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Trent M. Hare

Publications and source records attributed to Trent M. Hare.

At least 19 recordsLinked to original sources

Medium resolution lunar topography: An updated view of the lunar surface from stereophotogrammetrically derived DTMs

Digital Terrain Models (DTMs) are essential for lunar exploration, supporting critical applications such as landing site selection,mission planning, and in situ resource utilization. This study presents a comprehensive reprocessing of the Kaguya Terrain Camera (TC) dataset using the NASA Ames Steropipeline to generate over 130,000 medium-resolution DTMs with nearly global lunar coverage to ±70°. We observed significant bowing in the DTMs derived using the publicly available interior orientation and have used a novel technique, in the planetary sciences, to re-estimate the boresight and eight-parameter distortion coefficients. Inter-DTM vertical alignment errors are also present due to spacecraft jitter and we present the methodology used to jitter correct the DTMs. DTMs are aligned to the Lunar Orbiter Laser Altimeter (LOLA) point cloud and absolute errors are mean centered to zero with a mean standard deviation of 24 meters. Leveraging advanced stereophotogrammetry techniques, updated sensor models, and rigorous alignment to the Lunar Orbiter Laser Altimeter (LOLA) dataset, we achieved horizontal accuracies inside the orthoimage resolution (mean of 30 meters per pixel) and 2-4 meters vertically. These high-quality DTMs serve as critical inputs for planetary science, engineering, and future lunar mission planning. The methods and insights gained from this large-scale processing effort establish a framework for automating DTM derivation on other planetary bodies.

Conference Paper↗

Lunar grid systems, coordinate systems, and map projections for the Artemis missions and lunar surface navigation

Foreward This document contains design specifications of a navigational standard for the Moon, including a Lunar Transverse Mercator system, a Lunar Polar Stereographic system, a Lunar Grid Reference System, and a unique coordinate structure, Artemis Condensed Coordinates, for Artemis mission navigation and lunar surface science. The National Aeronautics and Space Administration (NASA) Artemis campaign seeks to place humans on the Moon for the first time since the Apollo missions. Early Artemis missions are heavily focused on the lunar south pole, which promises to return valuable data on the Moon’s geologic record, amongst other mission objectives. Coordinate systems in use today for the lunar south pole provides crew members on the surface neither an efficient nor intuitive means to communicate their position and orientation. A novel grid coordinate system, the Lunar Grid Reference System, is proposed to address these concerns for use in real-time extravehicular activity operations on the lunar surface. The many stakeholders involved in the Artemis missions will need a common system to communicate position and orientation while astronauts are operating on the lunar surface. To that end, Artemis crew members will need that system to be efficient and intuitive to promote efficient extravehicular activity timelines and reduce confusion. In the context of this document, these characteristics are addressed on the design of lunar coordinate systems: Efficient.—The number of characters required to communicate a location within a desired precision level in both local and global contexts, and how many steps are required for a recipient or sender to interpret a location. Intuitive.—How well the system aligns with human perceptual abilities, and whether the system yields distances that have the same relationship to actual lunar surface distance in all directions from the point where a person is located. Technological systems are currently being investigated to supplement the crew members’ ability to locate and orient themselves and other assets on the lunar surface; however, it is unlikely that those systems will be fully operational for the first few landed missions. Even with future positional aids, crew members will still need an efficient and intuitive means to communicate position and orientation. In addition, if technological systems fail, the crews will require land navigation skills and have maps available, thus providing further motivation for a crew-centric coordinate system. The contents of this U.S. Geological Survey (USGS) document detail a comprehensive framework for standardizing lunar crewed surface navigation within NASA and outlines the protocols, methods, and designs necessary for achieving consistency and interoperability across relevant space mission teams and lunar surface navigators. Key components of this document include designs of map projections, projected coordinate reference systems (Lunar Transverse Mercator and Lunar Polar Stereographic systems), and a grid system (Lunar Grid Reference System and Artemis Condensed Coordinates) for the Moon. The work proposed in this document seeks to accomplish something similar to the National Geospatial-Intelligence Agency (NGA) document SIG 0012 (NGA, 2014a), but for using grid systems for the Moon. This report incorporates initial feedback and input from NASA’s Artemis Geospatial Data Team, NASA’s Flight Operations Directorate, National Geodetic Survey, USGS Astrogeology Science Center, and NGA and is intended to serve as a resource for all involved with the Artemis missions, as well as for engineers designing and operating lunar infrastructure.

