Viking Lander Atlas of Mars

NASA Contractor Report 3568
Viking Lander Atlas of Mars
Sidney Liebes, Jr.

Stanford University
Stanford, California
Prepared for
NASA Office of Space Science and Applications
under Contracts NAS 1-9682, NSG-7538, JPL-955249, and NAGW-128
NtLq/
National Aeronautics
and Space Administration
Scientific and Technical

information Office
1982
To Tim Mutch ... explorer
iv
PREFACE
The 1976 Viking scientific exploratory mission to Mars suc- their unorthodox appearance that results principally from the
cessfully placed two identical spacecraft in orbit and two identi- positions of the cameras relative to the Martian surface. 3)To
cal landers on the surface of the planet. This report presents make available an organized version of the cotnpleLe set of maps
half-size reproductions of the extensive sets of systematic map that will enable a convenient means of identifying the individual
products that have been generated for the two Mars Viking land- sheets for which true-scale copies might be desired. 4) To provide
ing sites from stereo pairs of images radioed back to Earth from a companion resource to collections of true-scale sheets, from
the landcrs. These ln;I.ps span from tile immediate foreground to which one may index into the true-scale collection, lmtividual
the remote limits of ranging capability, several hundred meters copies of the true-scale maps arc available from the National
from tile spacecraft. The maps are of two kinds: 1) elevation Space Science Data Center.
contour, and 2} vertical profile. This report is divided into three parts, and a set of appen-
The report is written with the following aims in mind: 1) To dices: Part 1 contains background and explanatory material im-
provide, in convenient form, relatively inexpensive reduced-size portant for understanding and utilizing the map collections; less
reproductions of the complete set of nearly 200 true-scaled maps, essential material is deferred to appendicies at the end of the
in the expectation that the reduced-size versions will suffice for report,. Part II contains the collection of lander I maps. Part I1[
certain requirements. 2) To describe the maps, anti discuss contains the collection for lander 2.
vi
m _
ACKNOWLEDGMENTS
There is a lengthy history to the production of the maps This was an extensive task in itself, and John executed this task
contained in this report. The Stanford Stereo System, especially with the greatest of skill and dedication. A Stanford freshman,
constructed for the creation of maps from digital images of the Ernest Adams, providcd not only valuable assistance in elements
surface of Mars, has been previously described [Liebes, 1977]. of the general code work, but atlditimlally did much of the adap-
Tile many individuals who contributed directly to (,he develop- tion of Stuart's code for the reading of mosaic line and .sample
ment and support of that system arc noted in the earlier report. values out of the range data sets anti formatting of the camera
I wish particularly to single out, however, the contribution made perspectives of the contour maps that are included as a part of
both to the success of the stereo system and to the creation of the the collection of map products.
map data by Arnold A. Schwartz, then of the linage Processing liana Moravec, then a PhD graduate student in computer
Laboratory, Jet Propulsion Laboratory, Pasadena, CA. Arnie science at Stanford, provide invaluable assistance to us, initially
wrote all of the substantial computer code that supported the in writing code to enable us to read the IBM formatted range
stereo mapping system, and subsequently spent countless hours data sets on our DEC PDP-10 computer, and subsequently in
commanding the computer while the stereophotogrammetry of educating us to the use of his computer graphics and character
tire Martian surfaee was being performed. Joseph W. Berry, font routines on the Varian electrostatic plotter employed in the
then also at tile Image Processing Lab at JPL, good naturedly production of the map masters, l am deeply greatful to Robert
provided relief to Arnie during a portion of the map production. Tucker, of the Stanford Medical School S()MEX computer staff,
All of the stereophotogrammetry for the systematic maps was for his skilled and generous assistance to us in reformatting
performed by the author. the magnetic tape data, as received from the Jet Propulsion
The range data sets, which are the prime photogram- Laboratory, so that it could be read anti transmitted between
metric product, represent the spatial location of each of the DEC computer systems at Stanford.
recorded points on every contour or vertical profile by their l)r. tlenry J. Moore, of the U.S. Geological Survey, Menlo
three-dimensional position in a spacecraft specific system of coor- Park, CA served as a mcmber of the physical properties team
dinates. After the creation of these range data sets, at the JPL for tire Viking lander, iiank meticulously rnade visual measure-
Image Processing Laboratory, magnetic tapes of the sets were ments of camera pixcl positions for conjugate points in stereo
transported to Stanford University, were the laborious tasks of image pairs and performed extensive hand calculations of 3-D
writing code to read the sets, designing the format for the map field point coordinates, both to support his own research inter-
products, anti executing tile extensive production activity was eats and to help cheek the performance of the Stanford Stereo
undertaken.
System. ttank has additionally conducted spot checks of the
Two individuals played a particularly key role in the tasks systematic elevation contour maps for both landers, tIank's in-
of program design, implementation anti execution, and in the valuable collaboration is deeply appreciated.
production of the map masters at Stanford. In this regard, I wish And finally, ] wish to acknowledge my deep appreciation
to note the exceptional contribution made by Stuart McDonald, to Prof. Elliott C. Levinthal of Stanford University for his
largely while he was an undergraduate student in computer co]leagueship and support during tile Viking years, and for
science at the University of Cafifornia at Berkeley. Stuart spent ilia general supervision of tile production of the Viking lander
the summer of 1979 designing and implementing the code that camera mosaics tl_at constituted the input imagery for the
enabled us to trace through the range data sets, and implement- photogrammetric processing that is tile subject of this report.
ing most of the code for the formatting of the contour maps. Ilia Support for the production of these maps from the previ-
work was creative, efficient, meticulmJs and dedicated. John C. ously generated computer readable range data sets was provided
Gilbert, then a masters student in computer science at Stanford, under contracts NAS1-9682 and JPL-955249, and grants NSG-
adapted Stuart's code to the processing of ttle vertical profiles 7538 and NAGW-128 (Mars Data Analysis Program).
and implemented the format for the the plotting of these sheets.
vii
!
viii
CONTENTS
Dedication .................................... iii

Preface ...................................... v
Acknowledgments ................................. vii

Contents ..................................... ix
PART 1 BACKGROUND AND EXPLANATION OF MAPS
1. INTI¢ODUCTION ................................ 1
1.l Tile Viking Mission .............................. 1
1.2 Lander Locations ............................... 1
1.3 l,ander Cameras ............................... 1
2. MAPPING TIIE MART1AN SURFACE ...................... 3
2.[ The Stereo Mapping System .......................... 3

2.2 Input Images to tile Stereo System ....................... 3
3. EXPI,ANATION OF MAPS ........................... 5
3,1 Systematic Map Types ............................ 5

3.2 General Comment .............................. 5
3.2.I Maps and Support Products ........................ 5

3.3 Vlevation Contour Maps ............................ 5
3.3.1 Idiosyncrasies oI' the Contour Maps ..................... 7
3.4 Vertical Pro&le Maps ............................. 8
PART II VIKING LANDER 1: MAPS AND ASSOCIATED PRODUCTS
4. I';I,EVATION CONTOURS ............................ 11
4,1 Elevation Contour Mosaic Overlay Stereo Pairs .................. 11

4,2 Camera I'erspective Annotated Elevation Contours- Camera I .......... 21
4,3 Elevation Contour Map Collection ....................... ,30

4.3.1 Tabulation o[" Elevation Contour Map Sheets ................. 30
5. VER'FICAL PROFILES ............................. 95
5.I Vertical l}rofile Mosaic Overlay Stereo Pairs ................... 95

5,2 Camera Perspective Annotated Vertical Profiles - Camera 1 ........... 105
5.3 Vertical t}rofile Sheet Collection ....................... 114
PART III VIKING LANDER 2: MAPS AND ASSOCIATED PRODUCTS
6. [';LEVATION C()NTOU[_.S ........................... 141

6.1 1,;levation Coutonr Mosaic Overlay Stereo Pairs ................. [41
6.2 CameraPerspeetive Annotated Elevation Contour- Camera I .......... 151

6.3 Elevation Contour Map Collection ...................... 160
6.`3.1 Tabulation or Elevation Contour Map Sheets ................ 160
7. VEIITICAL PROFILES ............................ 227
7.1 Vertical Profile Mosaic Overlay Stereo Pairs .................. 227

7.2 Camera Perspective Annotated Vertical Profiles- Camera I ........... 2`37
7.3 Vertical Profile Sheet Collection ....................... 246
8. Glossary ................................... 273
Appendix A. COORDINATE SYSTEMS AND LANDER ORIENTATION ........ 275

AI Lander Atigned Coordinate System (LACS) .................. 275
A2 Local Mars System (I,MS) .......................... 276

A3 Local Gravity-Normal System (LGN) ..................... 276
A4 Lander Orientation ............................. 276
A4.I Lander 1 ................................. 276
A4.2 Lander 2 ................................. 276
ix
v
A .... _4
Appendix B. SELF-OBSCURATION OF MARS BY THE LANDER .......... 27g
B1 Self-Obscuration .............................. 279
Appendix C. MAP GENERATION SYSTEM AND PRODUCTS ............ 281

Cl Ranging and Mapping System ........................ 281
C2 Map Product Types ............................. 281
C3 RDS File Names .............................. 281
C3.1 Viking Lander I ............................ 282
C3.1.I Lander I Systematic Elevation Contour RDS File Names ......... 282
C3.1.2 Lander I Systematic VerticalProfileRDS File Names .......... 282
C3.2 Viking Lander 2 ............................ 282
C3.2.1 Lander 2 Systematic Elevation Contour RDS File Names ......... 282
C3.2.2 Lander 2 Systematic VerticalProfileRDS FileNames .......... 282
C4 Map Plotter ................................ 282
Appendix D. STEREO SYSTEM RANGING ACCURACY .............. 283

D1 Ranging Accuracy ............................. 283
Appendix E. RAGGEDNESS AND DISTORTION .................. 285

El Jaggies and Irregularities .......................... 285
Appendix F. DATA AVAILABILITY ........................ 287

FI General Lander Image Products ....................... 287
F2 Systematic Maps Products .......................... 287
F2.1 Systematic Maps and Mosaic Overlays ................... 287
F2.2 Range Data Sets ............................ 287
References ................................... 280
I
PART I BACKGROUND AND EXPLANATION OF MAPS
1. INTRODUCTION
1.1 The Viking Mission

and white} diodes, each stepped at a slightly different focal dis-
The Viking Mission launched two unmanned spacecraft Lance from the lens. Virtually all of the imaging data used for
toward Mars in the summer of 1975, for the purpose of scientific mapping purposes was aquired at 0.04 ° resolution. The choice
exploration. Each craft consisted of an orbiter and a lander. of diode was dictated by the range span of the section of the
The craft accomplished Mars orbital insertion seven weeks apart landscape to be imaged.
in the summer of 1976. The landing site certification processes Mounted in the object space immediately above the lens was
resulted in revision of the preselected landing sites for both a mirror, with a capability to nod abont a horizontal axis. This
landers. Useful points of entry into the earlier scientific literature mirror enabled the Martian landscape to be imaged upon the
on tile mission are the special issue of the Journal of Geophysical pbotosensor array. In the standard mode of operation, the mir-
Research, vol 82, Sept. 30, 1977, and vol 84, Dec. 30, 1979. The ror nodded five times per second. As the image of the scene
reader interested in the dramatic accomplishments of tile flight was swept across the photossnsor array, the diode selected to
phase of the mission especially the remarkable human and en- be active would sample the image 512 times, at angular spacings
gineering achievements involved in solving problems that arose equal to the diode resolution. Each of the sampled light intensity
is referred to the paper of Martin and Young [Martin, 1976]. levels was digitized at 6 bits, corresponding to 64 shades of gray.
At the end of a downward scan through the scene, the entire
1.2 Lander Locations
camera would rotate one angular resolution element about the
The areographic coordinate [de Vaucouleurs, 1973] locations vertical axis, and the process would be repealed for the next scan
for the Viking landers have been establisbed to be as follows line. In this manner, in the high resolution 0.04°-mode, an ap-
[Davies, 1978; Morris, 1980]: proximately 20 ° vertical acquisition wouhl be achieved. The ver-
tical acquisition window could be commanded to image centers
Viking lander 1: lat 22.483 ° N., long 47.968 ° W.
at 10 ° vertical intervals. The start and stop azimuth positions
Viking lander 2: lat 47.966 ° N., long 225.736 ° W.
for the rotation of the camera about the vertical axis were un-
1.3 Lander Cameras der command control. Adjustable offset and gain controls could
be set for brightness and contrast conditions. Tbe images were
Among the complement of equipment on each lander were radioed back to l,;arth either directly from the lander, or more
a pair of identical panoramic cameras ll'attersnn, 1977]. These commonly via a relay link througb the more powerful transmitter
cameras enabled extensive stereoscopic imaging of the landing of the orbiter.
sites. The camera was a point scanning device capable of acquir- The camera photogrammetric reference points were located
ing data from 40 ° above the horizon to 60 ° below, through nearly approximately 0.82 m apart at equal heights above the lander
360 ° of azimuth. The camera was configured about a vertical op- deck, and at 1.3 m above the nominal landing plane. In the
tical axis. A phoLosensor array, consisting of a tightly clustered course of the mission, practically all of the visible panorama
set of 12 light-sensitive silicon photodiodes, was located in the was imaged in high resolution at different times of day by both
focal region below the lens. The diode aperatures were of two cameras of both tanders. Thereby, virtually all of the scene that
sizes, corresponding to angular resolutions of 0.12 ° and 0.04 ° . was visible in common to both cameras was imaged stereoscopi-
Four of these were "high resolution" 0.04 ° broad band (black cally.
II
it
\
7
2
2. MAPPING THE MARTIAN SURFACE
2.1 The Stereo Mapping System

