

Near global coverage at ~150-200 m resolution

Multispectral, but high sun angle, some stereo info

Only existing altimetry but sparse (~70,000 points)

Basis for current Unified Lunar Control Network 2005 (~44,000 images, ~273,000 points & topography)

Apollo 15 Panoramic image (A15 landing site)

Apollo 15 Panoramic image (A15 landing site)

Clementine Global Basemap Mosaic

Clementine Global Basemap Mosaic

Lunar

Orbiter

near side

view

Lunar

Orbiter

near side

view