Techniques and Methods↗

Current status of the community sensor model standard for the generation of planetary digital terrain models

The creation of accurate elevation models (topography) from stereo images are critical for a large variety of geospatial activities, including the production of digital orthomosaics, change detection, landing site analysis, geologic mapping, rover traverse planning, and spectral analysis. The United Stated Geological Survey, Astrogeology Science Center, continues to transition the supported planetary sensor models to the Community Sensor Model (CSM) standard. This paper describes the current state of use for this photogrammetric standard, supported sensor model types, and qualitatively compares derived topography between SOCET SET and SOCET GXP ( ® BAE Systems) using HiRISE stereo images of Mars. Our transition to the CSM standard will ensure an uninterrupted capability to make these valuable products for Mars and many other extraterrestrial planets and moons.

Remote Sensing↗

Mapping planetary bodies

As the United States and its space agency, the National Aeronautics and Space Administration (NASA), looks to send humans back to the Moon, many other countries and their space agencies are also sending orbiters, rovers, and sample return missions across the Solar System. We are living in an extraordinary age of planetary exploration, where every mission builds on the decades of advancements in satellite design and onboard instrumentation. Once we acknowledge this, we can turn to understanding and analyzing the wealth of collected data. Fortunately, the principles and methods used for terrestrial mapping can also be used for extraterrestrial bodies. Herein, we introduce the concepts and some challenges to mapping planetary bodies like the Moon, Mercury, Mars, and the numerous moons we have visited in our outer Solar System. These spacecrafts including orbiter and fly-by missions are often loaded with novel instrument types from intricate pushbroom cameras and multi- and hyper-spectral cameras to radar and laser altimeter instruments.

Book chapter↗

Planetary geologic mapping protocol—2022

The Planetary Geologic Mapping Protocol covers the idealized process of compiling a NASA-funded map product of a non-terrestrial solid surface planetary body for U.S. Geological Survey (USGS) publication and summarizes technical specifications of the Mapping Process for authors and reviewers. Directed by community and programmatic recommendations, the USGS Planetary Geologic Map Coordination Group assembled the content herein to aid the timely production of USGS map products. This document can be also used as a reference document by those researchers who are completing geologic maps that will be published outside the USGS.

Techniques and Methods↗

Evaluating stereo digital terrain model quality at Mars Rover Landing Sites with HRSC, CTX, and HiRISE Images

We have used high-resolution digital terrain models (DTMs) of two rover landing sites based on mosaicked images from the High-Resolution Imaging Science Experiment (HiRISE) camera as a reference to evaluate DTMs based on High-Resolution Stereo Camera (HRSC) and Context Camera (CTX) images. The Next-Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET and GXP® commercial photogrammetric systems produces DTMs with good (small) horizontal resolution but large vertical error. Somewhat surprisingly, results for NGATE are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give similar tradeoffs between resolution and error; a 5 × 5 lowpass filter is near optimal in terms of both combined resolution-error performance and local slope estimation. Smoothing with an area-based matcher, the standard processing for U.S. Geological Survey planetary DTMs, yields similar errors to the 5 × 5 filter at slightly worse resolution. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Considered individually, resolution and error each varied by approximately a factor of 2. Matching errors were 0.2–0.5 pixels but most results fell in the 0.2–0.3 pixel range that has been stated as a rule of thumb in multiple prior studies. Horizontal resolutions of 10–20 image pixels were found, consistently greater than the 3–5 pixel spacing generally used for stereo DTM production. Resolution and precision were inversely correlated; their product varied by ≤20% (4–5 pixels squared). Refinement of the stereo DTM by photoclinometry can yield quantitative improvement in resolution (more than a factor of 2), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe. We offer specific guidance for both producers and users of planetary stereo DTMs, based on our results.

