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

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Abstract

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.

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Authors and Affiliations

  1. State Key Laboratory of Remote Sensing Science, Institute of Remote Sensing and Digital Earth (RADI), Chinese Academy of Sciences, Beijing, 100101, China

    ZhaoQin Liu, KaiChang Di, Man Peng, WenHui Wan & Bin Liu

  2. Beijing Aerospace Control Center (BACC), Beijing, 100094, China

    LiChun Li, TianYi Yu, BaoFeng Wang, JianLiang Zhou & HongMin Chen

Authors
  1. ZhaoQin Liu
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  2. KaiChang Di
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  3. Man Peng
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  4. WenHui Wan
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  5. Bin Liu
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  6. LiChun Li
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  7. TianYi Yu
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  8. BaoFeng Wang
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  9. JianLiang Zhou
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  10. HongMin Chen
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Corresponding author

Correspondence to KaiChang Di.

Additional information

Recommended by XIAO Long (Assoicate Editor)

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Liu, Z., Di, K., Peng, M. et al. High precision landing site mapping and rover localization for Chang’e-3 mission. Sci. China Phys. Mech. Astron. 58, 1–11 (2015). https://doi.org/10.1007/s11433-014-5612-0

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  • DOI: https://doi.org/10.1007/s11433-014-5612-0

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