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The Magellan spacecraft went into Venus orbit in 1990 and by 1992 had made three complete cycles of polar orbits, each cycle covering the full range of longitudes. During this time the spacecraft obtained synthetic aperture radar (SAR) images of >96% of the planet at a resolution of 75 m/pixel. Images taken with a decreased look angle from vertical, primarily during Cycle 3, provide stereo coverage of 17% of the planet when combined with images with same-side illumination from earlier in the mission. The stereo geometry of these images is extremely favorable, allowing elevation measurements with an estimated vertical precision (EP) of ~10 m. Magellan also obtained radar altimetry data at a horizontal resolution of 10x25 km, but photogrammetric analysis of the stereoimagery can yield topographic maps with a horizontal resolution more than an order of magnitude superior to that of the altimeter.
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NOTES ON BASE This map is based on data from the Mars Orbiter Laser Altimeter (MOLA) (Smith and others, 2001), an instrument on NASA's Mars Global Surveyor (MGS) spacecraft (Albee and others, 2001). The image used for the base of this map represents more than 600 million measurements gathered between 1999 and 2001, adjusted for consistency (Neumann and others, 2001, 2002) and converted to planetary radii. These have been converted to elevations above the areoid as determined from a martian gravity field solution GMM2 (Lemoine and others, 2001), truncated to degree and order 50, and oriented according to current standards (see below). The average accuracy of each point is originally ~100 meters in horizontal position, and ~1 meter in radius (Neumann, 2001). However, the total elevation uncertainty is at least +3 m due to the global error in the areoid (+1.8 meters according to Lemoine and others, 2001) and regional uncertainties in its shape (communication from Neumann, 2002). The measurements were converted into a digital elevation model (DEM) (communication from Neumann, 2002; Neumann and others, 2001; Smith and others, 2001) using Generic Mapping Tools software (Wessel and Smith, 1998), with a resolution of 0.015625 degrees per pixel or 64 pixels per degree. In projection, the pixels are 926.17 meters in size at the equator. PROJECTION The Mercator projection is used between latitudes +57°, with a central meridian at 0° and latitude equal to the nominal scale at 0°. The Polar Stereographic projection is used for the polar regions north of the +55° parallel and south of the –55° parallel with a central meridian set for both at 0°. The adopted equatorial radius is 3,396.19 km (Duxbury and others 2002; Seidelmann and others 2002). COORDINATE SYSTEM The MOLA data were initially referenced to an internally consistent inertial coordinate system, derived from tracking of the MGS spacecraft. By adopting appropriate values for the orientation of Mars as defined by the International Astronomical Union (IAU) and the International Association of Geodesy (IAG) (Seidelmann and others, 2002), these inertial coordinates were converted into the planet-fixed coordinates (longitude and latitude) used on this map. These values include the orientation of the north pole of Mars (including the effects of precession), the rotation rate of Mars, and a value for W0 of 176.630°, where W0 is the angle along the equator to the east, between the 0° meridian and the equator's intersection with the celestial equator at the standard epoch J2000.0 (Seidelmann and others, 2002). This value of W0 was chosen (Duxbury and others, 2002) in order to place the 0° meridian through the center of the small (~500 m) crater Airy-0, located in the crater Airy (de Vaucouleurs and others, 1973; Seidelmann and others, 2002). Longitude increases to the east, and latitude is planetocentric as allowed by IAU/IAG standards (Seidelmann and others, 2002) and in accordance with current NASA and USGS standards (Duxbury and others, 2002). A secondary grid (printed in red) has been added to the map as a reference to the west longitude/planetographic latitude system that is also allowed by IAU/IAG standards (Seidelmann and others, 2002) and has also been used for Mars. The figure adopted to compute this secondary grid is an oblate spheroid with an equatorial radius of 3,396.19 km and a polar radius of 3,376.2 km (Duxbury and others, 2002; Seidelmann and others, 2002). MAPPING TECHNIQUES To create the topographic base image, the original DEM produced by the MOLA team in Simple Cylindrical projection with a resolution of 64 pixels per degree was projected into the Mercator and Polar Stereographic pieces. A