Remote Sensing↗

Further adventures in Mars DTM quality: Smoothing errors, sharpening details

We have used high-precision, high-resolution digital terrain models (DTMs) of the NASA Mars Science Laboratory (MSL) and Mars 2020 rover landing sites based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference data set to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) images. The Next Generation Automatic Terrain Extraction (NGATE) matcher in the SOCET SET/GXP † commercial photogrammetric system produces DTMs with relatively good (small) horizontal resolution but high error, and results are terrain dependent, with poorer resolution and smaller errors on smoother surfaces. Multiple approaches to smoothing the NGATE DTMs give very similar tradeoffs between resolution and error. Smoothing the NGATE DTMs with a single pass of an area-based matcher, which has been the standard approach to generating planetary DTMs at the U.S. Geological Survey (USGS) to date is probably near-optimal in terms of both combined resolution-error performance and local slope estimation, but smoothing with a 5x5 lowpass filter performs as well or better. DTMs from the HRSC team processing pipeline fall within this same trade space but are less sensitive to terrain roughness. DTMs produced with the Ames Stereo Pipeline also fall in this space at resolutions intermediate between NGATE and the team pipeline. Although DTM resolution and error each vary by a factor of two, their product is much more consistent, varying by <20% across multiple image sets and matching algorithms. Refinement of the stereo DTM by photoclinometry can yield significant quantitative improvement in resolution and some improvement in error (improving their product by as much as a factor of two), provided that albedo variations over distances smaller than the stereo DTM resolution are not too severe.

Conference Paper↗

Evaluating stereo DTM quality at Jezero Crater, Mars with HRSC, CTX, and HiRISE images

We have used a high-precision, high-resolution digital terrain model (DTM) of the NASA Mars 2020 rover Perseverance landing site in Jezero crater based on mosaicked images from the Mars Reconnaissance Orbiter High Resolution Imaging Science Experiment (MRO HiRISE) camera as a reference dataset to evaluate DTMs based on Mars Express High Resolution Stereo Camera (MEX HRSC) and MRO Context camera (CTX) images. Results are consistent with our earlier HRSC-HiRISE comparisons at the Mars Science Laboratory (MSL) Curiosity landing site in Gale crater, confirming that those results were not compromised by the small area compared and potential problems with spatial registration. Specifically, height errors are on the order of half a pixel and correspond to an image matching error of 0.2–0.3 pixel but estimates of horizontal resolution are 10–20 pixels. Products from the HRSC team pipeline at DLR are smoother but more precise vertically than those produced by using the commercial stereo package SOCET SET®. The DLR products are also homogenous in quality, whereas the SOCET products are less smoothed and have higher errors in rougher terrain. Despite this weak variation, our results are consistent with a rule of thumb of 0.2–0.3 pixel matching precision based on many prior studies. Horizontal resolution is significantly coarser than the DTM ground sample distance (GSD), which is typically 3–5 pixels.

Conference Paper↗

Planetary sensor models interoperability using the community sensor model specification

This paper presents the photogrammetric foundations upon which the Community Sensor Model specification depends, describes common coordinate system and reference frame transformations that support conversion between image sensor (charge‐coupled device) coordinates to some arbitrary body coordinate, and describes the U.S. Geological Survey Astrogeology Community Sensor Model implementation ( https://github.com/USGS-Astrogeology/usgscsm ). We present a new image support data specification that provides the position, pointing, timing, and metadata information necessary to properly locate a pixel or observations location on a body and describe a system architecture designed to explicitly identify the responsibilities of software components within a larger pipeline or analytical environment. This paper concludes with a set of experiments that illustrate positional and pointing error in the sensor location and the impact on the computed surface location.