or profiles of any desired kin(] could be generated and stored.'
A versatile stereoscopic mapping system was developed The fundamental system product was a computer readable and
join(ly by Stanford University and tile .let [>repulsion Laboratory plottable, range data set (RI)S). The RI)S represented contour
)tithes, 1977] to support the lander cameras. This system en- and vertical profile lines as sequences of 3-1) points. The record
abled the prompt generation of precise topographic maps in sup- for each point consisted of its three spatial coordinates, plus the
port of mission critical acquisition of surface sample material corresponding scan line attd sample values associated with the
for the several mi)_iature laboratories on board the landers. image locations in each of the images - a set of seven values.
It additionally SUF)ported use of the sampler arm for Martian Secondary products inc.luded n)aps, stereo projections of maps,
surface physical properties experiments [Moore, 1978}. When and image mosaics overlayed with contours and profiles.
pressure abated to deliver map products in support of sample
arm activities, a systematic mapping was undertaken of the en-
2.2 Input Images to the Stereo System
tire stereoscol)ically imaged landing sites, from the immediate
foreground to the remote fimits of ranging capability, over 100 The stereo mapping system was designed to operate on
m from the landers. images from arbitrary sources, exhibiting arbitrary mappings
The ranging and nmpping system consisted of the Stanford between recording systems and data storage formats. In par-
Stere_) Station, a computer, image display hardware, and a tieular it could operate, for the Viking lander, upon either
substantial computer program, ItANGEI_.. The Stanford Stereo raw geometrically untransformed images, taken with any of
Station supported a pair of video monitors arranged so that the photodiodes, or upon high resolution computer assembled
they could be viewed through a panning stereoscope. Computer mosaics, constructed from images taken at three different times
resident digital stereo imaging data could be called forth for of day -- morning, mid-day and evening [l.evinthal, 1980]. All
display upon the video monitors. A photogrammetrist, peer- of the sampler arm support work was performed with raw,
ing into the stereoscope, perceived a 3-1) model of the Martian gcometrically untransformed images. The mosaics served as the
relief. The computer could be commanded to project upon the input images to the stereo mapping system for the generation
monitors an artificial 3-space mark, consisting of a pair of ap- of (,he systematic maps. These mosaics were compiled from
propriately coupled video dot overlay cursors. The photogram- numerous raw images acquired with each of the four high resolu-
metrist, stereoscopically viewing the displayed images, could tion diodes. Each elemental input image was geometrically trans-
employ a hand-lnput device in the form of a traekball to move formed to compensate for diode-specific geometric calibration
the 3-D cursor through the space of the visualized stereoscopic characteristics prior to incorporation into a mosiac )Wolf, 1981].
model. The cursor could be constrained to arbitrary mathe- The initial mosaics used in the generation of the systematic
matical surfaces in the model. The systematic maps contained map data manifested lander tilt, evidenced by a the sinuous
within this report were generated by commanding the computer warp of the horizon. Later, all mosaics were transformed to
to constrain the 3-space mark to to a selected member of a set the "detilted" form they would have exhibited if the camera
of horizontal or vertical surfaces, for the purpose of enabling were rotated about its photogrammetric reference point so as
the generation of elevation contours or vertical profiles, respec- to remove the rotation induced by lander tilt. The stereo system
tively. The task of the photograrnmetri_t then became the tradi- could operate equally well on both "tilted" or "detilted" mosaics,
tional one of moving the mark along his perception of the in- anti indeed both were used, according to availability, in generat-
tersection of the mathematical surface of constraint with the ing the systematic RDSs. All of the mosaics presented lager in
Martian relief. In this manner, digitized versions of the contours this report are of the "detilted" form.
!
_ JiL
3. EXPLANATION OF MAPS
3.1 Systematic Map Types tour or vertical profile lines. As tile perspective of the contour
maps is orthographic from above, the perspective of the verti-
Two different types of comprehensive systematic maps were
cal profile plots is normal to the individual profile planes, and
developed:
tile perspective of the cameras is oblique from the surface, a
Elevation Contours: Systematic contour map data, consist- little practise will be required to make the association between
ing of intersections with the surface of Mars of planes oriented corresponding lines in the maps and mosaic overlays. The map
perpemlicular to the local gravity vector. These extend from the overlay lines on the mosaics are not annotated with either eleva-
immediate foreground to the remote limits of ranging capability, tion or azimuth values, llowever, companion products have been
in excess of 100 m range, for the front and back of both landers. included along with the mosaics. They consist of a reprojec-
tions of the map data as they would appear to camera number
Vertical Proi]les: Systematic vertical profiles, consisting
l, the left hand of the two cameras (looking outward from the
of intersections with the surface of Mars of planes radiating
front of the lander). The lines in the reprojections are labeled
out from the lander and containing the local gravity vector.
in one instance with the contour-elevation and in the other with
These are generated at 5°-azimuth intervals, from tile immediate
profile-azimuth values. Since these "camera perspective" repre-
foreground to the remote limits of ranging capability, for the
sentations of the annotated lines have the same projective ap-
front and back of both ]anders.
pearance as the mosaic overlays, one may readily determine the
3.2 General Comment parameter vahms of lines in the overlay images.
The systematic map data, derived as it is from two cameras 3.3 Elevation Contour Maps
located approximately 0.82 m apart anti roughly 1.3 m above
Each of the elevation contour map grids is standardized
the nominal Martian surface, is of a quite unorthodox character.
to a 50-era-square frame (true-scale), corresponding to a 25-era-
The stereo ranging accuracy is approximately quadratically de-
square frame in the half-size reproductions contained in this
pendent upon range, with absolute single point ranging accuracy
report. The contour map production policy lead to the genera-
varying from approximately :t:l cm near the lander to roughly
tion of single sheets for Lhe larger scale numbers. However, mul-
:1:20 m at 100 m range , with rapid deterioration beyond (see
tiple sheets were required for the smaller scale numbers. The
Appendix D; also [Liebes, 1977]). Relative accuracy of the data,
number of sheets required for each of the landers differed, due
out to a few tens of meters, is estimated to be an order of mag-
to variations in landing site topography and lander tilt. There
nitude better than the ab._alute accuracy.
are 64 elevation contour sheets for lander 1 and 06 for lander 2.
Given that the ranging accuracy of the map data is highly
The coordinate system of the maps is the Local Gravity-
range dependent, it was adopted as a production policy for the
Normal (LGN) system. The I,GN system is orthogonal anti right-
elevation contour maps H_at the complement of scales should be
handed. The I,GN z-axis is directed vertically upward toward
such that somewhere within the map collection there should ap-
the local Martian zenith. "rim I,GN x- and y-axes are horizontal.
pear a sheet upon which any contour segment could be examined
The origin is approximately 28 cm below the nominal landing
with the full level of meaningful resolution. This policy was par-
surface, at a point approximately centrally located beneath the
tially relaxed for the vertical profiles.
Though the operation of the mapping system and the lander. The LGN x-axis is directed horizontally to the right
on the maps. The intereamera baseline is nearly parallel to
production of RDSs could, in principle, be accomplished by a
the LGN x-axis. The LGN y-axis is directed upward on the
single individual, in practise it invariably involved two people,
sheet.s, and points approximately forward from the lander. The
one to commamt the compLitcr and tbe other to perform the
stcreophotogrammetry. Ellicient operation reqnired knowledge I,CN origin coincides with that of the I,ander Aligned Coodinate
both or the program RANGFI{ and the operating system. It System (LACS). Further details regarding coordinate systems
was not infrequent that problems of one sort or another re* are presented in Appendix A.
lated to either the program or the support system would arise. The production policy lead to the creation of elevation con-
Furthermore, the pbotogrammetrist was kept busy generating tour maps at eleven different scales: l:l, 1:2, 1:5, l:10, 1:20, 1:50,
l:100, 1:200, 1:500, !:]000, and 1:2000. The number of sheets
cartographic data, making judgements about where to go next,
he it Io continue a line or profile, to window to different portions required at any given scale is variable. For each scale the sheet
complement is a contiguous, non-overlapping array.
of the images, etc.
Only single sheets were produced at the larger scale num-
bers, and for these the lander has been "sheet-centered," that
3.2.1 Maps and Support Products
is, located in the center of the sheet. Multiple sheets have been
Several products have been prepared to aid in the inter- produced for the smaller scale numbers, and for these sheets the
pretation of the maps. In order to enable the reader to associate lander is "sheet-cornered," that is, located at the mutual corners
the lines of the contour and vertical profile maps with the cor- of a real or virtual subset quadruple of the complement of sheets.
responding physical features on Mars, there are included at the Figure I illustrates an example of an elevation contour map
beginning of each collection of maps reproductions of the stereo sheet. Immediately below the Viking lander number, at bottom
pairs of computer assembled mosaics used to generate the maps. center, the scale and a sheet array designator are indicated. The
These mosaics exhibit overlays of the entire set of elevation con- scale is valid for the true-scale sheets. Since the sample sheet
/ ¢ .
7,.--_-.. TL2"... I
Xi
......... _ ....._- -z",

- .._--_
............. _---J.,".-_--'."
..... _'4 .......................
_ ......:>_-.J_-
: / : -' : J:_--4Y / :," : _ .; >' -%--Y J- " "_<< .Y
. / . _ ._ Cr-_,_,,-/ .,,_<+-;, r " . . i" . _ ,_i
. "_ 1 _ _; ._.__ %4- :,_.,,t " ;',,-'" _. _, .)/*" : " • 'L-=..

\
-- '-. L_ -;>,,_' St _ ,_" ' _" I i__ _- o
• '/ '_,, ' = _ ' Z / )'_ ,of ,, '
........................................... % ............. _ ., < / = ................... . ._

!
[
r
I
%+ x_d....
YIKII%IC LAI'_ 2
' , , IlL[ l:ll SHIE/ 4-i, ll
Fig. 1. Example or an elevation contour map sheet,
Sk
is indicated to be "SCALA'; 1:20," the actual scale of the sample the LGN z-coordinate assoeiated with the contouring plane. The
sheet, reproduced here at half-size, is 1:40. cardinal points of the compass are indicated on the inner margin
The sheet array designator consists of a number pair en- of the grid frame; these are relative to a compass rose origin
closed in parentheses, e.g. "SIIEI'_T {-I, 1)." This designator located at the center of the sheet.
indicates at sheet scale the position of the sheet center, relative At the sides and corners of the sheets will be found pointers
to the lander, in units of half-sbeet dimensions. The first member to the sheet designators for the neighborittg sheets. The pointers
of the designator number pair is equal to the nurnher of half-sheet are present regardless of whether or not tile particular neighbor
dinwnsions that lhe subject sheet center is displaced in the I,GN has been created.
x-direction, i.e. to the right of the lander; tim second number of A tabulation, immediately preceding the collection of eleva-
the pair is equal to the number of half-sheet dimensions that tion contour sheets indicates both (be complement of sheets that
the subject sheet center is displaced in the I,GN y-direction, have been generated for each of the scales, anti the page numbers
tbat is forward fron| the lander. A sign reversal designates a upon which the individual sheets may be found.
displacement in the opposite direction. This scheme leads to
designators composed of odd number pairs if the lander is sheet- 3.3.1 Idiosyncrasies of the Contour Maps
cornered for the set, and to designators composed of even number
The contt)ur n'laps, generated as they are from surface based
pairs if" the set, is characterized by shc'et-center lander placement.
cameras Ioc.ated approximately 0.82 m apart and approxituately
Thus, e.g., in the case of the larger scale numbers, where only
1.3 m above the Martian surface, exhibit several unorthodox
a single sheet is produced, the lander is centered on the sheet,
characteristics that bear comment:
and the sheet designator is (0,0). The designator for the sample
sheet is (-1,1). The "-l'indieates that the center of the sheet 1) Of course, only those portions of the scene that cart viewed by
is one half-sheet dimension to the left of the lander and the both cameras can be stereoscopically mapped. Much of the near
"+1" indicates that it is one halbsheet dimension in front of the fieht and some portions of the horizon are obscured by hardware
lander. Thus, for this sheet the lander is located at the lower from the view of one or both cameras. Reference to the "Skyline
right corner of the the slmet; the lander is "sheet-cornered" for Drawings" contained in Appendix [I will reveal the nathre and ex-
this set of sheets. As the front of the hinder faces toward the top tent of the obscuration. Contour lines, wbie.h physically must all
edge of the sheet, i.e., in the posiLive I,GN y-direction, anti the be closed, can only rarely be completed on the/naps, as generally
intercamera baseline is nearly parallel to the I,GN x-axis, camera only relatively short segments can be followed stereoscopically
1 is located at, ZLGN _ --0.41 m, Yt, a,'_ _ 0 m, and camera 2 is (or for that matter monoseopically) without interruption.
located at 2LGIV _, +0.41 m, YnON _ 0 m). 2) Only the facing masks of rocks and the more remote undula-
The block of information in the lower left corner of the sheet tions can be mapped. Thus, e.g., rocks are developed either as
describes the coordinate system of the maps - the LCN system single or multiple partial contours, indicating the portions of the
and indicates the direction of north relative to that system. rocks that could be jointly imaged by both cameras. The en-
The block of informatiun to the right of the sheet designator tire process of map printing was performed by computer. As
lists the names of the range data set files from which the maps the subroutine that layed down Ihe elevation values on the maps
have been derived. As the naming convention is different at was a simple one, there are occasions, especially for steeply in-
Stanford from that at ,IPI,, both sets of file names have been clined surfaces, where the elevation wdues will pile on top of
indicated. The £1e names for all the RI)Ss used in generating oneanother, or otherwise be overwritten and become unreadable.
the contour anti vertical profile maps for both landers are listed In these instances, the elevation values may be determined by
in sect. 3 of Appendix C. reference to the camera perspective represention of the maps, as
As all sheets are standardized to a 50 cm grid boundary discussed in sect. 3.2.1.
(true-scale}, a standard interior grid pattern has been adopted. 3) The ranging accuracy falls off roughly quadratically with
Grid lines are at 5 cm (true-scale) spacing, and grid ticks at 5 mm range, deteriorating rapidly as one approaches 100 rneters range.
(true-scale) intervals. The absolute significance of these marks is This leads to noisy data at larger ranges (as discussed in further
of course determined by the scale. detail below, and in Appendices I) and El.
The sheet exhibits a set of arcs (or circles} concentric with
4) The elevation contour intervals are variable with range,
the lander, at 10-sheet-era (true-scale) intervals in radius, and
reflecting the the deterioration of spatial resolution and ranging
each labeled with the associated horizontal range from the
accuracy with range.
lander. The arcs also bear a circumh_rential indexing pattern
that denotes the directions of the systematie vertical profiles that 5) A nonlinear coupling was used between the hand-input track-
have been generated at 5°-azimuth intervals around tile lander. ball device and the 3-space mark employed to generate the map
The azimuthal liducial marks have not been labeled. To have data, in order a) to enable the approach to Large disLanees with
clone so would have unnecessarily cluttered the often already a reasonable numl)er of rolls of the trackball, and b) to facilitate
busy sheets, and would risk overwriting elevation values. The acquisition of 3-D data at a spatial density reasonably related
indexing pattern makes it easy to estaldish the azimuth values. to that of the 3-I) information extractable from the images.
Tbe marks at positions that are integral multiples of 15 ° have The individual points constituting the develol)ment of the digital
enh:mced length relative to the intermediate pairs of 5 ° marks. contour lines were generally recorded at, a quantum granularity
Elevation wducs for the contour lines are indicated in somewhat below the theoretical limit of point-ranging resolution
meters, relative to the I,(;N origin. These values are equal to inherent in the imagery, or equivalently that of the raster dis-
I
play system, which mapped 1:1 to the imaged points. At the point to the lander to the remote limits of ranging capability.
larger ranges, where the range uncertainty is relatively great, The policy followed h*r the elevation contours, namely, that the
the quantization of the radial distance becomes conspicuous in choice of scales should be such that each plotted line should be
the maps. At larger ranges, the maps are characterized by fea- vicwable at resolution on some sheet, was compromised for the
tures developing a rather exaggerated "u-shape-like" form in a profile sheets. The profiles are plotted at threc different scales:
direction extended toward tile lander. This artifact in the data 1:10, l:I00 and l:1000. For each scale, the landing site is divided
is explained in Appendix E. It results from a combination of into four quadrants and also into a scak_dependent number of
the two phenomena, one having to do with the nature of the annular zones, the latter corresponding to spans of horizontal
parametrization
displacement
of trackball motion relative to Martian 3-space
of the ranging mark,
of visual feedback
and the other with the lack
from cursor motion when stretching the limits
range. For any given scale, all of the vertical profiles as._ociated
with a given quadrant and span of horizontal range are plotted
on the same sheet. This entails plotting the profiles for nineteen
!
of ranging resolution. The magnitude of the distortion of remote different values of azimuth on the same sheet.
features is generally comparable with the theoretical ranging er- The number of annular zones and the span of horizontal
ror at the distance involved. The primary purpose in working 80 range ['or the annular zones associated with each or the three
far from the lander, rather than limiting the mapping to smaller scales is as follows: For scale 1:10, there are four annular zones
values of range, was to milk thc data for whatever it was worth, in front and three in back, with horizontal range spans or 0-5
i.e., to establish elevations and rough range positions for features m {front only}, 5-10 m, 10-15 m, and 15-20 m. For scale I:100,
that could not individually he detailed. there are two zones, with spans of 0-50 m, and 50-100 m. For
scale l:1000, there is a single range of 0-500 m. The surface of
6) It is to be noted that the maps are entirely unedited, being
Mars in range 0-5 m in back of the lander is obscured by lander
reproduced precisely as they were recorded in the original genera-
hardware. Thus there are 26 vertical profile sheets generated for
tion process. We have been encouraged to "smooth" the lines
each lander, consisting of seven for each of the forward quadrants
to suppress the quantum jaggies. In response, to this, a simple-
ami six for each of the back.
minded smoothing has been applied, in that the line elements
Figure 2 shows an example of a half-size version of a vertical
of the plots represent a connection of the midpoints between
profile plot for Viking lander I. The sheet has been generated
recorded data points. This smoothing algorithm had minimal
for scale 1:20, a span of horizontal range from 0 to 50 m, and
visible effect on the maps due to the fact that at the larger range
span of azimuth from 90 ° to 180 °, inclusive (the left forward
values, where the the effect of smoothing would be most evident,
quadrant}.
the absolute lateral quantization is much finer than that for the
The abscissa indicates the horizontal range, in meters. The
radial quantization. Thus, there would generally be a number of
relative elevation scale of the vertical profiles is indicated in the
lateral jumps for each radial jump. The result was for there to
upper left-hand portion of tile sheet; it is 1:1 with the scale for the
be almost no visible influence on the data. It is suggested that
horizontal range. In order to geometrically separate the various
while a more sophisticated smoothing might be soothing, with
profiles from oneanother the zeros of reference for the elevation
familiarity the jaggies will not only not be annoying, but will
values are displaced from oncanother along the ordinate. Each w
in fact alert the user to the magnitude of the range uncertainty
is offset vertically from its neighbor by by 2 cm (true-scale.) The
inherent in the data, thereby discouraging unjustified inferences
reference lines arc each labeled with the corresponding azimuth
regarding shape and accuracy.
values for the profiles. In order to facilitate associating individual
profile plots with their corresponding zero elevation reference
3.4 Vertical Profile Maps
lines, and additionally to facilitate unambiguous profile track-
The vertical profile maps are all plotted within the same ing at crossovers, three different values of line thickness have
50-cm-frame size (true-Kale) that was adopted as the standard been used, in cyclic fm_hion, in plotting the profiles. The line
for the elevation contour maps. As with the contour
the vertical profile maps are also reproduced at half-size.
maps,
The
weight associated
thickened
with any particular
portion of the corresponding
profile is indicated
elevation reference
by the
line,
!
coordinate system of the vertical profile plots is the same as in the neighborhood of the first vertical bar insidc the plot frame
that for the elevation contour sheets, namely, the Local Gravity- from the left hand side.
Normal (LGN) system. No tabulation of the kind preceding the elevation contour
Systematic vertical profiles have been generated for both maps has been prepared. In the instance of the vertical profiles,
landers at 5°-azimuth intervals around the vertically oriented the sheets are more conveniently ordered for indexing. Namely,
I,GN z-axis. The angular orientation of the profiles is measured they are first grouped by quadrant in clockwise order starting
I
clockwise from a rererenee of 0 ° in the direction of the LGN from the back left quadrant, then within each quadrant by order
negative y-axis (the direction generally backward relative to the or decreasing scale number, and within each scale by order or
lander}. Each of the profiles is run from the closest possible increasing range.
L
<_
+,
_,_----.--
• .... + +_ ................ ! ,,, ! _ . ,..... . •
........... :f-+++..+-. ++--+-- ..... : ......... i ................ i ................... : ....... -- ........ •
• J . ,.... f ,++u_-.+.-- +,+.
_'[t +_¸ _ . .+ , +++- ,,, _J'"_"'_ • ,,,_ _ --+ ,,, - • - _ ,,s +
F
m
,_o ............................ i ......... _ ......... i ......... ! ......... i ......... i ........ i .........
t
.... ,.,_ +
nl_ ............................................ _ ...... T ..................................
Fig. 2. Example of a vertical profile plot sheet.

