Visual Localization of the Tianwen-1 Lander Using Orbital, Descent and Rover Images

Remote Sensing

Shuo Bao¹  Ximing He¹  Zuoyu Zhang¹  Hui Zhang¹  Lichun Li¹  Tianyi Yu¹  Hao Lu¹  Jia Wang¹  Wenhui Wan²  Lejia Ye²  Kaichang Di²  Man Peng²  Zhaoqin Liu²  Meiping Yang²  Zheng Bo²  Yexin Wang²  Ke Shi²  Bin Liu²  Runzhi Wang²  Li Yin² 

[1] Beijing Aerospace Control Center (BACC), Beijing 100094, China;State Key Laboratory of Remote Sensing Science, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China;

关键词: Tianwen-1;    lander localization;    NaTeCam image;    HiRIC image;    descent image;    landmark triangulation;   

DOI  :  10.3390/rs13173439

来源: DOAJ

【 摘 要 】

Tianwen-1, China’s first Mars exploration mission, was successfully landed in the southern part of Utopia Planitia on 15 May 2021 (UTC+8). Timely and accurately determining the landing location is critical for the subsequent mission operations. For timely localization, the remote landmarks, selected from the panorama generated by the earliest received Navigation and Terrain Cameras (NaTeCam) images, were matched with the Digital Orthophoto Map (DOM) generated by high resolution imaging camera (HiRIC) images to obtain the initial result based on the triangulation method. Then, the initial localization result was refined by the descent images received later and the NaTeCam DOM. Finally, the lander location was determined to be (25.066°N, 109.925°E). Verified by the new orbital image with the lander and Zhurong rover visible, the localization accuracy was within a pixel of the HiRIC DOM.

【 授权许可】

Unknown