Earth and Space Science↗

Community tools for cartographic and photogrammetric processing of Mars Express HRSC images

In this chapter we describe the software we have developed for photogrammetric processing of images from the Mars Express High Resolution Stereo Camera (MEX HRSC) to produce digital topographic models (DTMs) and orthoimages, as well as testing we have performed. HRSC has returned images, including stereo and color coverage of most of Mars at decameter scales. The instrument team has developed an extremely powerful processing pipeline and delivered a large number of high-level data products, but our independent software is nevertheless of interest because it provides a check on the standard products, sheds light on the capabilities of software elements we use for multiple missions besides HRSC, and is publicly available, giving users the opportunity to make products that may not (yet) be released by the team and custom products such as local mosaics. We have tested our software on images of three areas: Candor Chasma and Nanedi Valles (both the subject of past DTM comparisons reported by Heipke et al., 2007) and Gale crater, which was extensively mapped at pixel scales 50 times finer than HRSC before its selection as the landing site of the Curiosity rover. We find the vertical precision and mean deviation from the altimetry data used as a control reference for our DTMs to be comparable to the nadir image pixel size. The horizontal resolution of the DTMs appears to be an order of magnitude coarser than the lower limit of 3–5 image pixels that is commonly stated.

Book chapter↗

Planetary geologic mapping—Program status and future needs

The United States Geological Survey’s (USGS) Planetary Geologic Map Coordination Group (Flagstaff, Ariz.) surveyed planetary geoscience map makers and users to determine the importance, relevance, and usability of such products to their planetary science research and to current and future needs of the planetary science community. This survey was prepared because the planetary science community lacks a modern assessment of the value invested in geoscience map products and processes (including the diverse scientific and technical personnel who add to and maintain this infrastructure) and a strategy that ensures these efforts appropriately prioritize mapping efforts across all solid surface bodies in the Solar System. A 30-question survey was conducted through an online questionnaire and was designed to (1) take <10 minutes, (2) instill a sense that responses would be acted upon, and (3) encourage community participation through a user-friendly interface. The survey made a distinction between “standardized” geoscience maps (those published by the USGS that require adherence to specific cartographic standards, conventions, and principles) and “non-standardized” geoscience maps (those published by other venues such as peer-reviewed journals that are not required to, but might, adhere to some cartographic standards, conventions, and principles). The survey was opened on Sunday, March 18, 2017 (to coincide with the annual Lunar and Planetary Science Conference in The Woodlands, Tex.) and was closed on Thursday, May 25, 2017. There was a total of 265 unique responses that were formulated into 17 unique findings that were matched with one or more recommendations to be addressed by the planetary science community.

Open-File Report↗

The compositions of the lunar crust and upper mantle: Spectral analysis of the inner rings of lunar impact basins

The innermost ring in impact basins exposes material originating from various depths, and can be used to study the composition of the lunar crust with depth. In this study, we conduct quantitative mineralogical analyses of the innermost ring in 13 lunar impact basins using reflectance data from the Kaguya Multiband Imager and radiative transfer modeling. We use results from recent hydrocode modeling to calculate the depth of origin of the material exposed by the innermost rings. We find that the most abundant rock type on the innermost ring of most basins is anorthosite. The mafic assemblages are dominated by olivine in some cases, but most often by pyroxene. The impact modeling suggests that the innermost ring material was excavated from a wide range of depths. Here we focus on two mean depths: a crustal component and a mantle component. The crustal component largely dominates the innermost ring material, and the mantle component is present on the innermost ring of 9 of the basins we studied. On these 9 rings, the abundance of low-calcium pyroxene decreases with the proportion of crustal component, suggesting a dominantly mantle origin. However, as we do not detect exposures of ultramafic material, such mantle material is possibly present at the sub-pixel scale (<62 m). This quantitative study reassesses the composition of the lunar crust and upper mantle, which is of great importance for understanding the formation of the Moon.

Planetary and Space Science↗

Image mosaic and topographic maps of Mercury

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.

Scientific Investigations Map↗

Interoperability in planetary research for geospatial data analysis

For more than a decade there has been a push in the planetary science community to support interoperable methods for accessing and working with geospatial data. Common geospatial data products for planetary research include image mosaics, digital elevation or terrain models, geologic maps, geographic location databases (e.g., craters, volcanoes) or any data that can be tied to the surface of a planetary body (including moons, comets or asteroids). Several U.S. and international cartographic research institutions have converged on mapping standards that embrace standardized geospatial image formats, geologic mapping conventions, U.S. Federal Geographic Data Committee (FGDC) cartographic and metadata standards, and notably on-line mapping services as defined by the Open Geospatial Consortium (OGC). The latter includes defined standards such as the OGC Web Mapping Services (simple image maps), Web Map Tile Services (cached image tiles), Web Feature Services (feature streaming), Web Coverage Services (rich scientific data streaming), and Catalog Services for the Web (data searching and discoverability). While these standards were developed for application to Earth-based data, they can be just as valuable for planetary domain. Another initiative, called VESPA (Virtual European Solar and Planetary Access), will marry several of the above geoscience standards and astronomy-based standards as defined by International Virtual Observatory Alliance (IVOA). This work outlines the current state of interoperability initiatives in use or in the process of being researched within the planetary geospatial community.