11
im
rp
If
I0
PART I! VIKING LANDER 1: MAPS AND ASSOCIATED PRODUCTS
4. ELEVATION CONTOURS
4.1 Elevation Contour Mosaic Overlay Stereo Pairs most favorable for viewing either the topography in stereo, or
for showing the overlay lines in good contrast. The images, as

This section contains mosaic stereo pairs of images into
reproduced, represent two-fold enlargements from portions of
which have been overlayed the systematic elevation contour lines.
8"x10" duplicate negatives. The image identification numbers
The lines are extremely fine, and as such do not reproduce well
are included in the figure captions for reference purposes.
in the half-tone figures of this report. The reader interested
A stereo viewer will be required in order for the reader
in seriously working with the map data should consider obtain-
to view the images of this report stereoscopically. Even with
ing photographic print versions of the half-tone overlay images
a viewer, not all parts of the images can be stereoscopically
contained in this report (see Appendix F). Once generated, the
fused. Difficulties arise in the near field to either side of center,
RDSs -- representing tile geometric descriptions of the contour
due to the relative vertical parallax, local relative rotation, and
and vertical profile data sets -- are no longer directly coupled to
projected size differences. Kenneth L. Jones has created sets
the particular mosaics used for their generation, e.g. morning,
of stereo images, call VI,STERI_O, that suppress the vertical
noon, or evening. For logistical reasons related to the scope of
parallax differcnLials iLL first apprnxinlation [[,evinthal, 1980].
the project, all of the contour and vertical profile RDSs have been
However, not all of the elevation contours and vertical profile
overlayed uniformly only into morning mosaics, lIowever, both
overlays have been created in tile VLSTEREO form. Thus,
morning and evening mosaics were used in generating the RDSs.
rather than present some images in standard form amt others in
Since the individual image segment windows that went into the
VLSTERI_O, the present report contains only the standard form.
various mosaics were not the same, and fnrthermore since the
Readers interested in obtaining photographic quality versions
sampler arm rested in various positions when the contributing
of images contained or referenced in Lhis report, or any of the
image segments were acquired, there will be instances where
various oLhcr lander image data forms are referred to the report
small regions of an overlay will exhibit contour/profile lines in
of Levinthal and Jones [l,evinLhal, 1980] for product descriptions
the absense of underlying imagery, and vice versa. Additionally,
the times of day of the overlay mosaic will not always be the and ordering information.
11
I)
!1
I
Fig. 3. ElevaLion Contour Overlay Mosaic: Camera 1 (IcfL), front left quadrant --
from I['L I)IC ID 79/07/15/100746.
12
Fig.4. Elevation
Contour
Overlay
Mosaic:
Camera
2(right}, front left quadrant --
from IPL PIC ID 79/03/22/035818.
13
II
[
Fig. 5. Elevation Contour Overlay Mosaic: Camera 1 (left), front right quadrant --
from IPL PIC ID 79/07/15/100746.
14
Fig. 6. Elevation Contour Overlay Mosaic: Camera 2 (right), front right quadrant --
from IPL PIC 11) 79/03/22/035818.
15
..... .,6
l
T
Fig. 7. Elevation Contour Overlay Mosaic: Camera 2 (lefL}, back left quadrant --
from IPL PIC ID 79/07/15/112532.
18
Fig. 8. Elevation Contour Overlay Mosaic: Camera 1 (right), back left quadrant --
from II'L I'IC II) 79/0:_/20/034017.
17
!
I
Fig. 9. Elevation Contour Overlay Mosaic: Camera 2 (left), back right quadrant --
['rom IPL PIC ID 79/07/15/112532.
18
Fig.10. Elewltion
Contour Overlay Mosaic: Camera I (right), back right quadrant --
from IPL I'IC ]D 79/03/20/034017.
19
!
-it
\
%
iD_
2O
4.2 Camera Perspective Annotated Elevation Contours -- Camera 1
This section contains camera-I perspective representations tour lines, and corresponding camera perspective representations
of the elevation contour map data. "]'he nature and purpose of of the map data, with tile individual lines of the map data an-
these representations has been explained in section 3.2.1. On op- notated with elevation values. The general discussion of section
posing pages are presented mosaic overlays of the elevation con- 4.1 applies _o the mosaics of this section.
21
!
i¢
I
Fig. 11. Elevation Contour Overlay Mosaic: Camera 1 (lefL), front lefL quadrant --
from IPL PIC ID 79/07/15/100746.
22
Fig. 12. Camera Perspective Annotated Elevation Contour Linesi
Camera 1 (left), front left quadrant.
23
Q
q¢
'4
•!
[
from IP[, PIC ID 79/07/15/100746.
24
o ............................. , ............................. , ..... , , , . , ........................
_,L.._ ._--_H _--_ ._-"_'_ _-_..-- _ . . • _ .... _..... _ •
SAMPLE
CAMERA PERSPECTIVE[L[VATION CONTOUII$
Fig. 14. Camera Perspective Annotated Elevation Contour Lines:

Camera 1 (lefL), front right quadrant.
25
I
I
from IPL PIG ID 79/03/20/034017.
26
k
C:AMEILA PU£_I'ECI"IV[ ICLI£VAI'IOW co_,r_'o_m_
VIKING LANDER i

Camera 1 (left), back left quadrant.
27
i
I
Fig. 17. Elevation Contour Ovcrlay Mosaic: Camera 1 (right), back right quadrant
from IPL PIC ID 79/03/20/034017.
28
w_
SAMPLE
C._ME_A I'EmSP_CTlV£ EL[V_'rJo_ COlCrOI/It_
VIKING LANDER I _, ,,_.

Camera I (left), back right quadrant.
29
4.3 Elevation Contour Map Collection each scale. The rows and columns of the arrays are labled with
the parameters of the sheet array designators (see section 3.3)
4.3.1 Tabulation of Elevation Contour Map Sheets of the individual map sheets. The column labeling indicates the
value of the first parameter of the designator, and the row label-
The purpose of the following tabulation is to facilitate pag- ing indicates the second parameter of tile designator. The array
ing to desired map sheets, as well as to indicate which sheets entries associated with the designators indicate the page number
have been produced. A separate tabular array is presented for upon which the sheet may be found.
VIA
-6
Contour
-4
Sheets
-2 +0
Scale
+2
i:2000
+4 +6
VLi
-7
Contour
-5 -3
Sheets
-I +1
Scale
+3
l:100
+5 +7
VIA
-7
Contour
-5 -3
Sheets
-i +1
Scale
+3!
1:5
+5 +7
I
+6 +7 +7
+4 +5 +5
I
+2 +3 +3 75 76 77 78 !
+0 31 +1 38 39 +! 79 80 81 82
-2 -1 40 41 -1
-4 -3 -3
-4 -5 -5
-6 -7 -7
VIA Contour Sheets Scale !:1000 VL1 Contour Sheets Scale 1:50 VLI Contour Sheets Scale 1:2
-6 -4 -2 +0 +2 +4 +6 -7l-5 -3 -I +1 +3 +5 +7 -7 -5 -3 -I +I +3 +5 +7
+6 +7
+4 +5 +5 83 84 85 86
q¢
+2 +3 +3 87 88 89 90
+0 32 +1 42 43 +1
-2 -1 44 45 -i
-4 -3 -3
-4 -5 -5
-6 -7 -7
VIA Contour Sheets Scale 1:50(} VLI Contour Sheets Scale 1:20 VLI Contour Sheets Sc'Me 1:I
l[
-6 -4 -2 +0 +2 +4 +6 -7 -5 - 3 - I +1 +3 +5 +7 -7 -5 -3 -1 +I +3 +5 +7
+6 +7 +7 91 92 93
+4 +5 +5 94
+2 +3 46 47 ,18 49 +3
+0 33 +1 5{) 51 52 53 I +I
-2 --1 54 55 56 57 -I
-4
-4
--3
--5
58 59 60 61 -3
-5
!
-6 --7 -7
VI,I Contour Sheets Scale 1:200 VLI Contour Sheets Scale I:10
-7 -5 -3 -I +1 +3 +5 +7 -7 -5 -3 -I +1 +3 l +5 +7
+7 +7
+5 +5
+3
+!
-1
34
36
35
37i
+3
+1
-1
62
66
63
67
64
68
65
69
70
I
-3 -3 71 72 73 74
-5 -5
-7 -7
Table 1. Tabulation of Elevation Contour Map Sheets.
30
L
/
/ / i
31
-- -- --7
q'e'
"_.\+
\
1
It
32
41,
33
i
(.1. _1
II
11
:3
34
=
VIKING LANDI_ I
35
i
ll
\
X
\
'X
!!
'\
\
11
,\
I
'IPi_ING L_Ell 1
_ICALIE I : fill SHEET (-I, -1)
38
r .... ,-__
//
4/
,-_-_ .............
_ ....._._ / . \ -__._ • .
i_......
;_--, .-.......:. _ . _ , : -- ,- / .
-_: .:,.
: : " -,;>_
........
.--
.....
_-...........
:;/-...,_:.
__.....
:._,,..._._
:..........
--.
........ /. ' _ __ " .%-'b,-.
..'R:.."
_
.... / : : , /. : . _,._
_._,.-_ .
' : i i ./: : i ..'"i:.-,_

_o " :,\ "_: :
.. : ! ¢_ i ! / : :
: ....
i--JJ : : i if/: _ \i_'
- /
i ;..... :> ....................

3".....................
._if_J j'- ._>/
-o
t_
_CkL[ I : _11_ SHEET II, -11
_. s_
37
,2
38
.__.'x.................... i .......
" - I ,/ ' \X
" - /<'A_ \\\
.................... _ ..... _ .......... _,.......................................
,, ..... ._ ..-
.... -,,,r.
o..... __
...... A!Ty......................... ' .\ ....................
- , ,.. .... ,........ ..-/_ . :\ '..,.

