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 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 FExisting and planned data sources <- Just covered by M. Robinson FMost important data sources FMapping product formats – then and now FUSGS landing site mapping examples FApollo 15 site mapping examples FPossible products for Constellation use Using imagery and altimetry to create mosaics and topographic models (DEMs or DTMs), for planning, simulation, training, navigation, and operations FExisting and planned data sources <- Just covered by M. Robinson FMost important data sources FMapping product formats – then and now FUSGS landing site mapping examples FApollo 15 site mapping examples FPossible products for Constellation use

3. Data Sources – Planned (most important) imagery, altimetry FAltimetry FFrom all upcoming missions (LRO LOLA, Kaguya (SELENE), Chandrayaan-1, Chang’E-1) FLOLA provides highest accuracy (1 m vertical, ~50 m horizontal) and coverage (5 spot pattern) FAll mission data needed for densification FImagery, global FLRO WAC (~70 m resolution, multispectral), M. Robinson presentation FM3 (~100 m, hyperspectral) FImagery, high resolution and stereo FApollo stereo, 16% of Moon (1-15 m res) FLRO NAC (0.5-2 m resolution), stereo on many important sites FChandrayaan-1 (5 m resolution), global stereo, 15 m post spacing FKaguya (10 m resolution), global stereo, 30 m post spacing FGeodetically controlled data required FTied to lunar laser ranging network, with LOLA as base FAll other datasets (past, present, future) need registered to this FAltimetry FFrom all upcoming missions (LRO LOLA, Kaguya (SELENE), Chandrayaan-1, Chang’E-1) FLOLA provides highest accuracy (1 m vertical, ~50 m horizontal) and coverage (5 spot pattern) FAll mission data needed for densification FImagery, global FLRO WAC (~70 m resolution, multispectral), M. Robinson presentation FM3 (~100 m, hyperspectral) FImagery, high resolution and stereo FApollo stereo, 16% of Moon (1-15 m res) FLRO NAC (0.5-2 m resolution), stereo on many important sites FChandrayaan-1 (5 m resolution), global stereo, 15 m post spacing FKaguya (10 m resolution), global stereo, 30 m post spacing FGeodetically controlled data required FTied to lunar laser ranging network, with LOLA as base FAll other datasets (past, present, future) need registered to this LOLA 1 month polar coverage LOLA Spot Pattern LOLA Spot Pattern LRO NAC 1 & 2 LRO WAC LRO WAC Apollo 15 Panoramic Camera image 1 meter resolution (Numerous boulders visible) Apollo 15 Panoramic Camera image 1 meter resolution (Numerous boulders visible)

4. Mapping Products – Then FPaper LO and Apollo “image maps” and topographic (contour) maps. FBy USGS and DMA FSee e.g. LPI site: http://www.lpi.usra.edu/res ources/ http://www.lpi.usra.edu/res ources/ FStill best data in many areas FPaper LO and Apollo “image maps” and topographic (contour) maps. FBy USGS and DMA FSee e.g. LPI site: http://www.lpi.usra.edu/res ources/ http://www.lpi.usra.edu/res ources/ FStill best data in many areas USGS LO map, used for A17 LRV fender repair LO map of Apollo 15 site, with annotation

5. Mapping Products, Now – for simulations, training, and landing FDigital products – DEMs (or DTMs) FLend themselves to creating simulations for planning and training FAlso for display and terrain matching navigation during landing and surface operations FIllumination possible from any direction FGlobal and Landing site mapping FGIS systems used for data comparison FDigital products – DEMs (or DTMs) FLend themselves to creating simulations for planning and training FAlso for display and terrain matching navigation during landing and surface operations FIllumination possible from any direction FGlobal and Landing site mapping FGIS systems used for data comparison Examples from USGS “PIGWAD” Planetary Mapping site (http://webgis.wr.usgs.gov/)

6. Current Landing Site Mapping Examples - USGS Using commercial photogrammetric workstation and software and USGS ISIS planetary mapping software Recent experience from many missions, including: FMars 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). FTitan surface mapping from Huygens DISR imaging FLunar 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: FMars 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). FTitan surface mapping from Huygens DISR imaging FLunar 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 Opportunity Rover From ~30 cm resolution HiRISE stereo images From ~30 cm resolution HiRISE stereo images Model of ~3 km area of surface of Titan