Planetary and Space Science↗

Community tools for cartographic and photogrammetric processing of Mars Express HRSC images

The High Resolution Stereo Camera (HRSC) on the Mars Express orbiter (Neukum et al. 2004) is a multi-line pushbroom scanner that can obtain stereo and color coverage of targets in a single overpass, with pixel scales as small as 10 m at periapsis. Since commencing operations in 2004 it has imaged ~ 77 % of Mars at 20 m/pixel or better. The instrument team uses the Video Image Communication And Retrieval (VICAR) software to produce and archive a range of data products from uncalibrated and radiometrically calibrated images to controlled digital topographic models (DTMs) and orthoimages and regional mosaics of DTM and orthophoto data (Gwinner et al. 2009; 2010b; 2016). Alternatives to this highly effective standard processing pipeline are nevertheless of interest to researchers who do not have access to the full VICAR suite and may wish to make topographic products or perform other (e. g., spectrophotometric) analyses prior to the release of the highest level products. We have therefore developed software to ingest HRSC images and model their geometry in the USGS Integrated Software for Imagers and Spectrometers (ISIS3), which can be used for data preparation, geodetic control, and analysis, and the commercial photogrammetric software SOCET SET (® BAE Systems; Miller and Walker 1993; 1995) which can be used for independent production of DTMs and orthoimages. The initial implementation of this capability utilized the then-current ISIS2 system and the generic pushbroom sensor model of SOCET SET, and was described in the DTM comparison of independent photogrammetric processing by different elements of the HRSC team (Heipke et al. 2007). A major drawback of this prototype was that neither software system then allowed for pushbroom images in which the exposure time changes from line to line. Except at periapsis, HRSC makes such timing changes every few hundred lines to accommodate changes of altitude and velocity in its elliptical orbit. As a result, it was necessary to split observations into blocks of constant exposure time, greatly increasing the effort needed to control the images and collect DTMs. Here, we describe a substantially improved HRSC processing capability that incorporates sensor models with varying line timing in the current ISIS3 system (Sides 2017) and SOCET SET. This enormously reduces the work effort for processing most images and eliminates the artifacts that arose from segmenting them. In addition, the software takes advantage of the continuously evolving capabilities of ISIS3 and the improved image matching module NGATE (Next Generation Automatic Terrain Extraction, incorporating area and feature based algorithms, multi-image and multi-direction matching) of SOCET SET, thus greatly reducing the need for manual editing of DTM errors. We have also developed a procedure for geodetically controlling the images to Mars Orbiter Laser Altimeter (MOLA) data by registering a preliminary stereo topographic model to MOLA by using the point cloud alignment ( pc_align ) function of the NASA Ames Stereo Pipeline (ASP; Moratto et al. 2010). This effectively converts inter-image tiepoints into ground control points in the MOLA coordinate system. The result is improved absolute accuracy and a significant reduction in work effort relative to manual measurement of ground control. The ISIS and ASP software used are freely available; SOCET SET, is a commercial product. By the end of 2017 we expect to have ported our SOCET SET HRSC sensor model to the Community Sensor Model (CSM; Community Sensor Model Working Group 2010; Hare and Kirk 2017) standard utilized by the successor photogrammetric system SOCET GXP that is currently offered by BAE. In early 2018, we are also working with BAE to release the CSM source code under a BSD or MIT open source license.

