Task B-4: Planetary Geodesy

USGS Astrogeology Program Presentation toPlanetary Cartography and Geologic Mapping

Working Group

byby

Brent ArchinalBrent ArchinalUSGS Astrogeology TeamUSGS Astrogeology Team

2004 August 262004 August 26U. S. Geological SurveyU. S. Geological Survey

Flagstaff, AZFlagstaff, AZ

Purpose and Project Description

Provide and improve the infrastructure for NASA Provide and improve the infrastructure for NASA planetary Geodesy needs, i.e. to support “the planetary Geodesy needs, i.e. to support “the development and production of cartographic products of development and production of cartographic products of planetary data sets” (PG&G NRA), by efforts to:planetary data sets” (PG&G NRA), by efforts to:

Modernize, document, and further develop RAND/USGS Modernize, document, and further develop RAND/USGS planetary geodesy software.planetary geodesy software.

Document, study, improve, and archive existing Document, study, improve, and archive existing RAND/USGS control networks.RAND/USGS control networks.

Assist planetary geodesy community generally, e.g. via Assist planetary geodesy community generally, e.g. via coordinating with various working groups (MGCWG, coordinating with various working groups (MGCWG, IAU/IAG).IAU/IAG).

Outline

Current Planetary Geodesy NeedsCurrent Planetary Geodesy Needs

FY04 AccomplishmentsFY04 Accomplishments

FY05 Planned Course of WorkFY05 Planned Course of Work

Long-Range ActivitiesLong-Range Activities

Questions from PCGMWGQuestions from PCGMWG

SummarySummary

Current (NASA & USGS)Planetary Geodesy Needs

RAND (and now USGS) defining networks and software need to RAND (and now USGS) defining networks and software need to continually be documented and maintained, as the basis of nearly all continually be documented and maintained, as the basis of nearly all existing planetary cartographic products. “Old” images and existing planetary cartographic products. “Old” images and coordinate systems will never go out of use.coordinate systems will never go out of use.

New data needs to be continually tied to these networks in order to New data needs to be continually tied to these networks in order to be useful, from whatever data source, location, or purpose. Whether be useful, from whatever data source, location, or purpose. Whether from cameras or altimeters, near or far from planetary surfaces, and from cameras or altimeters, near or far from planetary surfaces, and for various scales of mapping or for navigation and landing this is for various scales of mapping or for navigation and landing this is an essential feature of all planetary missions.an essential feature of all planetary missions.

Coordination needed with various individuals, working groups, Coordination needed with various individuals, working groups, missions, etc. on defining these networks, coordinate systems, missions, etc. on defining these networks, coordinate systems, planetary constants, and standards, particularly with the NASA planetary constants, and standards, particularly with the NASA MGCWG and (internationally) the IAU/IAGMGCWG and (internationally) the IAU/IAG..

FY04 AccomplishmentsA) Consolidation and Improvement of RAND/USGSData Handling and Adjustment Software

Soon (next release) will have executables provided as Soon (next release) will have executables provided as package with ISIS, replacing ISIS “jigsaw” function.package with ISIS, replacing ISIS “jigsaw” function.

Running under Solaris, Linux, Mac.Running under Solaris, Linux, Mac. ISIS, preprocessing, and “randlsq” adjustment ISIS, preprocessing, and “randlsq” adjustment

programs interfaced using 3 Perl scripts.programs interfaced using 3 Perl scripts. ““build-meas.pl” – Creates mm measurement file from build-meas.pl” – Creates mm measurement file from

pixel measurement file(s).pixel measurement file(s). ““build-ppp.pl” – Collects a priori information.build-ppp.pl” – Collects a priori information. ““run-randlsq.pl” – Performs photogrammetric run-randlsq.pl” – Performs photogrammetric

solution.solution. Currently supporting: Moon (LO, Clementine), Mars Currently supporting: Moon (LO, Clementine), Mars

(Mariner 9, Viking), and Saturnian moons (Voyager, (Mariner 9, Viking), and Saturnian moons (Voyager, Cassini); Soon: Mariner 10, Galileo.Cassini); Soon: Mariner 10, Galileo.