_i.'.
......
.,.,:.,,-_"
......
,, _.
::,'...'.
....
>X ."
.....................
..__
.....................
,_.
............
- x\ . ,
-,q ,,. ,#....-_

...................... :.\
..... .--_.
. _ :....
',_
..... :............ "
":,
5-,
- t+
G o ...... _ ....... _o....... d,"........ ,;-- ............... ,?

...............
VIKING LANDER I
39
II
II
4O
41
I
..... 7
v.
: / * :",'_
,;>.-.-4
,_ s : ,,_ : ,, .:
!
/ . -, , -4 j- ; .....
/ '/
,-<Q ./ ,= ';
i: : / : --> _,_'_ : \ .q_ "._'_ ,,X-4, , _\ _\ : ""_" 4,:

i -_.............. :_-,....................... -'__d_-"_.,.
.............. _---'_ _-_,<---_'_ .-_: -_<-_ ._ ..... ,- ._ ......... -_:
: ----_A : : ., _ : , _ : ../< _ : ,_.... _ • ' - , •
: : : :/ _, _: 2,'/!I
_' : 7_: ,_.:. :
- /' - , /, , _'_/\_- i' _.. "_,. ,',,'', II
: , , _ ; . \ , ,i " _ t _P" _'>._ d'_>.

,-/_ _
,' • ., _ . k - " ! ,f ++-+-'. -., .. -_,X :W_:£ ,
i_ : :i :' : :" :_/" ' "-_ " :
f
/ ' _
'+,,'
ii
t
.f_
>
1
I
VIKING LANDER 1
42
.... .i
(1._)
©,
\
\
\
43
t
11
-!
I
o'
44
©,
°°l
,15
- j
46
41
A
(i. _)
,2'
J u
v__ _--_____ !!
\.
-,.>...
, \\
- m
l,
I
x (w_,m)
Jl.
48
m
]
- . ......... / _ ..... it ........................... ' "\_. " ' \ ]
"E .... 7 <, \ " .............. ":,,7 .................. ,//
" \\o e
"<'_
y \. ; :\"
"- i \\.. ! /
.... " C_z,\("-,, ;. "\ \
_>/. _ , ,, \
; "_ 7_ ! 7 "_.7\: 7 ! "\\, i
.................... L-+,\y,--: ............ , • '\

I; ,,, _o ; / \ ....... ; ................ "<,\- ; ................... "
/: _'\.: / _\ "'S
"\ x\ _, x
;/ ; _ /-<," 7 . /-m- _-_{_ ; _-_--3_\\ . \
VIKING LANDER 1 _
49
\
;/ / /
, /
/
/
/;
//
/ II
i
/
I'
j_
!
, /
T I
iI_
"i
.I
d
n
I
I_ ii IO
Ill.
51)
i
51
I
52
e4_
- \,\
'\,
\x
L
'_i- ........
:_:...................
I,
_',,,
........ _..... _+
53
-!
!
!,
L,
i
I,
\ '\\
lZ
\ \
:\
, \ \
\
L \
!
\
\
\
/
N
[
54
55
i
!
+
L.
!#
_4
,I'+
Y
4
i
/ -w_
.......................... : / i
,t
/ " i ,,r'
,o " i / _ /'
• _ " i ; ; .... )/ i-
: . ! : i . + i /i i .', ...,i
111
lZ
/.
• r ' + • _ ' . •
[
%_IKII_IG I.Ji.I_DI[II ]
li
56
i"
i. . . i _
,: , .
; . . , . . 7¸
,,' ,i¸
,_ i_
7:
[ i"
" ............... , ................... 7,I .................. _ + .................... i ................... _
,r_
,7 :"
] S /
it ,,;
,.. J < _
' , " "6, / -_ {
_- :,/ / ,e ;/_ W--.... _ -7'
/ 1 II *,,
/ .... / • _ ........ _ ,-.,: cj _:, . ,: . . ,
................. //,: i ,., ,

.......... C-_----
• 4- ...... __.t_'_..... i _ .......-' ,,,
/ : J
/
• // -\ y
._ , <\
- -V- ..... -\_ '-'- .......... _ ..................... -/ .................

._' + <
>>i '
/'
/'
l' .
rl X I_,)
@
VIII.ING IA_NIT)I:2, I
o_s,, -,-. _e ..... m,
57
il
It
It
58
o
59
l
.,,j
80
61
!
ll
'1
62
II.
83
h.
7
64
A
• -\\ ," \ !
\ • ,
....... _. ._/. _ _ .
[
i \\
\%
..................... ".:_ _ ......... i ......... i.-,r,.._. ' ........... "
. - \\\ _ \
" \ L \"
f
+
.................... \..,
x,
' / \
,e
,\. )\. ....
. , . xL ; " ? _ : _: L .......'
" 'h,
'k
o .......
_so s_ 60 _s s_o &s _c, _s i_o
"4"flK]NG LANDt_R 1
65
A
I
/
//
j/
-le
'T
I
I
_L
ir
66
]
/
/ ,/ i
/
!
t
/
I
/
- ,t r _E
/ /-
: iL
[ /
' d ;i
/?_
:i
a_
., :7 ; J
o .....
lilLE 1 : II SHIll I-1,11
,. _,_ .......... _7_o_.,Z..',.<:,,,'_:,:G'A?.

<_
117
,?
i
©,
11
II
II
I
<,
68
o
s ....... >,_ . .... ,.._
._ .: ................... "_.................. :_" .............. s'! ..... _,,
', \ \
",
',\ x,\ ,_,,£
" _ ',, .: " : ,';L

_ _ ._.,.. " "',
\ ,_ _-\ _,
................. .;.:
- ,\................
,,\ . \.
....... •................... !',.,

......... : ........... ",-,
_,
k
-k
[ •
o -, .
,7
r" *
._ x (m,d,,_-I)
VIK/Ng IANDEI1 I
60
i
I_ I} r_p
It
70
71
$
w
II
'T
72
............ • • ' • - - - , .... - .....
I
- [ " /- $ /
\,,/
./ /
....... i ......... ........ i ......... i-Y- '-> "; ......... ; ................... . .... >/ : ..........
/ .
j_J .
-j.-
j..--,
' .......... ; ......... ; ......... ; ........ : ......... ! ..... u:_:X -_ .... _--J_',_._,. ......... !- m, .... :
,' ....... X--ZS. . _ :_ :"X x,.. _,. " .J -"4'
• -,,, i--
?:-_=
;..................
i....................
VIKING LANDE_ I _
.................... _iZq'q_z
73
Q
_k
74
A __
E ./t /
IA /
t _ " // " x
.......... :7
/,
/ i ,,/ L_-%./ : \
z
/ /
/ / /
,/ / J ..."
/ / /.,-
/ : ,_,,d" : : "u-7 Y
/,': : : x,f : : ! :Y; .,: : .

,,. : : : i : : j +/ i_ ',,.: : ._."
_ . / . / ' ' .@ _ ,, 3 /
/' .._ , . \ _,, // - , • , .
,' / d I '"
_h/ ,./
...... T_. . . . _/.::..................... :.... /<'..: ...................
• ,4
, %:-. ..... .
/. . , . _ .,"
.................. :Y"_ ................. : + "<'4" ;/ ....... W'

/ . < -/,-/,,<:. --:
i ts ,,....
s ]k / / ..
, / _ J // ,
., ,/ /
,/ -. i
2'' ; /
,< ,
, \
......... ,; " ......... :........ "7"....... : ........... : ....... _Y 7........... : ....... :--_ ...... ;_..... i-_ "
t • / - • / , - - • / _ _. r
,,' i i /' i ! ",,,
Vn_ING [_NDER !
;:._,',-,.w_A'-_',Z_;,:.-,,_. _" <................ _ EZ_÷..... v.
75
i
............. _.LS> ........
./_ J .... t "
,< jC- ....... \
.... . ..... /
• J/ rQ
-i"z .i "': X, -"
_4 , ._ + ,,.-I. ....... x_.,_= ............

: ',u'w'
I
............... /_--_,_--. ............... -/ ..... ,_ - . _ .
=: "\j W ;..__; j_S.__ ......

....
/ _ s_-_\ ; ___ -J_ ....
i_ ,<- ....... : ...... ---- _- --_: .... _"- :-DT_-<-_" ........... : ..................... :............ ;. " _
:. : _/' : _ : _--S --_<_ -_-,).._.)

:
£
I
_.
:.
•
, > ;/J "
,
_."
/
"
:,E
i
:
i
:
i
:
i
.
i
-
!
: 3 : # ,,-'V "," _ : v--,'m. : : ;'-'_ :
; ,w f _,. . ]/ _ - ". - • 7j ' " ' . .i .... "

--.,._-_'-- _,:._ ..... _ ....... X: .......... _<>-_ "........ - ......... : ......... : ......
:-A!,/_.A ._ _W :: i i i i
I
VI]LING LANDER 1
76
77
-- i
i : _""--;" _k"\i _ i /_!. "i.,., : : ",
!
x\
"\: : C.._: _\ : : : ".... : j : ;\,., :
:_ : _ :-_ ' ". ,--_" b" ' " \

I
i ! ,,\ !"'-:;, i X : :
I
: : \ : ," ".,. \ : ....
,,
VIKING 1,M, IDEIt 1
78
v --
"L
/ /, \ /
/ )' ./ ,,
/ •1 ,
I'. / , ,/' " ,/ -'-..

: . ..................... / _'I /
,: ................... 1:2 14 ................ # .............
. 'V,._ .,:. • - . ."_"
/! / ..... ": /
/
/
:' , / " /
.................... t:k_, .............
.... / /
// ; /"
.... ; .................... /'; ...................
/ //
/
/ /
/: ////
/ /
/, /,
/,
/ •
,,' ,'
/: ©
VT]_G LANDFJ_ I
?9
i
II
8O
81
..... 41" --
!
\,
r'\
\
\
\
\
it
82
A
/ /
,/
83
.... .k
i
!1
i;
84
©-
B_
@
@6
I ,lb.
0 _ _ _,+
,+.__
+- ............... r ..................
[ -.
................... //._/ } ...................... . .

/
o*
_" | ..................
w,
VIKING LANDER
:°'+7,
_;',J_++;,:._-,,";/r,
_"'/. L."t";,,.,'+:":'+'_
_+';j_ _,22_
.......... +',,'G.+;
" ....... ,..
.........
87
't.
I
: i T
88
89
I
(_,s)
\. "\ ",.\ \'.\ . .
_" e _ " ,\\\ _ '_\ \ \\ ---_ \ , * \ ,
'I
X \ :s_'-_-_
\ / ,
._.J-. \ i/_ I 7
_X X . "-
1 lZ
• . ,\ \
'.... \X
, ........... \\ '1
-\ . \ \,
- ,\ \, \,,
\ ' \ -
/
N \
\
,[
I
¥'IT,J_IG LAND_( I
9O
• 7 ............... ] ...... _ .................. I ......... /
S" /
__ .......................... ,i / A"
f I
/
....................................... ,./ ; //"
/ ........ _ ................... / x, ..............
/
/
/I . /
/
/ - /
. /- • //
........................ / ............
./ • ,,.
/ //A /)/
/ / /
i /"
_- / - / /
. /
...""......... )/: "'/ ......................... 3/ ........................... i

/ / , -<
/ / / / /,,/
/ ," / / // ,/ /"
...... .<. / - / /
," ...................... / ................ : .......... ,,,f. ....... ........... +."
/ / : /)'" : )_, ........
/' / , /
/ / ,/"
• / //"
<_ "_, . " 1/ "

................. + ..... : ......... : ......... ..,: " J
/
...................
/ " /
, / /
/
, /
...................
/ / /
' /
/ / , ./ : /
' _/" i i/ t.,_d-....

,c / ' /
/' /l / /
! / . /
' . N /
_-_i"/" ....... f ....... "-.. /".. // .1/ /" /
VIKING LANDER 1 _
li IIIC I# Illl llf#l c_ I tl ! lily _111
91
_j
i
i : I i _ i i : ,
I
F : t * i ! : , _ "
L i : : : ; I
, { - _ ; ; , , +
t i ! ; I _ ! ! i
i ! i i ', I
; ; .... 1 r ' *
:_ : : _: ,, , ..... t , ,, i'-,., t .. _.-4-_---.:

!
,i........ :.............. !
-
i
,
i.&i _
t t
:
_
_
1
:
:
:
-
!
[
'VII[..I_6 l.k._D]_ll !
Jl
92
........... • ,k .........
93
i
ii
!
\ \ '\
\
\ \_ \\X\
.... i\\
\
\ \
'\
\
\
'\\
\ [
94
5. VERTICAL PROFILES
5.1 Vertical Profile Mosaic Overlay Stereo Pairs

which have been overlayed the systematic vertical profiles. The
general remarks of section 4.1 apply.
95
G
II
Fig. 19. Vertical I_rolile Overlay Mosaic: Camera 1 (lefL), front I_fL quadrant,
from IL'I, I'IC ID 79/07/15/102049.
96
L
Fig. 20. Vertical Profile Overlay Mosaic: Camera 2 (right), front left quadrant -
from IPI, I'IC ID 79/06/06/021223.
97
t
if
I
Fig. 21. Vertical Profile Overlay Mosaic: Camera 1 (left), front right quadrant --
from IPL PIC ID 79/07/15/102049.
J_
98
a L
Fig. 22. Vertical Profile Overlay Mosaic: Camera 2 (right), front right quadrant --
from IPI, PIC ll) 79/06/06/021223.
99
-- m
!!
I
Fig. 23. Vertical Profile Overlay Mosaic: Camera 2 (left), back left, quadrant -
from IPL I'IC ID 79/07/15/113640.
J_
100
m 1.-
Fig. 24. Vertical Profile Overlay Mosaic: Camera 1 (right), back left quadrant -.
from IPI, I'IC [I) 79/03/20/044430,
101
!
[ 7
! l[
:!
!
I
k
Fig. 25. Vertical Prolile Overlay Mosaic: Camera 2 (left), back right quadrant --
from IPL PIC ]D 79/07/]5]113640.
102
Fig.26. VerticalProtilt; Overlay
Mosaic:
Camera
1(right),
back
fightquadrant
--.
from1['1,
I'ICID79/0:_/20/014430.
103
m
| 7
! ![
104
L it,
5.2 Camera Perspective Annotated Vertical Profiles -- Camera 1
This section conlains camera-I perspective representations tour lines, an(t corresponding camcr:l perspective representation
or the eleval.ioll contour map data. The nature aml purpose of of the map data, with the individual lines of the map data an-
these representations has beet, explained in section 3.2.1. On op- notated with elevation values. "Fire general discussion of section
posing pages are presen_[_d mosaic overlays of the elevation con- 4.1 applies to the rnosaies of thls section.
105
k.
x_
t
I !
,!
I
I
Fig. 27. Vertical Profile Ow_rlay Mosaic: Camera I (lelt), front left, quadrant --
from IPh PIC 11) 79/07/15/102049.
J_
106
............ ; ............................ = ........................... ; ..........
$AMPL_
('AblEI_A PEI_PDX'Ti_rE V_.ItTICAL PR{)F ILES
Fig. 28. Camera Perspective Annotated Elevation Vertical Profile Lines:

