Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

Rongxing Li; Brent A. Archinal; Raymond E. Arvidson; Jim Bell; Phillip R. Christensen; Larry S. Crumpler; David J. Des Marais; Kaichang Di; Tom Duxbury; Matthew P. Golombek; John Grant; Ronald Greeley; Joe Guinn; Aaron H. Johnson; Randolph L. Kirk; Mark Maimone; Larry H. Matthies; Michael Malin; Timothy Parker; Michael H. Sims; Shane D. Thompson; Steven W. Squyres; Laurence A. Soderblom

doi:10.1029/2005je002483

Home/Archive/USGS

USGS · 70030611

Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars

View original source ↗Export metadata ↓

Abstract

By sol 440, the Spirit rover has traversed a distance of 3.76 km (actual distance traveled instead of odometry). Localization of the lander and the rover along the traverse has been successfully performed at the Gusev crater landing site. We localized the lander in the Gusev crater using two-way Doppler radio positioning and cartographic triangulations through landmarks visible in both orbital and ground images. Additional high-resolution orbital images were used to verify the determined lander position. Visual odometry and bundle adjustment technologies were applied to compensate for wheel slippage, azimuthal angle drift, and other navigation errors (which were as large as 10.5% in the Husband Hill area). We generated topographic products, including 72 ortho maps and three-dimensional (3-D) digital terrain models, 11 horizontal and vertical traverse profiles, and one 3-D crater model (up to sol 440). Also discussed in this paper are uses of the data for science operations planning, geological traverse surveys, surveys of wind-related features, and other science applications.

Explore related subjects

Journal of Geophysical Research E: Planets Article

Keep this discovery

Explore connections, maps & timelines

BibTeX RIS

Rongxing Li, Brent A. Archinal, Raymond E. Arvidson, Jim Bell, Phillip R. Christensen, Larry S. Crumpler, David J. Des Marais, Kaichang Di, Tom Duxbury, Matthew P. Golombek, John Grant, Ronald Greeley, Joe Guinn, Aaron H. Johnson, Randolph L. Kirk, Mark Maimone, Larry H. Matthies, Michael Malin, Timothy Parker, Michael H. Sims, Shane D. Thompson, Steven W. Squyres, Laurence A. Soderblom. 2006-01-12. Spirit rover localization and topographic mapping at the landing site of Gusev crater, Mars. https://doi.org/10.1029/2005je002483

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related USGS reports

USGS2022

Bedrock geochemistry and alteration history of the clay-bearing Glen Torridon region of Gale crater, Mars

Glen Torridon is a topographic trough located on the slope of Aeolis Mons, Gale crater, Mars. It corresponds to what was previously referred to as the “clay-bearing unit”, due to the relatively strong spectral signatures of clay minerals (mainly ferric smectites) detected from orbit. Starting in January 2019, the Curiosity rover explored Glen Torridon for more than 700 sols (Martian days). The objectives of this campaign included acquiring a detailed understanding of the geologic context in which the clay minerals were formed and determining the intensity of aqueous alteration experienced by the sediments. Here, we present the major-element geochemistry of the bedrock as analyzed by the ChemCam instrument. Our results reveal that the two main types of bedrock exposures identified in the lower part of Glen Torridon are associated with distinct chemical compositions (K-rich and Mg-rich), for which we are able to propose mineralogical interpretations. Moreover, the topmost stratigraphic member exposed in the region displays a stronger diagenetic overprint, especially at two locations close to the unconformable contact with the overlying Stimson formation, where the bedrock composition significantly deviates from the rest of Glen Torridon. Overall, the values of the Chemical Index of Alteration determined with ChemCam are elevated by Martian standards, suggesting the formation of clay minerals through open system weathering. However, there is no indication that the alteration was stronger than in some terrains previously visited by Curiosity , which in turn implies that the enhanced orbital signatures are mostly controlled by non-compositional factors.

Journal of Geophysical Research E: Planets↗

USGS2022

Mars Science Laboratory CheMin data from the Glen Torridon region and the significance of lake-groundwater interactions in interpreting mineralogy and sedimentary history

The Glen Torridon (GT) region is positioned in terrains with strong clay mineral signatures, as inferred from orbital spectroscopy. The GT campaign confirmed orbital distinctions with in situ measurements by the Mars Science Laboratory rover, Curiosity , and the CheMin X-ray diffraction instrument with of some of the highest clay mineral abundances to date. Additionally, GT is unique because of distinct phase identifications for the first time by CheMin, including: (i) Fe-carbonates, and (ii) a novel peak in the XRD patterns of some GT samples, with an interplanar spacing of at 9.2 Å. Fe-carbonates have been previously suggested from other instruments onboard, but this is the first definitive reporting by CheMin of multiple samples with Fe-carbonate. This new phase has never been observed in Gale crater with the CheMin instrument and may be a new mineral for Mars, but discrete identification still remains enigmatic because no single phase on Earth is able to account the mineralogical, geochemical, and sedimentological constraints in the GT region. Here, we modeled XRD profiles and propose an interstratified clay mineral, specifically greenalite-minnesotaite (G-M), as a reasonable candidate. The coexistence of Fe-carbonate and Fe-rich clay minerals in the GT samples, supports a conceptual model of a lacustrine groundwater mixing environment in the ancient Gale crater lake. Groundwater interaction with percolating lake waters in the sediments is common in terrestrial lacustrine settings, and the diffusion of two distinct water bodies within the subsurface can create a geochemical gradient and unique mineral front in the sediments. Ultimately, the proximity to this mixing zone controlled the secondary minerals preserved in the Jura, Knockfarril Hill, and Glasgow members of the Mt. Sharp group exposed in GT.

Journal of Geophysical Research E: Planets↗

USGS2022

New craters on Mars: An updated catalog

We present a catalog of new impacts on Mars. These craters formed in the last few decades, constrained with repeat orbital imaging. Crater diameters range from 58 m down to <1 m. For each impact, we report whether it formed a single crater or a cluster (58% clusters); albedo features of the blast zone (88% halos; 64% linear rays; 10% arcuate rays; majority dark-toned; 4% light-toned; 14% dual-toned); and exposures of ice (4% definite; 2% possible). We find no trends in the occurrences of clusters with latitude, elevation, or impact size. Albedo features do not depend on atmospheric fragmentation. Halos are more prevalent at lower elevations, indicating an atmospheric pressure dependence; and around smaller impacts, which could be an observational bias. Linear rays are more likely to form from larger impacts into more consolidated material and may be enhanced by lower atmospheric pressure at higher elevations. Light- and dual-toned blast zones occur in specific regions and more commonly around larger impacts, indicating excavation of compositionally distinct material. Surfaces covered with bright dust lacking cohesion are favored to form detectable surface features. The slope of the cumulative size frequency distribution for this data set is 2.2 for diameters >8 m (differential slope 2.9), significantly shallower than the slope of new lunar craters. We believe that no systematic biases exist in the Martian data set sufficient to explain the discrepancy. This catalog is complete at the time of writing, although observational biases exist, and new discoveries continue.

Journal of Geophysical Research E: Planets↗