shaded relief was generated from each DEM with a sun angle of 30° from horizontal and a sun azimuth of 270°, as measured clockwise from north, and a vertical exaggeration of 100%. Illumination is from the west, which follows a long-standing USGS tradition for planetary maps. This allows for continuity in the shading between maps and quadrangles, and most closely resembles lighting conditions found on imagery. The DEM values were then mapped to a smooth global color look-up table. Note that the chosen color scheme simply represents elevation changes and is not intended to imply anything about surface characteristics (e.g., past or current presence of water or ice). These two files were then merged and scaled to 1:25 million for the Mercator portion and 1:15,196,708 for the two Polar Stereographic portions, with a resolution of 300 dots per inch. The projections have a common scale of 1:13,923,113 at +56° latitude. NOMENCLATURE Names on this sheet are approved by the IAU and have been applied for features clearly visible at the scale of this map. For a complete list of the IAU-approved nomenclature for Mars, see the Gazetteer of Planetary Nomenclature at http://planetarynames.wr.usgs.gov/. Font color was chosen for readability. Names followed by an asterisk are provisionally approved. *M 25M RKN: Abbreviation for Mars, 1:25,000,000 series, shaded relief (R), with color (K) and nomenclature (N) (Greeley and Batson, 1990)
In response to severe flooding in November 2006, the National Park Service contracted for a high-resolution aerial Light Detection and Ranging (LiDAR) topographic survey of Mount Rainier National Park, Washington. Due to inclement weather, this survey was performed in two stages: early September 2007 and September-October 2008. The total surveyed area of 241,585 acres includes an approximately 100-m-wide buffer zone around the Park to ensure complete coverage and adequate point densities at survey edges. Final results averaged 5.73 laser first return points/m2 over forested and high-elevation terrain, with a vertical accuracy of 3.7 cm on bare road surfaces and mean relative accuracy of 11 cm, based on comparisons between flightlines. Bare-earth topography, as developed by the contractor, is included in this release. A map of the 2007-2008 limits of glaciers and perennial snowfields was developed by digitizing 1:2,000 to 1:5,000 slope and shaded-relief images derived from the LiDAR topography. Edges of snow and exposed ice are readily seen in such images as sharp changes in surface roughness and slope. Ice mantled by moraine can be distinguished by the moraine's distinctly high roughness due to ice motion and melting, local exposures of smooth ice, and commonly by the presence of crevasses and shear boundaries. A map of the 1970 limits of ice and perennial snow was also developed by digitizing the snow and ice perimeters as depicted on the hydrologic separates used to produce the 1:24,000 topographic maps of the Mount Rainier region. These maps, produced in 1971, were derived from September 1970 aerial photographs. Boundaries between adjacent glacier systems were estimated and mapped from drainage divides, including partly emergent rock ridges, lines of diverging slope, and medial moraines. This data release contains the bare-earth LiDAR data as an ESRI grid file (DS549-Rainier_LiDAR.zip), the glacial limits derived from the USGS 1970 aerial photographs of the Mount Rainier vicinity as a shapefile, and the glacial limits derived from the 2007 to 2008 LiDAR survey as a shapefile (both shapefiles contained in DS549-Glacial_Limits.zip). These geospatial data files require GIS software for viewing.
This paper presents research on the semantics of topographic data for triples and ontologies to blend the capabilities of the Semantic Web and The National Map of the U.S. Geological Survey. Automated conversion of relational topographic data of several geographic sample areas to the triple data model standard resulted in relatively poor semantic associations. Further research employed vocabularies of feature type and spatial relation terms. A user interface was designed to model the capture of non-standard terms relevant to public users and to map those terms to existing data models of The National Map through the use of ontology. Server access for the study area triple stores was made publicly available, illustrating how the development of linked data may transform institutional policies to open government data resources to the public. This paper presents these data conversion and research techniques that were tested as open linked data concepts leveraged through a user-centered interface and open USGS server access to the public.