FY04 Accomplishments, continuedA) Consolidation and Improvement of RAND/USGSData Handling and Adjustment Software, continued

Cassini ISS processing added (using Cassini funding).Cassini ISS processing added (using Cassini funding). Consolidation of multiple version RAND programs Consolidation of multiple version RAND programs

nearly complete.nearly complete. (15+2 new) Line/sample to x/y in mm programs (15+2 new) Line/sample to x/y in mm programs

merged into 1 or 2.merged into 1 or 2. A few RAND programs converted for Linux use.A few RAND programs converted for Linux use. Main “randlsq” adjustment program being changed to Main “randlsq” adjustment program being changed to

use sparse matrix and vector routines, in order to use sparse matrix and vector routines, in order to conserve memory and to allow output of solution conserve memory and to allow output of solution variance-covariance information.variance-covariance information.

Existing RAND Planetary Control Networks

FY04 Accomplishments, cont. B) Maintenance and Archiving of Current Planetary Control Networks

RAND data files and solutions exist RAND data files and solutions exist for 23 planetary bodies (previous for 23 planetary bodies (previous slide), and in most of these cases slide), and in most of these cases the RAND solutions define the the RAND solutions define the coordinate system for these coordinate system for these objects.objects.

Making USGS and RAND solutions Making USGS and RAND solutions available on the web. Will be available on the web. Will be complete for most bodies at end of complete for most bodies at end of this FY. See this FY. See http://astrogeology.usgs.gov/Projects/Chttp://astrogeology.usgs.gov/Projects/ControlNetworks/ontrolNetworks/ for Moon and Mars and soon Saturnian for Moon and Mars and soon Saturnian moons, and Schenk solutions. moons, and Schenk solutions.

Continuing to archive copies of Continuing to archive copies of control network data files (and control network data files (and software) off-site.software) off-site.

Working on a (delayed) Mars control Working on a (delayed) Mars control network publication. Will be based network publication. Will be based on ISPRS paper already published.on ISPRS paper already published.

FY04 Accomplishments, cont. C) Planetary Geodesy Community Assistance – E.g. IAU/IAG Working Group on Cartographic Coordinates and Rotational Elements

This working group sets the This working group sets the defining constants for planetary defining constants for planetary bodies, e.g. size, shape, rotation, bodies, e.g. size, shape, rotation, and reference frameand reference frame

Archinal now Vice-Chair.Archinal now Vice-Chair. 2003 report submitted for 2003 report submitted for

publication last week.publication last week. Important to stay involved so Important to stay involved so

that USGS, NASA standards are that USGS, NASA standards are adopted internationally, or in adopted internationally, or in conjunction with others (ESA, conjunction with others (ESA, DLR, Japan, etc.)DLR, Japan, etc.)

Other groups:Other groups: Provided info on standards to Provided info on standards to

ESRI and to ISO group – for ESRI and to ISO group – for incorporation into GIS software.incorporation into GIS software.

Also liaison to NASA MGCWG.Also liaison to NASA MGCWG.

IAU/IAG Working Group, cont.

2003 IAU/IAG report includes:2003 IAU/IAG report includes: Specific MOLA reference surface defined for Mars – Specific MOLA reference surface defined for Mars –

based on NASA MGCWG work.based on NASA MGCWG work. Adopted system for asteroids and comets: Adopted system for asteroids and comets:

planetocentric (east) longitude and right handed planetocentric (east) longitude and right handed (positive and negative pole).(positive and negative pole).

Allowed for alternate use (all bodies) of Cartesian Allowed for alternate use (all bodies) of Cartesian coordinates.coordinates.

Addition of several asteroids and first comet Addition of several asteroids and first comet (19P/Borrelly).(19P/Borrelly).

