Mathematics – Probability
Scientific paper
Dec 2008
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2008agufm.p41b1364s&link_type=abstract
American Geophysical Union, Fall Meeting 2008, abstract #P41B-1364
Mathematics
Probability
5464 Remote Sensing, 5494 Instruments And Techniques, 6225 Mars
Scientific paper
Landing spacecraft safely on Mars is a fundamental concern for mission planning. One recognized hazard is the presence of boulders large enough to tilt or damage the lander. We investigate the safety of the candidate landing sites for the MSL rover, set to launch in 2009, by calculating the abundance and spatial distribution of large (>1.5 m) rocks using Mars Explorer HRSC stereo imagery. Most satellite-based cameras are unable to resolve rocks down to 1.5 m diameter, except for the HiRISE camera (aboard the Mars Reconnaissance Orbiter), and HiRISE has not provided complete coverage of the candidate sites. We utilize HRSC stereo pairs which do offer complete coverage of landing sites. Because of the lower resolution (approx. 20 m/pixel) of HRSC, it is not possible to map all dangerous boulders directly. Therefore, we use an indirect method of measuring surface roughness, based on an optical two-look system and calibrated by HiRISE boulder counts where available. The two-look approach has been previously used and validated at the Phoenix and Spirit rover landing sites. It assesses surface roughness at sub-pixel scales by ratioing HRSC images taken at different angles relative to the sun and ground. The brightness of rough surfaces is greater when looking away from the sun, because even unresolved shadows from rocks are all or partly masked by the rocks themselves. Smooth surfaces show much less brightness difference. The ratio values are converted to rock abundances by calibration with automated rock counts from co-registered HiRISE images. From this, we are able to produce rock abundance maps and rank the candidate sites according to relative safety and probability of encountering large and hazardous rocks. In doing so, we hope to aid in the decision to choose the safest possible landing site for MSL.
Gillespie Alan R.
Gilson L.
Golombek Matthew P.
Huertas A.
Mushkin Amit
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