Camera 1 (left), front left quadrant•
107
t
!1
I
Fig. 29. Vertical Profile Overlay Mosaic: Camera 1 (le[t), front right quadrant --
from LPI, PIC II) 79/07/15/102049.
108
,\ \ ' i
\
2_
SAMPLE"
CAMF.IIA PEItSPECrI_F VERTICAl PROFILES
VIKING LANDE_ I _ _--_
Fig. 30. Camera l)erspective Annotated Elevation Vertical Profile Lines:
Camera I (teft), front right quadrant.
109
t
\
l
l[
[
Fig. 31. Vertical Profile Overlay Mosaic: Camera 1 (right), back left quadrant --
from 1PI, PIC ID 79/03/20/044430.
110
__ __ Jk
i
m . 114 '"
,,, i_o
= :1: im
,,- _ m
i ,,_ , I ',o I
[ / '
; ,/t
i i
t
!
; i
T
7-12_ ......
............... + .....
SAMPLE
VIKING LANDER I _ _
Fig. 32. Camera Perspective Annotated Elevation Vert,ical Profile Lines:

Camera 1 (left}, back left quadrant.
111
A
m
it
I
Fig. 33. Vertical Profile Overlay Mosaic: Camera 1 (right), back right quadrant --
from II'L PIC II) 79/03/20/044430.
112
r
D
...... r ........ • .............................................................................
. // 'O
........................................................... i ......... i ......... i ...................
ioc_
i?s_
....................................................................................... i .........
:,_o_ ¸
SAMPLI.
,,.,q.
VIKING LANDER I _ _' _._,
CAMERA I BACK RICHT t,_rl_l_ LPV_A _ _'t_" I_, ,_.*
Fig. 34. Camera Perspective Annotated Elevatio[_ Vertical Profile Lines:

113
5.3 Vertical Profile Sheet Collection
This section contains the vertical profile sheet collection. No back leftquadrant (0 - 90°), then within each quadrant by order
tabulation of the kind preceding the elevation contour maps has of decreasing scale number, and within each scale by order of
been prepared. The sheets are ordered as follows. First, they increasing range.
are grouped by quadrant, in clockwise order starting from the
l[
114
It.
I
_L
t
r
i *" t
i
T t
1
T _ : "
so "
7_
r I . i :
I15
.... ak
io ......
T ..............................
s_
l 7
J
,!
io
7
I
116
.....'~_"'_"_.: .......... _ -_. _._ _ _,_, _.-_,_
_ _o; SYSTEMATIC VERTICAL PROFILES _*, ,,_.
I17
lot
,i
rL
S-
Lr
i 4
t
!
i
I t
_s
w ¸
........... L................. -2- .......
e_ 1 .... i ......
t _---_- .....
-
{ - :
I
T
I i
F !
i_i .... b , , ,
I
_o Ls so
II,**m'l)
N
VIT,.ING IAND_ !
SY_TIC VERTICAL PROFIIT_ ,,_,_,_' _'_,.. ,"_T _ _' _ _._-_
118
SCALE I : lie RANGE IB TO IS METEe$ 8 TO _ DEGREES :, .mv,_s _,v.. _"_" _f,,_ _ _..m.a._
119
NO
_...... T..........
_k
t
s-
._._r
L_
!
es
a¢
: i
6_
eo
_ J
so
ls •
a_
IF
120
121
i
io
),
L_S ........................................................
,o,
_m
_ _ --
it
los ................................................................
!
gs ....................
9e ........................................................
I
o ......... s " ' ' io .... is - "
VIK[NG LANDE_ 1
SYSTEMATIC VERTICAL PROFILF_ _'_'_ _' _'_ ;,7--;'; ,="_ =,k_' _'_
SCALE I. IR RANGE e TO _ METEKS _ TO tim D£C]tEE$
J-
122
E
|
4_
VI_ING LANDER 1
SYSTEMATIC VE_T1CAL PROFIL_.S _ _'_

Im
to T
9
+
rio .....
+ , ,m .
!
: +__+,.---+-_++_
! + I
+ + +
J_ ....
+
i_ '+ +._,.u+.._ : + +,
+
,m_ " ;
f
Is+'
l .- 4
+
+m
12+
+''_-',,+ ,.+.,..._u+ , • ........ ,,+,_,+ph+ +_+ _ II
........ + ....
IiO
I
+
o s io 40 +s - " _0
(_)
VIKING LANDEI_ 1
_b'TEMATIC V]_TICAL FROFII.F-3
_CaL[ 1:11 IIANG[ITOSM[TERS _TOINDEG_£F.J
124
......
2___
! L
lw,)
VIFJNG LANDF,_ ]
SYSTEMATIC VERTICAL PROFILES
_C_AL_ l:le _ICE_TOIeM[TEIJS MTOI_DF.GREE$
125
I
!
............................. : ................ i .................

9 lg
'7
11o .........................................................
• ÷ .
126
IO ........................................................... : ................................... i
s! ,i
!
p
,+o ....... _L_ .......... : ........... ? ........ i.......... ._L_........ r
| :r
-+ _ i ',
........... +......... : ............ _........ !.......... i ....... i .... + t
._......... __ ......... i ........... i .......... "+_...... _L_.................. i ......... L ........ --2-- ........ "_
! i
- i
9S
, i i
• +_ .......................................... a+
........... ++.:+_ -+'_---':_:
127
-- a
l_[ I t T I
kll
t
i
k t i il i : +
?
[
_ , T ............
o io IOO
SYS'I_E]_I_TIC 9]_I'IICaL MIOFILE_ __ _° _

"_'_ ,
_I,
GALE l;Leoe IL_C_eT_SeeML"rI_t3 UIOTOIIID_P_B ,,_ _,_
__.-_=_.__
_.__-
128
_o r .T
T T :
" T
; T
P
J
1!
i " +
T .... =--'_-- [ "
19_.... +
I + :
L
o io
_AL_ I:lll _kNC[ITOSeM[T[IS I_TO_DECR_ _.*Nc_'_ _w#
129
i
....... + ........ I
j+
....... + ......... + ..... !

...... + .........
i ÷ !
i i
I I
RI_ (,..lwl)
lANDER 1
SYSTEMATIC VEI_T1CAL PROFILES

SCAL[ I:L_ _ANCE_TOImM(T_ _ts ImTOZ_D£CKEES
i_ _
130
s,
i,
!
jw._
......... __ . • . . ,,_ . + ._,__._j ........ .
]8_ " •
• i_ ....... 15 ..................
40 _ _O
SCALE i:ll IANC[ITOSMETII$ IMTOI?IDIRII
131
i
1.o
9_
t-
n
!
I -
I
?
T
_f
21S....
_loF ' m_ r
T
,._ t i
L " ! +
i
i'
•
i
t
! T
+
!
' , , , , , ,
+
"
i
[
•o is so Io LI
VIKING LANDER 1
SYSTEP4ATIC YI_TIC.AL PROFII,ES
SCALt ]:lid ILANGI[STOI|M[T[RS iI_TO_ID[_[I[2S
132
io ...................
. _ r. .. J
, ÷
205...................... _ _ •
'L '=---_--%_'_ t i
L _
- !
÷
, _ .... i , , , , _ , , , , _ ,
IOC I0_ I10
i_._ i_ Iso ixs 14.o its i_o
Ille4p, _mw,,)
V]][I_G LANDER !
S_L£ I : 10 K,ol_z le TO _ METERS lm TO l?e D£CltZZS ,,_ ,,_,
133
-- g
le_ - ..
[
Iso ISS beo 16s
VIKING LANDEI_ I
SYSTEMATIC V_TICAL PROHLES
_CaLI l:le XaI_IISTO_IMET[RS IIITO_?ID[C_[E$
134
ioo ............................................................................
-2
......... f- • ................ i ........ i......... -2_ ......... : .................. i ........ _2_ ........ i
_c ..........................................................................................
o, ,_ ........... ,c, ........... r ....... _ SYSTEMATIC VEBTICAL PRONLFS ,_'_'s_,
135
L
B
to ............................................................. • .............................
|,
g
i+
I
2
.... -[ . + • - ,
., + _ +-- ........ . ......... ............
___.._.,----
r';,
,,o ......................... + .......................... ] ......... ............................
II
Ir
J-
136
1o
,4,-_J ....... i ........ i ........ i ..... • ....
............................ i ......... _ ................ i ......... i ......... ........ __L_ ........
.................. i ......... i ......... _ ........ _L_ ....... i ......... i ................. _2_ ........
,.._.,_._,. ,_ ...... ;_,,_. ,_, ,_ ...... SYSTEMATIC VERTICAL PROFILES _.._ --, ,_ _ _ ......... ,
137
- "7
I
_sls ....
ll.
138
X,
' SCALE
l:ll
RA_E lO TOL.IMETER$ tIITO360DECREES ,,_,_rJ ,,v,. _, ._,_ _,r_,._ _ ,_
139
I
le .......... ....................................................................................
L_
!!
140
I'AI_7' III VIKING LANDER 2: MAPS AND ASSOCIATED PRODUCTS
6. ELEVATION CONTOURS
6.1 Elevation Contour Mosaic Overlay Stereo Pairs

which havc been overlayed tile systematic elevation contour lines•
The general remarks of section 4.1 apply.
141
T
!
i1
I
Fig. 35. Elevation Contour Overlay Mosaic: Camera I (loll.), front left quadrant, --
from II)L PIC ID 79/10/I 1/055137.
142
Fig.36. Elevation
Contour
Overlay
Mosaic:
Camera
2{right),
frontleftquadrant
--
fromIPLP[C[D79/03/15/022628.
143
A
I
from IPI, IHC [l) 79/10/11]055137.
144
L _ A .... .a.
Fig. 38. Elevation Contour Overlay Mosaic: Camera 2 (right), front right quadrant --
from [['|, I)IC ID 79/03/15/022628.
145
A
it
I
Fig. 39. I,;Icvation Contour Overlay Mosaic: Camera 2 (left), back leIt quadrant --
from IPL I'IC ID 79/10/08/233417.
146
l'rom [PL F'IC [D 79/04/0,1/030319.
147
t
f if
I
Fig. 41. Elevation Contour Overlay Mosaic: Camera 2 (left), back right quadrant --
from IPL PIC ID 79/10/08/233417.
_~
148
Fig.42. Elevation
Contour Overlay Mosaic: Camera 1 (right), back right quadrant -
from II'L PIC 11) 79/04/04/030319.
149
t
___ _L_
150
6.2 Camera Perspective Annotated Elevation Contours -- Camera 1
This section contains camera-I perspective representations tour lines, and corresponding camera perspective representations
of the elevation contour map data. The nature and purpose of of the map data, with the individual lines of the map data an-
posing pages are presented mosaic overlays of the elevation con- 4.1 applies to the mosaics of this section.
151
i
,!
I T
I rl[
Fig. 43. Elevation Contour Overlay Mosaic: Camera 1 (left), front left quadrant -
from ll)L PIC ll) 79/10/11/055137.
i-
152
SAMPI.[
¢AMEIA pER_p_CTIV_ £tEV_TION CONTOUII$ _ _. _ _,_,

VIKING LANDER 2 _t ,....

Camera I (left), frm_t left, quadrant.
153
A
I[
I
from IPL PIC ID 79/10/11/055137.
154
.3 I
+ - +.¢
++# t
+.
• + + + ........... +............

Camera 1 (leit), front right quadrant.
155
%.
I
!1
I
Fig. 47. Etewd, ion Contour Overlay Mosaic: Camera I (right), back le[t quadrant --
from IPL PIC I1) 79/0410,t/030319.
156
iooo ........................
_125C
J_ ........................
SAMPLE
CAMERA PERSPECT?'VE [L[VATION CONTOURS

Camera I (left), back left quadrant.
157
!
W[
l
Fig. 49. Elevation Contour Overlay Mosaic: Camera 1 (right), back right q_ladrant --
from IPI, I)]C 1D 79/04/04/030319.
]{_
158
"O
i¢c¢
..................................................................................................
_so_
.....................................................................................................
nT_
.......................................................................................................
2cc¢ .................................................................................................
CAMI_RA PERSPECTIV_ [LEVATION COP_TOUI$ _ _. _ i,_

VIKING LANDER 2 _ =_

159
-- Q
6.3 Elevation Contour Map Collection each scale. The rows and columns of the matrices are labled
with the parameters of the sheet array designators {see section

3.3) of the individual map sheets. The column labeling indicates
6.3.1 Tabulation of Elevation Contour Map Sheets
the value o1" the first parameter of the designator, and the row
The purpose of the following tabulation is to facilitate pag- labeling indicates the second parameter of the designator. The
ing to desired map sheets, as web as to indicate which sheets array entries as_ciated with the designators indicate the page
have been produced. A separate tabular array is presented for number upon which the sheet may be found.
--
VI,2
--'-_
Contour Sheeta
-2 +0
Scale
t2
i:2o0o
+4 +6
VI,2
-7
Contour
-5 -3
Sheets
-1 +1
Scale
+3
f:lO0
+5 +7 :L7
Vl,2 Contour
-5 -3
Sheets
-1 +1
Scale
+3
1:5
+5 -_7
l
+6 +7 +7
+4 +5 +5
+2 +3 +3 203 204 205, 206
+0 161 +l 168 169 207 208 200 210
-2 -1 170 171 -1
-4 -3 -3 211
-4 -5
-6 -7
V[,2 Contour Sheets Scale I:fO00 VI,2 Contour Sheets Scale 1:50 VL2 Contour Sheets Scale 1:2
+7
--_ -3 -1 [ +1 +3 +5 +7
+t
÷6[' -6 -4 --2 +O +2 +4 +6 +_7 _ -3 -1 +1 +3 +5
+5 1212 21:1 "214 _215
+2 +3 +3 216 217 218 21912_0 221
+0 162 172 173 +1
-2 --I 17,1 175
-3 __.
-4 -5
-8 -7! [ -7i
V1,2 Contour Sheets Scalc 1:500 VL2 Contour Sheets Scale 1:20 VL2 Contour Sheets Scale l:f ¢ it
-6 -4 -2 +0 +2 +4 +6 '-7 -5 -3 -I +I +3 +5'+7
-_-_, +7 +7, 222 223 224 225
+4 +5 -/-5 226
+2 +3 1715 177 178 179 +3
+0 163 +1 180 181 182 183 +I
-"2 -1 184 185 -1
-4
-4
-3 186 187 188 189 --3
-5
,!
-6 -7 -7
VL2 Contour Sheets Scale 1:200 VL2 Contour Sheets ScaLe 1:10
-7 -5 -3 -1 +I +3 +5 +7 • -7 -5 -3 -f +1 +3 +5 +7
+7 +7
'+5 +5
1+3
+l
-1
164
166
165
167
+-3
+1
--1
-- 190i
194
198
191
195
199
192
196
193
197 I
!
-3 - 3 1 200 201 202
-5
-7 -7!
Table 2. Tabulation of Elevation Contour Map Sheets.
160
- .L
\ _\ ! I \\
161
i
1 7
! ll
f!
[I
162
163
i
q_
"1
f • i
I
164
165
i
li
166
187
t
168
I
169
v
i
11
ill
170
__ __ II
171
- v
I
:i \
T
\
172
173
"t,
A
I, +ii
,!
174
+ +
175
i
,1
176
i
177
_- 4
A
_,¢.+
II
\
\
178
i
17{}
T•
I I
fT
I
+11
is 13 -12 11 .io
._ ii -ll
x {i_rl}
VIRING LANDI_ 2
$CAL[ I :I_ _x[E'r _-_,I)
_zm¢--w_.mj
L i_
180
| L
iltl
-- e,-
,@
! !!
v.,,_
182
183
-- i
sr
r!
184
(I<¢_
@
185
\
'i
18_
i
=J
187
Q
\
\
'\
188
119
i
¢#:
II
190
.... ,,,L --
IOl
I
@-
: i
\
-_'_-u.te.
....... :..... ;.... i_-_,-," * _. ........ _ ........ :........
'\_"_y" : : i i i tt
: ..s--_,_ ,* ,,,'-_. \ - /.. :\ _: ; '--..,. : , : :\. _/':
ll
r,>-__,,:-" _, c: '4./_ 7: _ ,. : _ : _:× t-d: _._ I

