Opportunity Route Map Options

[Shaka]

. If we are going to use the conclusion-jumping trigonometry practiced by the near rimmers to navigate Opportunity up the ejecta blanket and to the precipice of this massive crater , did JPL do any roll and tumble tests on the MER craft?

It would have been fascinating to see you navigate the MERs to Mars, Dan'l.

[jamescanvin]

Next drive will be on sol 869

CODE

869 p1151.04 2   0   0   2   0   4    front_hazcam_idd_unstow_doc
869 p1154.01 2   0   0   2   0   4    front_hazcam_idd_unstow_doc
869 p1205.08 2   0   0   2   0   4    front_haz_penultimate_0.5_bpp_pri17
869 p1211.03 2   0   0   2   0   4    ultimate_front_haz_1_bpp_pri_15
869 p1275.01 2   0   0   2   0   4    front_hazcam_0.5bpp_pri_41
869 p1305.07 2   0   0   2   0   4    rear_haz_penultimate_0.5bpp_pri17
869 p1311.07 2   0   0   2   0   4    rear_haz_ultimate_1_bpp_crit15
869 p1375.01 2   0   0   2   0   4    rear_hazcam_0.5bpp_pri_41
869 p1585.00 4   0   4   0   0   8    navcam_cloud_4x1_dwnsmp_RVRAz_calstart
869 p1948.01 10  0   0   10  0   20   navcam_5x1_az_162_mixed_bpp_crtiical
869 p1948.01 10  0   0   10  0   20   navcam_5x1_az_162_mixed_bpp_crtiical
869 Total    40  0   4   36  0   80

[CosmicRocker]

I would try a similar aproach as for Spirit.
You must find similar features (e.g. rocks) on both pre and post-drive images and calculate the net driving distance using any Parallax Calculator. For the driving heading I would take the beacon as a reference.
This approach, together with periodic corrections (if possible), worked quite well for Spirit's route map.

BTW, when I say "I would" is because I will probably have no time to do that. My summer vacations starts on Jul 15th and I'm quite sure by that time we will still be at Beagle Crater.

Yes, we should have no problem measuring distance with parallax as usual, and we can even get pretty good directional from the tracking site. I'd use MMB for that, since it displays the azimuth and elevation as you pan around in panorama mode. That's all you need to plot a path. But the point I was making is that small errors will accumulate. Outside of the apron we have been able to see the shapes of ripples and patches of outcrop that can be directly correlated to the MOC imagery. If distance and direction do not quite plot the correct point, it is obvious when comparing the rover's images of it's surroundings to the MOC image.

I wouldn't call the apron as seen from the MOC featureless, but there are not very many features on it. Without a visual corelation between the orbital and rover images, those accumulated errors will not be apparent. It is not a big problem, since there are only a few hundred meters between the bottom and the rim. Once at the rim there should be plenty of landmarks.

[Guest_Sunspot_*]

[quote name='jamescanvin' date='Jul 3 2006, 01:42 AM' post='60497']
Next drive will be on sol 869

Yikes, nearly a week without any progress towards Victoria/Beagle.

[djellison]

Independance Day weekend. Recharge, downlink, flight software uplink, targetted remote sensing. Busy rovers, but a bit of time off for mission people. (After the sprint from Erebus to here, and the Purgatory 2 situation...I think they're entitled)

Doug

[Tesheiner]

But the point I was making is that small errors will accumulate.

Yup, same as for Spirit's map.
A possible solution would be to make use of those little craters seen on the apron as heading references and triangulate the aprox. rover's position based on them. This method wouldn't suffer of accumulated errors, but it's accuracy is questionable. It could be used from time to time to adjust the already plotted route.

Maybe, the best approach would be to trust 100% on the data tracking web data until the rover makes about 80% of the path to the rim. At that point, triangulation and/or parallax could be used to calculate the "exact" rover's position and to re-adjust the route.

[Tesheiner]

Route map, updated after sol 869 driving.



If I got it right from the pancam database, the rover is now on an outcrop named "Fort Gibson".

[antoniseb]

Is the plan that Opportunity will continue through the dune troughs for another 70 or 80 meters, and then make a hard left for the Corner on the terrain with apparantly more exposed Epsom salts?

[BrianL]

Is the plan that Opportunity will continue through the dune troughs for another 70 or 80 meters, and then make a hard left for the Corner on the terrain with apparantly more exposed Epsom salts?

To my untrained eye, the path straight toward Beagle looks so tempting right now. The ripples look very low and traversable, maybe 5-6 to cross to get to that first outcrop.

http://marsrovers.jpl.nasa.gov/gallery/all...U6P1948R0M1.JPG

In the following shot along the current heading, the ripples seem higher and more potentially troublesome.

http://marsrovers.jpl.nasa.gov/gallery/all...U6P1948R0M1.JPG

Brian

[hortonheardawho]

Er, I measure 50 meters movement for sol 869. The "fort" I think is the small outcrop spot about 13 meters further south.

[Tesheiner]

Rover motion data from the tracking web say 35m, like parallax. Off course, parallax measurements depends on the feature you guess to be the one corresponding to the current position.
Do you use another technic?

Better wait for the north-looking navcam pics (planned for sol 870) to fine tune this position.

[RNeuhaus]

Today, Sol 870 is another driving day!

CODE

Sol Seq.Ver  ETH ESF EDN EFF ERP Tot  Description
--- -------- --- --- --- --- --- ---- -----------
870 p1151.04 0   0   0   0   0   0    front_hazcam_idd_unstow_doc
870 p1154.01 0   0   0   0   0   0    front_hazcam_idd_unstow_doc
870 p1205.08 0   0   0   0   0   0    front_haz_penultimate_0.5_bpp_pri17
870 p1211.03 0   0   0   0   0   0    ultimate_front_haz_1_bpp_pri_15
870 p1275.01 0   0   0   0   0   0    front_hazcam_0.5bpp_pri_41
870 p1305.07 0   0   0   0   0   0    rear_haz_penultimate_0.5bpp_pri17
870 p1311.07 0   0   0   0   0   0    rear_haz_ultimate_1_bpp_crit15
870 p1375.01 0   0   0   0   0   0    rear_hazcam_0.5bpp_pri_41
870 p1795.01 0   0   0   0   0   0    navcam_5x1_az_342_1_bpp
870 p1902.01 0   0   0   0   0   0    navcam_5x1_az_162_mixed_bpp
870 p1903.01 0   0   0   0   0   0    navcam_5x1_az_342_1_bpp
870 p2631.01 0   0   0   0   0   0    pancam_sky_spot_L234567R34567
870 Total    0   0   0   0   0   0

Due to the orientation of Navcam (between 162 to 342), the guessed route are two (right hand - blue) and (left hand - yellow). I would rather choose the route blue.



Rodolfo

[Tesheiner]

Route map, updated up to sol 870.



They took the green path, Rodolfo.

[SacramentoBob]

Greetings: I am a new member of the forum. but a long time visitor. Just wanted to say that I have really enjoyed the graphics and discussions you guys have put together.... Tesheiner's maps are amazing!
Can't wait until Oppy arrives at Corner Crater! - Sacramento Bob

[Zeke4ther]

Welcome to the forum Bob!