7. Apollo 15 Site Mapping - Example FLunar Orbiter FApollo Metric Camera FApollo Panoramic camera FLunar Orbiter FApollo Metric Camera FApollo Panoramic camera FUSGS mapped Apollo 15 landing site with scanned Apollo Pan, LO IV global HR, LO V site MR images FFrom 2 to 30 m/pixel FGood sub pixel matching except in shadows, bland areas at highest resolution FNo “cliffs” in LO models but other distortions found F10s % of Moon could be mapped now with 10 to 150 m post spacing FUSGS mapped Apollo 15 landing site with scanned Apollo Pan, LO IV global HR, LO V site MR images FFrom 2 to 30 m/pixel FGood sub pixel matching except in shadows, bland areas at highest resolution FNo “cliffs” in LO models but other distortions found F10s % of Moon could be mapped now with 10 to 150 m post spacing

8. Apollo 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

9. Possible Products For Constellation Use FUse merged altimeter datasets for global DEM FGlobal reference frame FDense coverage FHigh resolution polar coverage FUse global stereo for densifying global DEM FApollo FChandrayaan-1 or Kaguya FLanding site mapping FLROC NAC when available FApollo Panoramic FChandrayaan-1 FUse merged altimeter datasets for global DEM FGlobal reference frame FDense coverage FHigh resolution polar coverage FUse global stereo for densifying global DEM FApollo FChandrayaan-1 or Kaguya FLanding site mapping FLROC NAC when available FApollo Panoramic FChandrayaan-1 FPolar mapping / DEMs FMini-RF (LRO, Chandrayaan-1) for shadowed areas FProduct formats: FControlled global mosaics and DEMs for planning, simulation, terrain following navigation FControlled site mosaics and DEMs for landing and surface planning, simulation, and navigation FDigital products and some hardcopy products FPolar mapping / DEMs FMini-RF (LRO, Chandrayaan-1) for shadowed areas FProduct formats: FControlled global mosaics and DEMs for planning, simulation, terrain following navigation FControlled site mosaics and DEMs for landing and surface planning, simulation, and navigation FDigital products and some hardcopy products FKey is post mission processing and geodetic control (registration) of data FVia Lunar Mapping and Modeling Project? – See Ray French presentation FWhat products are really needed for Constellation? FProcessing beyond that likely needed as well, for resource location and science FKey is post mission processing and geodetic control (registration) of data FVia Lunar Mapping and Modeling Project? – See Ray French presentation FWhat products are really needed for Constellation? FProcessing beyond that likely needed as well, for resource location and science

10. Backup

11. Data Sources – Existing (important) imagery, altimetry FLunar Orbiter FStill best coverage for much of Moon FGlobal digital mosaic finally completed last month! FSome areas, 1 m resolution and stereo FApollo (see M. Robinson presentation) FA15-A17, covers ~16% of Moon FMetric camera gives 4 fold stereo, at 7-15 m resolution, 160 x 160 km FPanoramic camera gives stereo at 1-4 m resolution, 339 x 26 km FWill likely _not_ be superseded for some time FClementine FNear global coverage at ~150-200 m resolution FMultispectral, but high sun angle, some stereo info FOnly existing altimetry but sparse (~70,000 points) FBasis for current Unified Lunar Control Network 2005 (~44,000 images, ~273,000 points & topography) FLunar Orbiter FStill best coverage for much of Moon FGlobal digital mosaic finally completed last month! FSome areas, 1 m resolution and stereo FApollo (see M. Robinson presentation) FA15-A17, covers ~16% of Moon FMetric camera gives 4 fold stereo, at 7-15 m resolution, 160 x 160 km FPanoramic camera gives stereo at 1-4 m resolution, 339 x 26 km FWill likely _not_ be superseded for some time FClementine FNear global coverage at ~150-200 m resolution FMultispectral, but high sun angle, some stereo info FOnly existing altimetry but sparse (~70,000 points) FBasis 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 Lunar Orbiter near side view Lunar Orbiter near side view