_'" ' : _" . i: ''__"' _,...-:_ _: ." _- , : _,;
!
I
_e#_ X (D,c,n}
iI .
192
_ \ i i_
o_ .... i _ :\ : : \! i i\\ :
193
-- I
(.i.
s>
_!! i -> i/ _! \ i _,/.._ '! / i i __
_ / i il / i,: ! 7_ /_ -,._
i/ ! i ; i i I /
-/ l
°3
r
1
-I il
_r
"1
"1
.: . [! .k- 'i
-i
.i
.I "1
"1-
i : , ,\
1
C"
_C_.L[ I : 11 SH[ET _-_ 1)
(._.-1}
194
F
• /
',r
+,
195
t
!!
\ 1
v
I
II Ii ,
i
_CALE 1 : l_ SHEET [_, l} _ e_,
197
\
\
- i
198
\
19g
m
!
(.l..a)
\
!
V_UNG LJ,J_DI_, 2
200
VIKING LANDER 2
201
-- t
II
J_
202
203
I
i[
\,
204
20f
t
206
J
/
i
/
i
,t
/i
t'
1
/
/
,,," / / •
__.... 7, .................. + !
i
ill II
L ,t
/ II /
,/
i/
/
i
,/
" /i' /S /
i
!'
)
. i [
_ r
@.
Y_G _ 2
_ _o
(.I,i)
207
-- g
°!
208
209
i
_P
210
\
211
W
212
-j:
t
J
4 _ t
S
°
, , i , , ,
, $
, , , , , . i , , , , , , , , , : , , , , ,,,,L,,,,
_uo ._ .J_ .s -4 _
x (im_]
LAND£]K 2
_,_.L[ I :$ SHE[T (-[, $)
(.I._
213
i
L_
r J
o
!
'i
/
---._
/.
m , ,
_ '_ i/
'7
/
_ -
L
[
B s _o
x (_b
I_NDE_ 2
_CAL[ ! : ! SHEET _1,s)
214
\\
'\\\
\
215
-- II
i ! ! i/ i i ! /
7
!
\
I
V'fKING LANB_ 2
216
///
/
217
- B
_p
/
/
/
J
s
I
4 _ t
VIKING LANDI_ 2
218
\\
2L9
-- m
q_
k
\
\
\
!
• \
\
\\
\ !ii
\
\
\
\
:\ \
\ \
\ \
\ \.
\.
\ \*
\
\. \
\, \,
14 ts
220
• \\
\
221
II
,/
/"
//
,lp
222
>
223
m
II
224
225
!
\
\\
\
\ \ r
\
\ \
!
,\
\\
\ \ \
\ ,\
\
i •
\
i-_ .......
\
\ .... ÷
\
-g
\ \ \\
\\
\ '\ \
\ \ \. \
\
\
\
\
\
, \ \
F
8_
S_L[ 1:1 SHE[T ¢1,S_ _-='_.:- _:_,_ _._. _
226
7. VERTICAL PROFILES
7.1 Vertical Profile Mosaic Overlay Stereo Pairs

which have been overlayed the systemal, ie vertical profiles. The
general remarks of section 4.1 apply.
227
!
Fig. 51. Vertical Profile Overlay Mosaic: Carnera 1 (left), front left quadrant --
from IPL I'IC 1D 79/L0/11]060732.
228
Fig. 52. Vertical Profile Overlay Mosaic: Camera 2 (right), front left quadrant --
from [P], P]C [D 79/03/15/032905.
229
4
g
Fig. 53. Vertical Profile Overlay Mosaic: Camera I (left,), front right quadrant --
from IPI, PIC ID 79/10/11/060732.
230
I
Fig. 54. Vertical Profile Overlay Mosaic: Camera 2 (right), front right quadrant ---
from II'l, PIC I1) 79/03/15/032905.
231
I
Fig. 55. Vertical Profile Overlay Mosaic: Camera 2 (left), back left quadrant --
from [P|, l'lC ID 79/10/08/234537.
232
Fig. 56. Vertical Profile Overlay Mosaic: Camera 1 (right), back lefL quadrant --
from I])[. [)[C tD 79/04/04/041347.
233
t
Fig. 57. Vertical Profile Overlay Mosaic: Camera 2 (]e[t), back right quadrant --
from IPI, PIC ID 79/10/08/234537.
234
Fig. 58. Vertical Profile Overlay Mosaic: Camera 1 {right), back right quadrant, --
from IPL PIC ID 79/04/04/041347.
235
V
IF
236
JIk
"o
7.2 Camera Perspective .Annotated Vertical Profiles -- Camera 1
This section contains camera-] perspective representations tour lines, and corresponding camera perspective representation
of the elevation contour map data. The nature and purpose of of the map data, with the individual lines of the map data an-
posing pages are presented mosaic overlays of the elevation con- 4.1 applies to the mosaics of this section.
237
-- 4
B
Fig. 59. Vertical Profile Overlay Mosaic: Camera 1 (left), front lefL quadrant --
from II'L PIC ID 79/10/11/060732.
238
_, _,, _ :: :: : I_,
L't_
............... _ ....... _ ..............................
CAMERA pEHSPFCTP,'I': VERT1UAL PI_O}'ILES

VIKING LANDE_ 2 "_-- _" _ ""_ ...... " _' _ _ _ ' .....

Camera I (left), front le[t quadrant•
239
t
Fig. 61. Vertical Profile Overlay Mosaic: Camera 1 (left}, front right quadrant --
front IPL PIC ID 79/10/1t/060732.
240
\
+_

Camera I (left), front right quadrant.
241
!
Fig. 63. Vertical Profile Overlay Mosaic: Camera 1 (right), back le[t quadrant, --
from IPL PIC ID 79/04/04/041347.
242
............ ................................... L_............. _L
Fig. 64. Camera Perspective Annotated Elevation Ver_,ical Profile Lines:

Camera l (lefl,), back tell quadrant.
243
W
Fig. 65. Vertical Profile Overlay Mosaic: Camera 1 (right), back right quadrant --
from IPL PIC ID 79]04]04]041347.
244
?w,_ ................ " i •
SAMPLE ,1_'_ '_O
C_,_,IEI_, PP.n_PI_CTZ_r'_'I/I:t_TICAI. PROFILES
VIKING LANDF_ 2 _'_'_'._

Camera I {left), back right quadrant.
245
4
A
i
7.3 Vertical Profile Sheet Collection
This section contains the vertical profile sheet collect, ion. No back left quadrant (0 - 90°), then within each quadrant by order
tabulation of the kind prccedirlg the elevation contour maps has o/' decreasing scale number, and within each scale by order of
been prepared. Tile sheets are ordered as Follows. First, they increasing range.
are grouped by quadrant, in clockwise order starting from the
II
248
!
i'
........................ ......................... _........ !........ i..... - .......
247
no .......................................... . ......................... _ .............................
1
I
Z
JO
SYS'I'_TIC VERTICAL PBOFK.ES _,,,-_ _, '_.._._'_ _'Z _ _' --"_
248
°
+ i
+_........................... i......... ! ......... _........................... ! ......... i ......... i_
_c ........
se ...........
'° ......... i ............................. _.......... i ........ i ......... i ..... "
2S
_0 5_ ...... SO ..................
VIKING LANDER 2
SYSTE_4ATIC VERTICAL PROFILES _'* +,_ _.
249
°
-- i
!
I
ss - ......................
iio: ........................ .
70 1.......
: : : :.. : -:
+
_O .......
T
\
_r
i :_"
....
i
_7 .......................
-j.!
......................
1
I
_o _5 so
'VIK,LNG LANDER
SCAL[ 1_II RAN_ESTOIIM[TEItS ITOgID[GR[r_ _a_._,_* _ _
Jl
250
_ IL
t
.................................................................. i ............................. '
5_ .... ,, . . 2 " _t
....................... _:.....2 ......... =__ ....... __ ........ i ......... i ......... i ........ _2_ ....... _,4
......... -2-2. ............ __
,.......... i ......... i ......... i ......... _ .... c.... i ......... Z......... _ ......... ......... i ......... i
25[
i¢ ............................. - ............. - ...............................
]+
J
[]
+_ ......... : ........ !
..... ] ......... _ ................. _ ....... i .......... 2--- ..... ! _7-'- ! -.". ...............
25 ................................................ i
i +."._.. .... : +++!++.'_ " " •

!
to
252
Ic¢ ............................................. , .........................................
"m
!
=,
_, 4o
z_ ......
253
-)
t¢ r
.i _ i
,.F-------'--
+
iw¢ '
i ÷
f
leO
I
o io
(mml)
VIKING LANDE2¢ 2
_, _" '%'=--r
SYSTEMATIC VERTICAL PIgOFII.E3
_ALI[ 1:|1o ItANC[eTOSOMI[TI[It_ _TOIMDI[CIgEI_
Ji
254
i_o
ma
....... ; ........... : ......... _......... ........ __! ......... ! ......... i ........ -7- ........
r _ , . I_
1so
12e.............................................................. + ........................ T..._ ....

b
,............. _+_..... ; ..... <:=._ .................. -- ........ i ........ : ......... ; ........ . ........
_o
255
IoI ............................... _ . - r ..............................................
e
'M
| ,
_ _ _ __,___ ..... _ i_ i_
!
t_o
i _ i i i ] i _ " ,- i _S" i
............. -7 ........ _.......... _...... _........ .-7 ......... .-.......... ._- ........ _ ......,_ ....... ,_ " '
,_ . ........ i ........ i ........ 2....... ] ....... 2. __ . . . . i
!
lOO.___
o ............ _o
I
IL_ (m.*,w,
}
VIKING LANDER 2
SYSTEMATIC VERTICAL PROFILF_ _ _,_ _,. r_.._ ._. _,, g_
256
8
! i
r,
,_.._-_-_.-_._.,-., _.--:'- _,...._, . , ,..

i_[,_c _'_' _,_..,....,,..._,_) ........................ _ _._.,_ _ - . . -
sc s_ _o 6_ .e -s sc
Rare*t_n,
',_.-_['7,_'_.r,,_'_'_'_i'r._'.7_."_,,'_.._7,'_ SYSTEMATIC VERTICAL PROFILF.S

.._,.o,o r_o_*_,_o_,_a,.,._.,r_ SCALE I:le _IANCESTOIOMI'TERS 9OTOI_DECR[[S
257
to ............................. , ............ ...................................
11
s
i,
[
_¢_,_*s,.... /_ VIKING LANDER 2
258
io ........................ , ....................................
?
7
,........... i ................... i ......... i.."'.=.-. .....................................................
259
.... .4
ioo ........ _ .........................................................
eo
i _o
_o
so
20
....... _ ................ i ........ 2.......... _L_ ......... i ......... i ......... i ......... _L_ ........
it
' i
[
c _ - ioo
"VIKING LA.NDI_R 2
SYSTEMATIC VE_T_C/d_ I_OFII2E:S _,_ _, :_.2"_ ,'_" _ _ --""_
260
'L
9
............................ : ........ : ........ _2_ ........ : ......... : ......... : ........ w ........ •
261
!
_o .....................
ces .... ,_ , , ,, , .....................
[
"_'_"_'_ _;_AL_ I:IN IKAI_E_OTOIUMET[P-_ ImTO2tQD[CltEE3
262
9 _
i'
" _'0 - ]_ 2o --- _¢_- - _,_ - . . _,_ .... _ ..... _ ....
VIKING LANDER 2
SYs'r_TIC VERTICAL PROFILES ............ ".."-':"_ =' _//..,__.' .."_1;
263
g
|,
|'
E'
=
s
IE
tso
JI._
264
8
p
26_
............ i ........ C__ ........ ;'_ _.......................................
• . . ÷
265
LO.......... _ ........................... T
,S
i"
s
7_o ..... * - •
1
• +
< s
, , _ 7"-'_'
!
'- •_! ..... -+_: ....... i...........i..........
.... r
+
I
Iso I_s _ 16o les
V'I]_NG L_N_E]_ 2
SYSTEMATIC _JRT]CAL PROFILES
SCALE 1:1e KAR_E IS TO H METER$ I_ITO2?ID[GREE_
266
267
no r .........
S -
io:
s -
_sB ! I
[
_m ,_,_ _-. ,_ SCA_.[ ]:IN RANGEITO _ MET]lit3 211tO_e D]I[CRiF_
268
Io ..................
......................... i
• " T
269
i
sJo
_s .......................
I
_o - _s se ss
VIKING _ 2
270
k
271
io ........................
8, 'm
.._j
i'!
!
............ i_Wp_- ¸
_p
" .__J2.
i ......................................
_:o_ .......
7
I
VIKING LANDER 2
S_S'TEMK]'[C VERTICAL PROFI1JES
_ALE 1:1t R/JCCEISTO_tMETE_$ _TO_DEC_EES
272
8. GLOSSARY
CCW Counter Clockwise
CW Clockwise
IPL hnage Processing Laboratory, JPI,
JPL Jet Propulsion Laboratory, 4800 Oak Grove Drive, Pasadena, CA 91103
LACS Lander Aligned Coordinate System
LGN Local Gravity-Normal coordinate system (equivalent to Lander Gravity-Normal System)
LMS Local Mars coordinate System
RDS Range Data Set (the fundamental Stereo System product)
RANGER Stanford Stereo Station computer program (at IPL)
T sn Rotation Transformation matrix, from LAGS ("R" Reference coordinate system) to LMS ("S')
273
W
Ll[
\
!
J_
274
APPENDLX: A
COORDINATE SYSTEMS AND LANDER ORIENTATION
A1 Lander Aligned Coordinate System (LACS)
Figure AI schematically indicates the placement of the nominal landing plane, apparently suited the convenience of en-
Viking lander cameras. The coordinate system shown in the gineers having lander/orbiter system integration responsibilities.
figure is the Lander Aligned Coordinate System (LACS). The The coordinate system employed for recording all range infor-
LAC, S was selected by mission management to be the lander mation within the RDSs is the LACS. This of course means that,
prime reference coordinate system. The curious placement of since the ]anders are tilted, no value or coordinate remains fixed
the origin, not only outside of the lander but even below the when tracing an elevation contour.
+ _ (NOTE: E " COMMANDED ARM EXTENSION)