FY05 Planned Course of WorkA) Consolidation and Improvement of RAND/USGSData Handling and Adjustment Software

Carried over (with funding) from FY04:Carried over (with funding) from FY04: New routine to add image statistics to data in order New routine to add image statistics to data in order

to check correlations with solution residuals.to check correlations with solution residuals. New routine to interpolate radii from a digital New routine to interpolate radii from a digital

radius model.radius model. Add Mariner 9 preprocessing program for Mariner Add Mariner 9 preprocessing program for Mariner

9 data (for those wishing to update pointing for use 9 data (for those wishing to update pointing for use of such images).of such images).

Further improvements regarding ISIS integration, e.g. Further improvements regarding ISIS integration, e.g. in Perl scripts and preprocessing programs, based on in Perl scripts and preprocessing programs, based on user input.user input.

Search for and testing of faster sparse matrix Search for and testing of faster sparse matrix inversions routines.inversions routines.

FY05 Planned Course of Work, cont.B) Maintenance and Archiving of Current Planetary Control Networks

Continue making planetary control network Continue making planetary control network information available on the web.information available on the web. Any New USGS solutions (Moon, Saturnian moons).Any New USGS solutions (Moon, Saturnian moons). Solutions from others (Schenk and DLR – Saturnian Moons; Solutions from others (Schenk and DLR – Saturnian Moons;

Duxbury – Deimos and Phobos; others?).Duxbury – Deimos and Phobos; others?).

Continue to investigate and verify the measurements Continue to investigate and verify the measurements and control networks for Saturnian moons.and control networks for Saturnian moons. Examine, compare USGS, Schenk networks for Rhea and Examine, compare USGS, Schenk networks for Rhea and

Enceladus; Decide on best or combine.Enceladus; Decide on best or combine. Iapetus and Mimas in FY06. Tethys, Hyperion(?), Dione, in Iapetus and Mimas in FY06. Tethys, Hyperion(?), Dione, in

FY07 or 08.FY07 or 08.

FY05 Planned Course of Work, cont.C) Participation in IAU/IAG Working Group on Cartographic Coordinates and Rotational Elements of the Planets and Satellite

Archinal will:Archinal will: Continue as WG member.Continue as WG member. Post preprint version of 2003 report to the web.Post preprint version of 2003 report to the web. Provide web site for WG. Also add other related Provide web site for WG. Also add other related

information (best “other” or new constants).information (best “other” or new constants). Collect possible changes for 2006 report.Collect possible changes for 2006 report.

Saturnian moons, more asteroids, Wild 2.Saturnian moons, more asteroids, Wild 2.

Long-Range Plans (FY06 and beyond) Investigate improved (statistical) methods of looking for problem Investigate improved (statistical) methods of looking for problem

measurements, i.e. automatic editing of data.measurements, i.e. automatic editing of data. Finish investigation and improvement of control networks for Finish investigation and improvement of control networks for

Saturnian moons. Proceed (FY08 or later) to examining other Saturnian moons. Proceed (FY08 or later) to examining other networks. Cross reference control and nomenclature databases?networks. Cross reference control and nomenclature databases?

Continue to participate in MGCWG, IAU/WG on Cartographic Continue to participate in MGCWG, IAU/WG on Cartographic Coordinates and Rotational Elements.Coordinates and Rotational Elements.

Under separate funding, continue model and software Under separate funding, continue model and software development allowing for new types of sensors, data, and development allowing for new types of sensors, data, and constraints, e.g. integration of orbiter, descent, lander, and rover constraints, e.g. integration of orbiter, descent, lander, and rover images. images.

Similarly, allow for further types of data, e.g. Cassini radar at Similarly, allow for further types of data, e.g. Cassini radar at Titan.Titan.

Develop models and software for mission simulation for planning Develop models and software for mission simulation for planning data collection data collection beforebefore a mission is undertaken. a mission is undertaken.