Map Descriptions Sheet 1 : This image mosaic is based on observations acquired by the Mercury Dual Imaging System (MDIS; Hawkins and others, 2009), an instrument on the National Aeronautics and Space Agency (NASA) MErcury Surface, Space ENvironment, Geochemistry, and Ranging (MESSENGER) spacecraft (Solomon and others, 2007). The Mercator projection is used between latitudes ±57°, with a central meridian at 0° longitude and latitude equal to the nominal scale at 0°. The polar stereographic projection is used for the regions north of the +55° parallel and south of the –55° parallel, with a central meridian set for both at 0° and a latitude of true scale at +90° and –90°, respectively. All features greater than 100 km in diameter or length were included unless they were not visible at the printed map scale. Some selected well-known features less than 100 km in diameter or length were also included. For listed references, please open the full PDF. Sheet 2 : This map is based on data acquired by the Mercury Dual Imaging System (MDIS; Hawkins and others, 2009) and Mercury Laser Altimeter (MLA; Cavanaugh and others, 2007) instruments on the National Aeronautics and Space Agency (NASA) MErcury Surface, Space ENvironment, Geochemistry, and Ranging (MESSENGER) spacecraft (Solomon and others, 2007). The topographic shaded-relief maps were generated from the original MDIS- and MLA-based DEMs with a sun angle of 45° from horizontal and a sun azimuth of 270°, as measured clockwise from north, with no vertical exaggeration. The DEM values were then mapped to a global color look-up table, with each color representing a range of 1 km of elevation. The shaded-relief and color files were then merged and scaled to 1:20,000,000 for the Mercator portion and 1:12,157,366 for the two polar stereographic parts with a resolution of 300 pixels per inch. The two projections have a common scale at ±56° latitude. The Mercator projection is used between latitudes ±57°, with a central meridian at 0° longitude and latitude equal to the nominal scale at 0°. The polar stereographic projection is used for the regions north of the +55° parallel and south of the –55° parallel, with a central meridian set for both at 0° and a latitude of true scale at +90° and –90°, respectively. All features greater than 200 km in diameter or length were included unless they were not visible at the printed map scale. Some selected well-known features less than 200 km in diameter or length were also included. Sheet 2 is offered digitally as a layered PDF with two elevation color ramp options—the original printed version and a multicolored ramp developed by the MESSENGER team for their global products. For listed references, please open the full PDF.
We are currently using stereophotogrammetric techniques to compile digital topographic models of parts of the Moon, Mars, Venus, and the asteroid Eros in support of the NASA program of planetary exploration. This work requires the synergistic use of the USGS digital cartographic software system ISIS for data ingestion and calibration steps, along with the commercial software SOCET SET for “photogrammetric” steps such as adjustment of control and topographic model extraction and editing. Novel procedures must frequently be developed to deal with problems of planetary datasets such as the need to use large numbers of small images, nonuniform image coverage, poor image overlap, and lack of true ground control. Some sensors, such as the Magellan Synthetic Aperture Radar, also require the development of specialized sensor model software. An important theme of our work is the complementarity between photogrammetric techniques and the laser altimeter systems coming into increasing use on planetary spacecraft. Stereoanalysis of Clementine images of the Moon has been used to fill in major gaps in the altimeter dataset at high latitudes, but the stereo data must be tied to the altimetry where the datasets overlap. For Mars and Eros, our stereomapping provides spatial sampling of topography finer than that achieved by altimetry, but use of the altimetry data for vertical control can significantly improve the absolute accuracy of photogrammetric topographic models.
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.
