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 

机构地区：[1]State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth (RADI), Chinese Academy of Sciences [2]Beijing Aerospace Control Center (BACC)

出　　处：《Science China(Physics,Mechanics & Astronomy)》2015年第1期139-149,共11页中国科学：物理学、力学、天文学（英文版）

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)

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°W,44.11884°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.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°W, 44.11884°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 lo- calization. The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is di- rectly 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 avoid- ance and rover path planning.

关 键 词：Chang＇e-3 Yutu rover landing site mapping rover localization descent camera navigation camera 

分 类 号：P184.5[天文地球—天文学] V476.3[航空宇航科学与技术—飞行器设计]