Other software improvements…Other software improvements…

Questions from PCGMWG – 1

““At the PCGMWG meeting, a presentation of the 4 proposed general At the PCGMWG meeting, a presentation of the 4 proposed general software improvements would be helpful. Such a discussion would be software improvements would be helpful. Such a discussion would be beneficial for supporting the future direction of this task... Bringing the beneficial for supporting the future direction of this task... Bringing the radargrammetric software up to speed as well is a good idea for future radargrammetric software up to speed as well is a good idea for future work”.work”.

1. Convert control network information to NAIF SPICE Control Net Kernel.1. Convert control network information to NAIF SPICE Control Net Kernel. Drafted by NAIF in 1999.Drafted by NAIF in 1999. Apparently no data in this format yet.Apparently no data in this format yet. Use/extend some other existing format? Use/extend some other existing format? Work with NAIF, others, to draft new format and use?Work with NAIF, others, to draft new format and use?

2. Extract “postage stamps” of control points.2. Extract “postage stamps” of control points. Would help (with appropriate software) to let others identify and use Would help (with appropriate software) to let others identify and use

points. (Part of NAIF draft above.)points. (Part of NAIF draft above.) Possibly could be used automatically, i.e. for automatic tie pointing Possibly could be used automatically, i.e. for automatic tie pointing

or even autonomous navigation.or even autonomous navigation.

Questions from PCGMWG – 1, continued

3. Bring the general radargrammetric solution program (now called 3. Bring the general radargrammetric solution program (now called “radar”) up to date.“radar”) up to date.

For Magellan only, not a high priority, but we want to check For Magellan only, not a high priority, but we want to check Venus control at some point.Venus control at some point.

More likely would want to adapt for Cassini RADAR use (but More likely would want to adapt for Cassini RADAR use (but should leverage with other funding).should leverage with other funding).

Other option is to extend and merge with photogrammetric Other option is to extend and merge with photogrammetric solutions, e.g. for Titan or Moon.solutions, e.g. for Titan or Moon.

4. Software to display differences between solutions4. Software to display differences between solutions Currently labor intensive, using home-grown, Excel, and Currently labor intensive, using home-grown, Excel, and

ArcMap.ArcMap. Write custom software. Possibly not too ideal, but might Write custom software. Possibly not too ideal, but might

provide most desired results.provide most desired results. Write scripts and use commercial software, e.g. Write scripts and use commercial software, e.g.

ArcWorkstation.ArcWorkstation.

Questions from PCGMWG - 2

““Rigorous development of control net solutions is timely for the outer Rigorous development of control net solutions is timely for the outer satellites. Much is said about algorithmic improvement, but satellites. Much is said about algorithmic improvement, but insufficient details have been published, even in abstract form, so it insufficient details have been published, even in abstract form, so it is hard to assess the scientific impact of the ‘better mousetrap’.”is hard to assess the scientific impact of the ‘better mousetrap’.”

Not clear if about the “algorithmic” development of the software or Not clear if about the “algorithmic” development of the software or about the improvements being made to the control networks. about the improvements being made to the control networks. Which? For either publications are proceeding…Which? For either publications are proceeding…

As to scientific impact, certainly one of our goals is to assist in As to scientific impact, certainly one of our goals is to assist in providing products that will assist with scientific investigations and providing products that will assist with scientific investigations and particularly geologic mapping. But we hope it’s clear that this task particularly geologic mapping. But we hope it’s clear that this task (if not much of the USGS effort) is largely the support of NASA (if not much of the USGS effort) is largely the support of NASA planetary mapping and navigation “infrastructure”.planetary mapping and navigation “infrastructure”.

Summary

Continue work begun at RAND to maintain Continue work begun at RAND to maintain and improve planetary control networks on and improve planetary control networks on which most planetary cartographic products which most planetary cartographic products are based.are based.

Begin to allow for combination of new types of Begin to allow for combination of new types of data from whatever data source, location or data from whatever data source, location or purpose.purpose.

Continue cooperation regarding defining Continue cooperation regarding defining constants, networks, etcconstants, networks, etc..