Knowledge graphs are a form of database representation and handling that show the potential to better meet the challenges of data interoperability, semi-automated information reasoning, and information retrieval. Geospatial knowledge graphs (GKG) have at their core specialized forms of applied ontology that provide coherent spatial context to a domain of information including non-spatial attributes. This paper discusses research toward the development of a prototype GKG based on national topographic databases of geospatial feature instances, attributes, properties, metadata, and annotations. The challenges are to capture and represent geographic semantics inherent in the source data, to align such graph models with standards where possible, to test logical computations, and to visualize the data using a cartographic user interface. Data integration from outside sources was tested through SPARQL and GeoSPARQL queries. Called the MapKB, the approaches applied in this prototype use a number of software components to build a system architecture aligned with those objectives and are composed entirely of free and open-source software. The system and ontology design were validated through reasoning and competency questions. Technical aspects of the prototype software succeeded, but customization was found to be needed for user-based design.
The Mars Reconnaissance Orbiter (MRO) arrived at Mars on 10 March 2006 and began its primary science phase in November. The High Resolution Imaging Science Experiment (HiRISE) on MRO is the largest, most complex camera ever flown to another planet. Plans call for this scanner to image roughly 1% of Mars by area at a pixel scale of 0.3 m during the next Mars year. Among the thousands of images will be hundreds of stereopairs that will provide an unprecedented three-dimensional view of the Martian surface at meter scale. These stereopairs will provide a tremendous amount of information for focused scientific studies, landing site selection and validation, and the operation of landers and rovers. In this paper, we describe our approach to generating geodetically controlled digital topographic models (DTMs) from such stereopairs, our early results, and plans for future DTM production. Our approach to the photogrammetric processing of HiRISE images follows that which we have previously described for the MOC and the Mars Express High Resolution Stereo Camera (HRSC). We use the USGS in-house digital cartographic software ISIS to do initial processing, including ingestion, decompression, and radiometric calibration of the images. "Three-dimensional" photogrammetric processing steps, including control and DTM creation and editing, are performed on a photogrammetric workstation running the commercial software SOCET SET (® BAE Systems). Noteworthy departures from past practice are the use of ISIS 3, the object-oriented successor to the older ISIS 2 system, and pre-processing in ISIS to correct geometric complications of the HiRISE images that cannot be modelled in the SOCET sensor model: multiple CCD detectors in the focal plane, optical distortion around an axis far from the detectors, and (ultimately) the small "jitter" motions of spacecraft pointing that distort the images and hence the DTMs. The first HiRISE stereopair analyzed covered the location of the Opportunity rover near the 750-m crater informally named Victoria in Meridiani Planum. This scene was extremely unfavorable for automated stereomatching, with extensive areas that are almost featureless, extremely steep, or both, but these problems were offset by the high quality of the HiRISE imagery, permitting us to obtain a 1 m/post DTM that required only limited interactive editing. Subsequent mapping of the Spirit rover site and a variety of scientifically interesting sites has proven that the greater surface texture found at most places on Mars leads to even better DTMs with even less editing required. We are currently working to refine and streamline our procedures in order to maximize the number of sites that can be mapped and studied in three dimensions with HiRISE.