_;, DE
AR_ F ... '_ "II _ ,--SAMPLER ARM
li
"" L_L-,,F,
_ p ._,_.
J_'ZZ_---_ _--_, - I'_ T SAMPLER ARM 0 8;
'_'_/_ 7 CAMERA 2"-',_ _=.._ CAMERA i
\P_,_
. i'i
_o.2_ m i:lli:i . E[_I
\ _ I
F[p,o.O;'m" T
__i _\_\\_\_- z _\\\_\\\\\\\\_\_ Y

X X
Fig. AI. Lander, camera, and LACS coordinate system configuration.
275
A4 Lander Orientation
A2 Local Mars System (LMS)
For the purpose of supporting map generation, a coordinate The lander orientation information utilized in the prepara-
system called the Local Mars System (LMS) was introduced tion of the systematic maps, and represented by the T SR
within RANGER. This was not a Unhlue system, but one that matrices, was obtained from the inertial reference units onboard
was varlously defined according to the circumstances of the par- the landers. A comparison of lander performance with a com-
ticular mapping operation. For the purpose of generating sys- putation of lander orientation based on output from the onboard
tematic elevation contour maps, the LMS was defined as follows. guidance systems indicates that the standard deviation of the
It was right-handed, the LMS z-axis pointed directly upward, hinder orientation paramters is +0.4 ° [Villyard, 1077; K. W.
toward the zenith, the LMS y-axis pointed toward the north, Villyard, private communication, 1981]. Independent evidence
and the LMS x-axis pointed toward the east. The matrix within is consistent with the inertial refercnce unit data. The Viking
RANGER that defines the transformation from the LACS to the 2 landing site is very fiat. We do note that when the Stanford
LMS is referred to as the T sn (from "R", Reference LACS, to Stereo System is commanded to encircle the lander with a remote
"S", LMS.) The values of the these transformation matrices for grLvity-aligned elevation contour line, in the neighborhood of
the two landers are given in sections 4.1 and 4.2 of the present zero elevation, the contour line falls very closely upon the visual
appendix. horizon. We furthermore note that the contour lines of the maps
['or Viking lamter 2 hover wry closely around zero elevation.
Additionally, the orientation iuh_rmation obtained from the in-
ertial reference units is consistent with rough independent checks
performed by the lander imaging team [Mutch, 197fia].
The systematic map T sR matrices for the two landers, as
well as the lander orientation parameters derived from these
matrices are indicated in the sections below.
A3 Local Gravity-Normal System (LGN)
The borders of the few preliminary systematic maps plotted

at JPL were aligned with the LMS; tile cardinal compass direc-
tions were parallel to edges of these maps. However, since the
cameras were located at equal elevations above the lander deck,
they were directly or indirectly responsible for substantial mutual A4.1 Lander 1
obscurations of the Martian surface. Furthermore, stereo rang- The systematic map T sR matrix for Viking lander 1 is
ing accuracy degenerates as the viewing directions approach a
parallel to the intercamera baseline. These two factors contribute
/+.0503457 +.7858010 +.61fi4240"_
an inherent geometrical symmetry to the mapping characteris- T sR = _-.013fi545 +.8176800 -.7862990].
tics retativc to a plane passing perpendicular to the intercamera \-.0086370 +.0311701 +.0418270/
I[
baseline through its midpoint. For this reason a coordinate sys-
tem was introduced specifically for plotting the systematic eleva- The orientation angles obtained from the lander l T sR are
tion contour and vertical profile maps. This system is variously shown below. The large number of significant figures is shown
referred to as the Lander Gravity-Normal coordinate system (in only for compatibility with the T sR. As noted in above, the
early informal memoranda of A. A. Schwartz), anti in this report standard deviatation error in tilt and orientation of the lander
as the Local Gravity-Normal (LGN) system. Though, formally, relative to north is estimated to be -I-0.4 ° (Note: When viewing
the LGN is defined in terms of the LACS, the system, in fact, normal to the deck of the lander, the LACS negative z-axis
coincides with the projection of leg number 1, the aft pointing
may he obtained from the LMS by a rotation
The LGN system is defined as follows: It is orthogonal
about the zenith.
and right- leg.): !
handed. The origin coincides with that of the Lander Aligned North: 38.00489 ° cw from leg 1.
Coordinate System (LACS). The z-axis points toward the zenith. Tilt magnitude: 2.091820 °
The y-axis points in the direction of the projection of the LACS Tilt azimuth (downslope): 323.2693 ° cw from leg 1.
z-axis normal to the horizontal plane through the origin. The
Alternatively,
transformation matrices from either LACS or LMS to LGN, and
North is 141.00511 °ccw about the LGN z-axis, from the
vice versa, may be obtained from the T sr given in sections 4.1
LGN y-axis.
and 4.2, below.
Deck tilted downward 2.901820 ° at azimuth 285.1744 °
To the extent that lander tilt may be considered
LGN may be visualized as having its x-axis approximately
parallel to the LACS y-axis (and thus
to the direction from the "left-hand"
pointing
camera,
small, the
anti-
roughly parallel
or camera num- A4.2 Lander
ew from
2
north (LMS y-axis).
I
ber 1, toward the "right-hand" camera, or camera number 2.) The systematic map T sn matrix for Viking lander 2 is
The LGN y-axis points roughly parallel to the LACS z-axis, or
in the horizontal direction outward and approximately forward /'+.1414660 -.8623340 +.4861890"_
from the lander, and roughly perpendicular to the intereamera T sR_|-.0191174 +.4886360 +.8722730_.
baseline. \-.9897580 -.1326930 +.0526407]
276
The following; orientation parameters may be obtained from
the T sR matrix for lamlcr 2 (Note: When viewing normal to the
deck of the lander, the I.ACS negative z-axis coincides with the
projection of leg number l, the aft pointing leg.):
North: 150.8665 ° ew from leg 1.

Tilt magnitude: 8.207321 °
Tilt azimuth (downward): 68.56271 ° cw from leg 1.
Alternatively,
North is 29.1335 °ccw about the [.GN z-axis, from the
LGN y-axis.
Deck tilted downward 8.207321 ° at azimuth 277.6962 °
cw from north (LMS y-axis).
277
I
278
APPENDIX B
SELF-OBSCURATION OF MARS BY THE LANDER
BI Self-Obscuration
Ilad the policy in lander design been exclusively to satisfy canister-like structure at the azimuthal extreme in each of the
tile interests of the lander imaging team, much more of the views is the other camera.
landing site would have been visible to the cameras. In reality,
there were of course many competing engineering and scientific The figure indicates the appearance of the various pieces of
interests that had to be considered in configuring the lander. It lander hardware as well that or a rectangular grid on the nominal
will be recalled, from figure A l, that the two cameras were jointly landing plane in front of the lander. The front of the lander is
placed closest to the side of tile lander on which the surface in the right half of the camera 1 drawing and in the left half of
sampler arm assembly was mounted. This was to enable the that for camera 2. It is evident from these figures that not much
cameras to support surface sampler activity. This side of the solid angle of the nomin:_.l Martian landing plane can be seen
lander side was referred to as the front. The extent to which behind the lander. In order perform stereophotogrammetry of
the final configuration of the lander and the placement of the the Martian surface, it is of course necessary for the surface to be
cameras thereon influenced the visibility of tile landing site to viable to both of' the cameras. (There were at least two mirrors
the cameras is indicated in the "Skyline l)rawings" of figure B1. on the lander, but the author is not aware that any significant
The top half of the figure indicates the view from camera I, the attempts were made to do perforrn stereophotogrammetry by
"left-hand" camera, and bottom half that from camera 2, the pairing real and virtual images.) A careful inspection of the
"right-hand" camera. The figure indicate the fields of view of skyline drawings, with the aid of the grid on the nominal landing
each of the cameras, from 40 ° above tile horizon to 60 ° below, plane, will indical.e that substantial portions or the near fleht in
through 360 ° of azimuth. The nominal horizon is located along front of the lander are obstructed from the joint view of the
the flducial line just above center in eacil half or the figure. The cameras.
279
"1 T T,T............,_-.i-P-.]":- ......... 7i"" r..............
7_7[°_TU___i
............. T _
"1 iI !II I i I I _'t-1-_ [ ] ..b']. i I IF i 7 _NN !, ! i
I 7I,,, I I I I li'it"__l.., I11, / I_ _ _, <T, I_111 l/.// ,:
,........... t ............. I !1 i_ -->
_U k_l---_-D_q si, ;:_-t_-.._,N-.I 'f_I:::i:¢:.(_

_{,]-I
_,.tr_ll i. I I I 1"TiI ..4tql_q_WkI t ,,#..L; t..I:<:t--_I" INL.
J
_.._.__L ] ' .....i I i.b£%iN.
, £__-.-b.---I
.......................
-,, .......'",
L._i ,-
! iAi__
c_i I v[_
'T1I] rrr r ;i r i r _-7 7 r r r 7 r r r Tr T 7 7 r T r iT _i_% i I ...II_

.,1_1_i I H M-.I I_ I I I t t I I I I i I f I I I I I _t I 1,'_,_'X"
tt
.1t I,,1 I I_-7_11 I " ]]1 I I I I I I I I I I I I I I 1 It_1 1( I_ 1;
,. t..l._...... 1..4. J.J. 4. t..k,4.-.-..-_
........ .., , <-:-,,-...,-. ...... .1.4
.. ill ' "
' [ II_i '
;;I II
_' '11/J__-_-_..-x¢//I
t4titf]}
..........
!1 s]!_
t- d+i'
ill[ I_ ,Ir_._/_lil
,-I-/ , ,
'" __--I"'SA_"-t--t----bT_;A-..4::_I L.-l-/171 "1t I_1 ! i _,! /.N i ,r-i_
;-%,
_. ;779,L !. ,L_.__,.]o._! l,Li £ ,Jo.
,L,L,L_!=,
{. _ _ mi.-
RI_F£RV_'_CE - SKYLI_g DRAWtI_G
8170o020100
!
Fig. B1. Skyline Drawings.
J_
280
APPENDIX
C
MAP GENERATION SYSTEM AND PRODUCTS
CI Ranging and Mapping System foreground to the remote limits of ranging capability, for the
front and back of both landers. Ilalf-size versions ol" all of
For further details than contained in this report regarding
these products are contained in the present report.
the StanFord Stereo Station and the most commonly utilized
features of tile program I{ANGEI{, the reader is referred to 3. An orthographic projection of ridge and trough center
earlier work [Liebes, 1977]. Additional information regarding the lines for the front of lander 1. This information was used to
program RANGER resides in unpublished documents of JPL's aid in tire preparation of a geological map of the Viking 1
Image Processing Laboratory. landing site [Binder, 1977] (a drafting error resulted in the
labeling of a scale bar in figure 5 of that report as 10 m in
C2 Map Product Types length, instead of the correct value of 20 m).
The present report is concerned with the sets of systematic 4. An asystematie contour mapping of a drift field in the
elevation contour and vertical profile maps that have been left front of lander 1. This data has been published [Mutch,
produced for the two Viking landing sites. During tire mission 10?6b].
other types or map products were produced. No systematic dis-
5. Numerous detailed sampler-arm-specific lander aligned
tribution of tire remainder or the map products has either been
"vertical profiles" (intersections with Mars of planes per-
undertaken or is planned. The bulk or the these other products
pendicular to the lander deck and radiating out at various
were generated in support of the sampler arm activity during the
arm azimuth angles from the vertical pivot axis of the
mission. This activity primarily involved soil sample acquisition
sampler arm) as required to support sample acquisitions,
for delivery to onboard experimental laboratories, and material
"rock-rollings," trenching operations, and site disturbance
manipulation in support of physical properties experiments. The
analysis (luring the active part of the nfission. Much of
map products generated for this support were in the form of arm-
the mission support sampler-arm-specific stereophotogram-
specific "vertical" (relative to the lander) profiles. The format
merry was performed by Ray Jordan of the U.S. Geological
of these products has been previously described [Liehes, 1977].
Survey, Flagstaff, AZ. The format of these profile maps, and
These products, along with photographs of the arm-specific ver-
examples of the products have been reported [Liebes, 1977].
tical profiles overlayed on unreetified stereo images pairs of the
subject surface region were delivered to members of the in- 6. Detailed vertical profile and contour map data of se-
dividual Viking lander science teams, to members of the sampler lected "rock-roll" candidates. 3'he profiles were identical
arm team, and to management during the mission. There has to those referenced in 5., above. An example of a detailed
been no other distribution. Miscellaneous other products have profiling of a "rock-rolling" candidate has been published
been generated. Listed below is a summary of the types of range [Moore, 1978].
data set products have been generated:
I. Systematic contour map data (intersections with Mars of C3 RDS File Names
planes oriented perpendicular to the local Mars zenith), cx-
The file names for all of the RDSs used in generating the
tcmting ['rom the immediate foreground to the remote limits
contour and vertical profile maps ['or both landers are indicated
or ranging capability, in excess of ID0 m range, for the front
below. As mentioned in sect. 3.3 of this report, the differences
and back of both landers. Ilalf-size versions of all of these
in computer types at tire two institutions necessitated different
products are contained in t.he present report.
formats for tire names. Operational procedures lead, as a rule, to
2. Systematic vertical profiles (intersections with Mars of the division of the RI)Ss into pairs for the front and again for the
planes radiating out from the lander and containing the local back of each lander. The lander 2 contour set is an exception,
Mars zenith), at 5°-azimuth intervals, from the immediate in having three sets in front.
281
C3.1VikingLander
1
C3.1.1
Lander1Systematic
Elevation
ContourRDSFileNames
Stanford
University JetPropulsion
Lab.
L1CFI).DAT[CON,VLI] LI A{I)SC.FI{ONT.VT1025
L1CFA.I)AT[CON,VI.]] L I .RDSC.I_DI{.I_I{ONT
LI CBP.DAT[CON,VL1] LI.RDSC.BACK
IA CBA.DAT[CON,VLI] LI.RDSC.EDR.BACK
C3.1.2 Lander 1 Systematic Vertical Profile RDS File Namel
Stanford University Jet Propulelon Lab.

