On Target to Mars

This viewgraph presentation reviews the use of Descent Image Motion Estimation System (DIMES) for the descent of a spacecraft onto the surface of Mars. In the past this system was used to assist in the landing of the MER spacecraft. The overall algorithm is reviewed, and views of the hardware, and views from Spirit's descent are shown. On Spirit, had DIMES not been used, the impact velocity would have been at the limit of the airbag capability and Spirit may have bounced into Endurance Crater. By using DIMES, the velocity was reduced to well within the bounds of the airbag performance and Spirit arrived safely at Mars. Views from Oppurtunity's descent are also shown. The system to avoid and detect hazards is reviewed next. Landmark Based Spacecraft Pinpoint Landing is also reviewed. A cartoon version of a pinpoint landing and the various points is shown. Mars s surface has a large amount of craters, which are ideal landmarks . According to literatures on Martian cratering, 60 % of Martian surface is heavily cratered. The ideal (craters) landmarks for pinpoint landing will be between 1000 to 50 meters in diagonal The ideal altitude for position estimation should greater than 2 km above the ground. The algorithms used to detect and match craters are reviewed.