Camera Simulation for the Perseverance Rover’s Lander Vision System

On February 18, 2021, the Perseverance Rover safely landed on Mars at Jezero Crater. Part of the successful landing was due to the Lander Vision System (LVS), which takes descent images from the LVS Camera (LCAM) and IMU measurements and estimates the lander position relative to a map of the Jezero landing site. The LVS Simulation LCAM (LVSS LCAM) model is an image rendering program developed to test the LVS in a variety of scenarios to ensure performance amid uncertainty. The LVSS LCAM model includes a pointing misalignment model, an exposure timing model, shadowing, a terrain reflectance model, atmospheric attenuation from dust, and sensor effects. This model was used for performance analysis, verification, and validation of the LVS algorithms in a Mars-like simulation prior to landing. This paper describes the LVSS LCAM rendering algorithm and compares flight images from LVS operation during the Perseverance landing with their rendered counterparts.