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

1. Images and Cartographic Products to Support Lunar Simulations, Training, and Landing Brent A. Archinal U.S. Geological Survey Flagstaff, AZ Go for Lunar Landing: From Terminal Decent to Touchdown Fiesta Inn Resort, Tempe, AZ 2008 March 4-5

2. Overview 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

3. Data Sources – Planned (most important) imagery, altimetry LOLA 1 month polar coverage • 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 Spot Pattern Apollo 15 Panoramic Camera image 1 meter resolution (Numerous boulders visible) LRO WAC LRO NAC 1 & 2

4. Mapping Products – Then LO map of Apollo 15 site, with annotation • 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

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

6. 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 Model of ~3 km area of surface of Titan USGS Digital Photogrammetric Workstation running Leica SOCET SET Opportunity Rover Model of ~1 km Victoria Crater on Mars From ~30 cm resolution HiRISE stereo images

7. Apollo 15 Site Mapping - Example • Lunar Orbiter • Apollo Metric Camera • Apollo 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

8. Apollo 15 Site – Simulation Example Simulation from Apollo 15 stereo Pan images 10 m post spacing, 2 m resolution Ground truth Mosaic of Apollo 15 photos by David Scott from surface

9. 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 Possible Products For Constellation Use 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

10. Backup

11. Data Sources – Existing (important) imagery, altimetry Lunar Orbiter near side view • 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) Clementine Global Basemap Mosaic