The objectives of this paper are twofold: first, to report our estimates of the meter‐to‐decameter‐scale topography and slopes of candidate landing sites for the Phoenix mission, based on analysis of Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images with a typical pixel scale of 3 m and Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) images at 0.3 m pixel −1 and, second, to document in detail the geometric calibration, software, and procedures on which the photogrammetric analysis of HiRISE data is based. A combination of optical design modeling, laboratory observations, star images, and Mars images form the basis for software in the U.S. Geological Survey Integrated Software for Imagers and Spectrometers (ISIS) 3 system that corrects the images for a variety of distortions with single‐pixel or subpixel accuracy. Corrected images are analyzed in the commercial photogrammetric software SOCET SET (® BAE Systems), yielding digital topographic models (DTMs) with a grid spacing of 1 m (3–4 pixels) that require minimal interactive editing. Photoclinometry yields DTMs with single‐pixel grid spacing. Slopes from MOC and HiRISE are comparable throughout the latitude zone of interest and compare favorably with those where past missions have landed successfully; only the Mars Exploration Rover (MER) B site in Meridiani Planum is smoother. MOC results at multiple locations have root‐mean‐square (RMS) bidirectional slopes of 0.8–4.5° at baselines of 3–10 m. HiRISE stereopairs (one per final candidate site and one in the former site) yield 1.8–2.8° slopes at 1‐m baseline. Slopes at 1 m from photoclinometry are also in the range 2–3° after correction for image blur. Slopes exceeding the 16° Phoenix safety limit are extremely rare.
Alaska, the largest outlying possession of the United States, is that great land mass forming the northwestern extremity of the North American continent, whose western point is within 60 miles of the Asiatic coast (PI. II). About one-quarter of this area lies within the Arctic Circle, and from the standpoint of geographic position must be regarded as an arctic province; but the southern seaboard, exposed to the warm winds and waters of the Pacific, gives to the entire southern portion of the territory" a comparatively warm climate. It is not generally realized that the range of climate in Alaska is greater than that between Florida and Maine. At the southernmost point of the Pacific coast the mean annual temperature is not far from that of the city of Washington, the winters being warmer and characterized by less snowfall; the Yukon Valley on the other hand has a winter climate similar to that of northern Montana and Dakota; while in the extreme northern part of the territory the meteorologic conditions are invariably arctic. Though as yet only sparsely settled, Alaska's vast area and great resources make it one of the most important possessions of the United States and promise its rapid development. During the years 1890 to 1900 the population increased from 32,052* to 63,592. The mineral output, which in 1890 was valued at less than $800,000, exceeded $9,000,000 in 1904, and the fisheries show a corresponding growth. This rapid development has attracted public attention and led to urgent demand for explorations, surveys, and other investigations. So actively has this work been pushed, both by public and private enterprise, that exact knowledge of the geography, geology, and mineral resources of the interior has made greater strides within the last eight years than during the preceding thirty-one years since the acquisition of Alaska. The facts regarding the geography and geology, scattered as they are through the many books and reports of this period, are not always readily accessible, and the time seems ripe to present them in a summarized form. The topography of Alaska is varied and complex (see PI. I), and it is not easy to present briefly even the salient features. The limited number of pages here devoted to the subject precludes the possibility of detailed treatment, even if the facts were available. Much of the description has been taken from the results attained by other investigators, the writer being personally familiar with only a part of this large province. A list of the publications consulted is appended. The larger geographic features of Alaska are now fairly well known, though the detailed surveys which are demanded by the development of many localities have hardly been begun. Preliminary surveys have been completed of all but three 8 of the larger rivers. The most important mountain ranges have been at least outlined (fig. 3). Only three large areas remain almost entirely unmapped: One in southwestern Alaska, between Cook Inlet and the lower Kuskokwim, and the others in northern Alaska, embracing the Arctic watershed east and west of the Colville River. Nearly all the surveys of the interior, however, have been of a preliminary and exploratory character, and to meet the requirements of exact geography must be followed by more detailed mensuration. Though the coast line has been fairly well known for more than half a century, knowledge of the interior has been gained chiefly within the last two decades. This has not yet found its way into text-books and has too often been entirely ignored by cartographers. If facts are presented which may seem elementary, it is because even well-informed people have been known