Discussions on localization capabilities of MSL and MER rovers

Figures & data

Figure 1. MER rover and instruments (http://marsrover.nasa.gov/mission/spacecraft_surface_rover.html).

Figure 2. Curiosity and its instruments (NASA/JPL, http://mars.jpl.nasa.gov/msl/mission/instruments/).

Table 1. Filters equipped on the two MSL Mastcams. Source: Modified from NASA/JPL (2012), http://msl-scicorner.jpl.nasa.gov/Instruments/Mastcam/.

Wavelength range (nm)	34-mm medium angle camera	100-mm narrow angle camera
440 ± 12.5^a	X	X
440 ± 10 + ND^5	X
525 ± 10^a	X	X
550 ± 130^a	X	X
675 ± 10	X
750 ± 10	X
800 ± 10		X
865 ± 10	X
880 ± 10+ND^5		X
905 ± 12.5		X
935 ± 12.5		X
1035 ± 50^a	X	X

Notes: ^aIndicates filters common to both cameras. The filters each camera uses are marked with an ‘X’.

Table 2. Parameters of the MSL Mastcams.

	Mastcam-34 (M-34)	Mastcam-100 (M-100)
Focal length	~34 mm	~100 mm
f/#	f/8	f/10
FOV	15°	5.1°
Resolution	450 µm at 2 m distance, 22 cm at 1 km	7.4 cm at 1 km distance, ~150 μm at 2 m
Image size	1200 × 1200 on the 1600 × 1200 pixel detector	1200 × 1200 pixels
Focus distance	0.34 m to infinity	1.63 m to infinity

Table 3. Examples of sensors for Mars cartographic mapping on board Mars orbiters.

Sensor	Mission	Ground resolution
MOC NA (Mars Orbiter Camera Narrow Angle)	MGS/NASA (Mars Global Surveyor)	~1.4 m/pixel (nadir) ~3 m/pixel (typical)
MOLA (Mars Orbiter Laser Altimeter)	MGS/NASA (Mars Global Surveyor)	Range precision: ~37.5 cm Along-track ground spacing: ~330 m
HRSC (High-Resolution Stereo Camera)	Mars Express/ESA	~10 m (normal) ~2 m (selected area)
CTX (Context Camera)	MRO/NASA (Mars Reconnaissance Orbiter)	6 m/pixel
HiRISE (High-Resolution Imaging Science Experiment)	MRO/NASA	0.3 m/pixel

Figure 3. Key science targets at Gale crater shown on a CTX mosaic. The centre of the ellipse is 4.49 S, 137.42 E lat/lon. The ellipse is 20 × 25 km for scale. Images used in the mosaic are: B07_012195_1750_NS_05S222 W, B01_009927_1752_XN_04S222 W, and B21_017786_1746_SN_05S222 W.

Source: Grotzinger et al. (2012).

Figure 4. (a) Digital Elevation Model of the Gale crater region. (b) 3D view of strata exposed at the base of Mount Sharp, located in the centre of Gale crater. DEM constructed by USGS based on HiRISE images PSP_001488_1750 and PSP_001752_1750.

Source: Grotzinger et al. (2012).

Figure 5. MSL entry, descent and landing.

Source: Burkhart and Casoliva (2012).

Figure 6. Anaglyph stereo HiRISE images: the MSL rover can be seen as a distinct object in HiRISE image (a), parachute and heat shield are found in (b) and (c).

Source: NASA/JPL/University of Arizona. http://www.uahirise.org/releases/msl-3d.php.

Figure 7. Two views of a sample trajectory correction by visual odometry.

Source: Li et al. (2005).

Notes: The trajectory was taken by Opportunity during Sols 188 through 191.

Figure 8. Illustration of a rover traverse and the network with Pancam and Navcam images for bundle adjustment.

Source: Li et al. (2004).

Figure 9. Vertical profile of the Spirit rover traverse (Sol 154 to Sol 670).

Source: Di et al. (2008).

Notes: Line with triangle marks is the traverse as computed from telemetry data and line with circle marks is the profile as corrected by the bundle adjustment method.

Figure 10. Curiosity traverse map (through Sol 440) (http:// mars.jpl.nasa.gov/msl/mission/timeline).

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