The International Archives of the Photogrammetry, ↗

Towards a planetary spatial data infrastructure

Planetary science is the study of planets, moons, irregular bodies such as asteroids and the processes that create and modify them. Like terrestrial sciences, planetary science research is heavily dependent on collecting, processing and archiving large quantities of spatial data to support a range of activities. To address the complexity of storing, discovering, accessing, and utilizing spatial data, the terrestrial research community has developed conceptual Spatial Data Infrastructure (SDI) models and cyberinfrastructures. The needs that these systems seek to address for terrestrial spatial data users are similar to the needs of the planetary science community: spatial data should just work for the non-spatial expert. Here we discuss a path towards a Planetary Spatial Data Infrastructure (PSDI) solution that fulfills this primary need. We first explore the linkage between SDI models and cyberinfrastructures, then describe the gaps in current PSDI concepts, and discuss the overlap between terrestrial SDIs and a new, conceptual PSDI that best serves the needs of the planetary science community.

ISPRS International Journal of Geo-Information↗

Analysis of local slopes at the InSight landing site on Mars

To evaluate the topography of the surface within the InSight candidate landing ellipses, we generated Digital Terrain Models (DTMs) at lander scales and those appropriate for entry, descent, and landing simulations, along with orthoimages of both images in each stereopair, and adirectional slope images. These products were used to assess the distribution of slopes for each candidate ellipse and terrain type in the landing site region, paying particular attention to how these slopes impact InSight landing and engineering safety, and results are reported here. Overall, this region has extremely low slopes at 1-meter baseline scales and meets the safety constraints of the InSight lander. The majority of the landing ellipse has a mean slope at 1-meter baselines of 3.2°. In addition, a mosaic of HRSC, CTX, and HiRISE DTMs within the final landing ellipse (ellipse 9) was generated to support entry, descent, and landing simulations and evaluations. Several methods were tested to generate this mosaic and the NASA Ames Stereo Pipeline program dem_mosaic produced the best results. For the HRSC-CTX-HiRISE DTM mosaic, more than 99 % of the mosaic has slopes less than 15°, and the introduction of artificially high slopes along image seams was minimized.

Space Science Reviews↗

Image mosaic and topographic map of the moon

Sheet 1: This image mosaic is based on data from the Lunar Reconnaissance Orbiter Wide Angle Camera (WAC; Robinson and others, 2010), an instrument on the National Aeronautics and Space Administration (NASA) Lunar Reconnaissance Orbiter (LRO) spacecraft (Tooley and others, 2010). The equatorial WAC images were orthorectified onto the Global Lunar Digital Terrain Mosaic (GLD100, WAC-derived 100 m/pixel digital elevation model; Scholten and others, 2012 ) while the polar images were orthorectified onto the lunar LOLA polar digital elevation models (Neumann and others, 2010). The Mercator projection is used between latitudes &plusmn;57&deg;, with a central meridian at 0&deg; longitude and latitude equal to the nominal scale at 0&deg;. The Polar Stereographic projection is used for the regions north of the +55&deg; parallel and south of the &ndash;55&deg; parallel, with a central meridian set for both at 0&deg; and a latitude of true scale at +90&deg; and -90&deg;, respectively. All named features greater than 85 km in diameter or length were included unless they were not visible on the map. Some selected well-known features less than 85 km in size were also included. For listed references, please open the full PDF. Sheet 2: This map is based on data from the Lunar Orbiter Laser Altimeter (LOLA; Smith and others, 2010), an instrument on the National Aeronautics and Space Administration (NASA) Lunar Reconnaissance Orbiter (LRO) spacecraft (Tooley and others, 2010). The image used for the base of this map represents more than 6.5 billion measurements gathered between July 2009 and July 2013, adjusted for consistency in the coordinate system described below, and then converted to lunar radii (Mazarico and others, 2012). For the Mercator portion, these measurements were converted into a digital elevation model (DEM) with a resolution of 0.015625 degrees per pixel, or 64 pixels per degree. In projection, the pixels are 473.8 m in size at the equator. For the polar portion, the LOLA elevation points were used to create a DEM at 240 meters per pixel. A shaded relief map was generated from each DEM with a sun angle of 45&deg; from horizontal, and a sun azimuth of 270&deg;, 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. For this map sheet, only larger feature names are shown. For references listed above, please open the full PDF.

Scientific Investigations Map↗