to harbor misconceptions in regard to the orographic features, climate, and general character of Alaska. Those who read of the perils and privations of winter travel and explorations are apt to picture a region of ice and snow; others, again, who have personal knowledge of the tourist route of southeastern Alaska, regard the whole district as one of rugged mountains and glaciers. In point of fact, glaciers are now nearly limited to the ranges bordering the Pacific and to the two slopes of the Alaska range; and even during the greatest development of glaciers but a small portion of Alaska was under ice (see map, PI. XXII). As a treatise on geography would hardly be complete without some discussion of the climate, meteorologic data have been compiled by Mr. Cleveland Abbe, jr., but the discussion of this does not pretend to be more than a cursory treatment of the subject. The scope of the paper seems to require also a brief summary of the development of geographic knowledge of Alaska. This subject, with its many ramifications, is of fascinating interest and offers a magnificent field for the trained historian. If the accompanying sketch of discovery and exploration awakens any measure of popular interest the writer will feel amply rewarded for having attacked a theme which hardly falls within the scope of his investigations. When this compilation was begun it was intended to be chiefly a description of the topography of Alaska, as illustrated by the accompanying map (PI. XXXIV, in pocket), which was compiled under the direction of the late R. U. Goode. In the course of the work there accumulated much geologic as well as geographic material which seemed worthy of inclusion in the report. As no comprehensive statement of the geology of Alaska has been made since the modern epoch of investigation was begun, an attempt will be made to give a summary of all results achieved. Since the writer has obtained much of his knowledge of the facts from the work of others, he disclaims any pretense of making an entirely original contribution to geologic science. He feels, however, that a personal familiarity with a considerable part of the province, gained during seven consecutive seasons of field work, will justify Mm in presenting conclusions which may in some cases be at variance with those in the reports on which he must draw for his facts. Throughout this report attempt will be made to credit borrowed material to the source from which it is drawn. Where such matter has been obtained entirely from published reports there is no difficulty in so doing; but as regards investigators of the Geological Survey, with whom the writer has collaborated both in field and in office, the case is somewhat different, for it is not always possible to know whether this or that theory originated with the writer or with one of his colleagues. It will, then, perhaps suffice to state that this report could not have been prepared without the explorations and researches of the geologists, F. C. Schrader, Walter C. Mendenhall, Arthur J. Collier, J. E. Spurr, and Arthur C. Spencer; and the surveys of the topographers, T. G. Gerdine, D. C. Witherspoon, D. L. Reaburn, W. J. Peters, and E. C. Barnard. Each of these men, in the course of from two to six years of field work, has made important contributions to the knowledge of the geography and geology of Alaska, and not all of these results have yet been put in print. In the last season (1903) L. M. Prindle, C. W. Wright, Arthur Hollick, G. C. Martin, F. L. Hess, and Fred H. Moffit have carried on geologic work in Alaska, and the writer has made use of their work now in course of publication. He has also been fortunate in having access to the manuscript reports of Walter C. Mendenhall and F. C. Schrader on the Copper River basin, to which references will be made. The matter here presented should be credited in a measure to all of these investigators, but for many of the theories advanced the writer alone is responsible. As this manuscript goes to press there has been opportunity to incorporate some of the results of the field work of 1904. As far as possible these have been embodied in the text, but in some instances it has been found advisable to add them only as footnotes. During the past summer F. E. and C. W. Wright extended the geologic reconnaissance in southeastern Alaska. In southwestern Alaska G. C. Martin and T. W. Stanton have determined the general Mesozoic section, while F. H. Moffit has made a reconnaissance of the northern part of the Kenai Peninsula. A. J. Collier has mapped the geology of the Cape Lisburne region, and L. M. Prindle and F. L. Hess have made contributions to the knowledge of the metamorphic terranes of the Yukon-Tanana district. It is the writer's purpose to describe in nontechnical language the larger geographic features and discuss their relation as far as the data available will permit. In the treatment of the geology, however, less effort will be made to make the matter acceptable to the lay reader. It is hoped, however, that a brief summary of the salient features of the geologic history' may be not without interest to the general public. If this paper serves in some measure to dispel the popular fallacies regarding Alaska and to disseminate more accurate knowledge of its geographic and geologic features, the purpose of its publication will be accomplished.
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