L1VFP.DAT[PRO,VLI] LI.RDSV.FRONT3
L1VFA.DATIPRO,VIA ] L1.RDSV.EDR.I_RONT
IA VBI'.DAT[PRO,VLi] LI.RI)SV.BACK
L1VBA.I)AT[PRO,VL 1] LI.RDSV.EDR.BACK
C3.2 Viking Lander 2
C3.2.1 Lander 2 Systematic Elevation Contour RDS File Namee
Stanford University Jet Propulsion Lab.

L2CFP.DAT[CON,VL2] L2.RDSC.FRONT
L2CFP2.DATICON,VL2] L2.RDSC.FRONT2
L2CFA.DAT[CON,VL2] L2.RDSC.EDR.FRONT
q¢
L2CBI'.DAT[CON,VL2] L2.RDSC.BACK
L2CBA.DAT[CON,VL2] L2.RDSC.EDR.BACK
C3.2.2 Lander 2 Systematic Vertical Profile RDS File Names
Stanford University Jet Propulsion Lab.

L2VBP.DAT[PRO,VI_2] L2.RDSV.BACK
L2VIIA.DAT[PRO,VL2] L2.RDSV.EDR.BACK
L2VFA.DAT[PRO,VL2] L2.RDSV.EDR.FRONT
L2VI;PR.DAT[Pi{O,VL2] L2.RDSV.FRONT.VT0104
C4 Map Plotter
All of the maps were formatted and produced by com-

puter. The output device was a Varian Statos 4222 electrostatic
printer/plotter, with 4224 styli spaced at 0.005 inch intervals
!
over a 21.12 inch writing width.
i-
282
APPENDIX D
STEREO SYSTEM RANGING ACCURACY
D1 Ranging Accuracy
The ranging accuracy of tire stereophotogrammetry system of tire plot, the range uncertainty is taken to he the length of
applied to the Viking lander camera images has been previously tire diamond in the direction away from tire lander. This is a
discussed [Liebes, 1977]. A plol of the theoretical point ranging conservative ligure from tire point of view of an ideal system,
error as a function of rang(" is reproduce(], from this reference, si[,ce a) the extreme variahilty of range relative to a cenLral
in figure I)1. The error curves are plotted for three different point in the diamo_d is oldy half girls magnitude, and h) the
values of azimuth, relative to a 0 ° reference direction perpen- shape of the diamond will ren,ler the rms error even smaller than
dicular to the intercamera baseline. The ptots are made for 0.04 ° thi_. llowever, there are uncertainties regarding the true point-
resoluLk_n imagery data that characterizing the high resolu- ing directions of the cameras. These reflect prclaunch calibration
tion mode employed in creating the mosaics used in producing determinations [weir, 1981], nonlinearities in the cameras, set-
the systematic maps. Cling of the lander and diurnal thermal warp of the hardware,
Tire error curves have been constructed as follows. Consider etc. Furthermore, the budget for generating the map data col
a plan view of tire stereo camera system, such as indicated responded to a commitment of a certain amount of mapping
schematically in ligure AI (a). Imagine there to be associated Lime. A colopromise had to be struck between the conflicting
_ith a given field point a pair of wedges ra(tiatil_g out from the desires for density of nmpplug coverage and accuracy of the
cameras, each of apex angle equal to the angular resolution of the prodt;ct. It is judged lhat (hal l,hc unccrt:tlntics shown in tire
cameras, and crossing at tire {ield point to form a diamondlike figure, are a reasonable measure o{"the abso}ute accuracy of the
zone of intersection. I/.oughly speaking, a field point located map data. Local relative poLenLia[ accuracy of the system is es-
anywhere within this overlap zone will be be recorded at the same timated to be roughly an order of magnitude better than that
fixed pixel locations in the two images. The diamond therefore plotted in the figure.
indicates the zone of uncertainty for the range. For the purpose
283
|
HORIZONTAL RANGE, m
O-1 100 i01 10 2 10 3 1g
I0 5
' _0o '11
103_o60
ocoOo
/ t' ,2
E E
z z
10 4
!
z Z
ZD _// 102
//' 60 AZ
Z Z
e_
,Y
10 3
I--
Z
,,/// lO 1
0
N
e,.-
0 O
-c
AZ •
/
102
, , 100
101 102 10 3 10 4 10 5
HORIZONTAL RANGE, cm
HORIZONTAL RANGE, m
0 -I 100 101 102 10 3
E
10 2
,
/
l/i/ i
.z
/// ' I' I''
_o _0 o
lo °
E
R
/
/
z
101 10-1 <
HORIZONTAL
RANGE
Z
/// Z
(.D
Z
/ Z
f
,y
I0 0 10 -2
1"4
,'v
0
10-1 , ,
10 5
10 -3
I
101 102 10 3 10 4
HORIZONTAL RANGE, cm
Fig. DI. Ranging Accuracy as a Function of Range.
284
APPENDIX E
RAGGEDNESS AND DISTORTION
El. Jaggies and Irregularities in the context of the present work.

The reader may have noted that when looking at an outdoor
We have described in section 2.1 the principle of opera-
scene, there is no conspicuous range at which one has a sense
tion of tile stereo mapping system. The contours/profiles were
that one's stereo perception is breaking down and other clues
generated by manually commanding a 3-I) overlay cursor to fol-
to depth are becoming dominant. Such was also the author's
low the perceived intersection of the appropriate mathematical
experience in mapping remote features, where the convergence
surface of constraint with the Martian relier. The hand-input
angle began to approach the resolution of the cameras. Under
device for performing cursor control was a trackball. This device
such circumstances, one often bad a distinct ,sense of local depth
consists of a baseball-sized sphere, roughly the top third of which
variation from other than stereoscopic clues; e.g. if a rock were
protrudes through a hole in the top of a box. Inside of the box,
being examined, brightness arid shadow variations were powerful
the ball rests upon a pair of orthogonally orientated angular ca-
cues.
coders, the positions of which may be read by the computer.
Wc have remarked that the cameras were point scanning
One nmy freely define the parameterlzation between traekball
devices, and that the data radioed back to earth consisted of
angular position and the location of the 3-D cursor on the sur-
distinct brigbtness values for a raster of digitized points in the
face of constraint in the Martian model. The parameterization
scene. These individual digitized points were resolved on the
adopted was approximately the followb_g. I,ateral motions of the
video screen. Now, it was also true that the two component
ball were translated linearly to angular displacements of the 3-D
points of light, overlayed on the images on the video monitors
cursor about the I,GN z-axis, i.e. the zenithal direction through
to generate the 3-D cursor were written to a one-bit raster cor-
the lander. Rotation of the top surface of the ball away from or
responding l:l to the raster locations of the di'splayed image
toward the operator was translated into nonlinear variation of
points. This lead to a frustrating appearance of the 3-D cursor
tim range of the cursor from the lander. Specifically, the range
stitcbing back and forth in depth through the relief as the cursor
parameterization established a linear relation between angular
was carried across the scene. It seems that the human being is
displacement of the trackbalt and variation of the convergence
able to establish an average range for micro-facets of extended
angtc from the two cameras to the field point. This parameteriza-
textured objects to greater precision than the point ranging ac-
Lion was selected to enable the operator to move to remote field
curacy associated with the resolution of the cameras and display.
points without having to make an inordinate number of rotations
Thus, there was the inherent capability of the human operator
or the trackball. The parameterization was also qualititatively
to place the cursor more accurately in local average depth than
consistent with the degrcdation nf ranging resolution with range.
the system would permit.
This selection of parmneterization resulted in the introduc-
tion of an unanticipated artifact in the maps. Before explain- The trackball had an inherent angular resolution, cor-
ing this, we make several introductory comments, dealing first responding to the quantizcd angular rotational increment re-
with an aspect, of mammifian, and in particular human, stereo quired to generate an output pulse. RANGER recorded and
performance, ltumans use a variety of clues other than stereo- calculated range changes at the resoh|tiun of the trackball. In
scopic in judging the absolute and relative range of objects and addition to a compiled-in trackball parameterization, there was a
features. Among these are convergence, foreshortening, diminu- eomtnandablc scale factor controlling the scnsititvity of displace-
tion, shadow, shading, contrast., inference from familiar kinds merits in 3-space to the rotational sensitivity of the trackball. A
of features, anti the like. The author personally performed all qualitative atternpt was made to maintain the the relationship
of the stereophotogrammetry represented by the maps of this between the quantized reading sensitivity of the trackball, cor-
report. It was not an uncommon experienc.e, while generating responding 1:1 with t|m detail of the map data, a bit finer than
contour/profile lines, for him to experience a lag in awareness the ranging resolution associated with the display raster. This
that the 3-D cursor had been carried from a region where stereo enabled interpolation of range to finer detail than theoretical
data existed into a region where, as a result of obscuration to point ranging accuracy. The trackball and ranging sensitivity
one camera, only monoseopic data existed. These transgressions is evidenced in the plots of the map data by the mutually or-
were invariably discovered after a few pixels of trespass into for- thogonal elemental line segments, or "jaggies" in the lines.
bidden territory. Under such a circumstance, it would be neces- Enough for the introductory remarks. The map data was
sary to edit out the faulty data from the range data set; a con- generated and plotted out to ranges where the ranging error
venient means was provided for doing this. The point is that was substantial. The outer mapping limits were generally well
the nonstcreoscopic clues to depth can be very strong, and even beyond the range where cosmetic considerations alone might
though there may be a degree of qualitative validity to the rela- dictate calling it quits. The reason for working this far out was
tive range determinations, there intentional use was out of order to milk the data for all it was worth. It was appreciated that the
285
|
audience for these maps would be sophisticated. We were anxious space displacement. As there was either no or insufficient visual
to capture whatever information we were able to, consistent with feedback chics to alert the photogramnmtrist to the degree of
the resources commited to the task• As there is no post editing, tile problem, it was difficult to conlpem_lte satisfactorily in the
detectible smoothing, or other form of cosmetizing applied to the blind. Furthermore, the photogrammetry was conducted at the
data, indications of degradation, such as size of the jaggies, are .IPL, and the vast bulk of tile map products were not plotted
evident to ttle investigator, lie can do his own discounting. until we brought the data back to Stanford University, well after
Consider the case where we are trying to map a feature, the photogrammetry was completed. Thus, we were not greatly
the extent of which in the range direction is snlall compared sensitized to the degree of the effect during tile data g_ncration
to the ranging resolution of tile l-blt raster-limited 3-D cursor. period. The artifacts are evident in the tendency for the contour
We have explained above that the trackball was read to finer and profile lines to tend to be excessively v-shaped toward the
granularity than that corresponding to a displacement of the lander for the relatively more remote features.
displayed 3-D cursor. This, in effect, enabled us to interpolate This leads to ambiguity in judging just what part of a con-
the data in order to capitalize on the ability of the human to tour or profile line on a remote feature most accurately repre-
locally average over an extended textured feature. The products sents the range of tile feature. If an isolated remote rock were to
support the merit of this practise, in that range noise on contour be contoured, it is likely that the first point of contact with the
lines running over smooth but textured surfaces was generally rock was the most accurate indication of its range. ] fowever, it is
le._ than point ranging accuracy would have lead one to expect. not possible, in looking at the map daLa to determine this point.
Additionaly, adjacent lines in elevation on such surfaces, which In .came instances the cursor might have been carried to the near
should not cross unless the surface is vertical or overhanging, did nose of the rock, in "no-draw" mode, then moved hack along the
not generally cross as much as one would expect on the basis of side in no-draw mode, via a judgement call on the range change;
point ranging accuracy. then the contour could be swept across the face. In this instance,
Now, here is the sub. Consider the the cursor to be resting the range of the nose would tend to be the most accurate value
as closely as it can be visually placed upon a remote rock. As the for the rock. If, however, the cursor were initially placed to the
cursor is drawn across the face of the rock in order to generate a side of the rock in no-draw mode, and then the contour traced,
contour or profile line, one has a distinct, and to a significant ex- the measure at the side of the rock would tend to be the more
tent meaningful, sense of range variation. However, the inherent valid. There is no way to know which method was employed in
limitations of the I-bit graphics raster display precluded subpie- any given situation.
Lure element visual feedback as the cursor is played over the small tiad the magnitude of this effect become evident to us
perceived variations in depth. One's instinct in moving the cur- sooner, we likely would have introduced an interactive means
sor over the contour of e.g. an apparently roughly spherical rock for calling into play, as necessary, a 1:1 parametric relationship
is to rotate the [raekball through approximately the same range between 3-D displacement and traekball rotation.
in lateral as in longitudinal angle. For these small rotations there We might also note that one approach to improving the
is not sufficient variation in range for the differential disparity resolution of the 3-D cursor, and the overlay contour/elevation
of the left and right eonlponenl_ of the cursor to register on the graphics as well, would be to introduce a spatially extended ![
display as a jump in depLb. [lowever, the moLion of tile tack- multi-bit gray-level graphics supporting interpolation between
ball was recorded and subsequently displayed on the maps. Now, raster elements.
given the nature of ttle parameterization of the trackball, at rela- Rather than progress further into finer points of detail, it is
tively great range equal lateral and longitudinal rotations of the perhaps best to let the matter rest with a warning to the reader
traekball lead to much greater jumps in range than in lateral 3- to interpret clearly noisy data with care.
m_
286
APPENDIX F
DATA AVAILABILITY
FI. General Lander Image Products F2.2 Range Data Sets
The NASA Contactor Report on "The Mosaics of Mars" The Range Data Sets are store(] on magnetic tape. There
[],evinthaI, 1980] provides ctetailed references and suggestions for are a total of 9 nine-track/800 BPl tapes for for elevation con-
accessing tile diverse Viking lander camera related data products. tour and vertical profile RDSs. There are additionaly 18 nine-
track/800 FlPl magnetic tapes of arm-specific and miscellaneous
F2. Systematic Maps Products RDSs. RDSs are not available from ttne National Science Data
Center. They arc stored at the following locations:
F2.1 Systematic Maps and Mosaic Overlays Image Processing I,ahoratory
,Jet Propulsion Laboratory
Individual copies of the true-scale versions of the maps, as
4800 Oak Grove Drive
well as copies o1" the mosaic overlays, contained in this report
may be obtained from the sources indicated below. In the case Pasadena, CA 91103
of Viking lander I, reference should be made to data number Regional Planetary Image Facility
NSSI)C II) 75-075C-1)6T, and in the ease of Viking lander 2 to Jet Propulsion Laboratory
NSSI)C II) 75-083C-06T. 4800 Oak Grove Drive
Reseat(bets within the United States should contact: I'asadcna, CA 91103
The National Space Science Data Center

Code 601.4
Additionaly, individual members of the Viking Lander Im-
Goddard Space Flight Center
aging Team have have received copies of these tapes. For the
Greenbelt, Maryland 20771
names and addresses of these recipients, refer to [Levinthal,
Researchers outside the United States should contact: 108o1.
World Data Center A
Rockets and Sattelites
Code 801
Goddard Space Flight Center
Greenbelt, Maryland 20771
287
|
If
288
!
REFERENCES
[Binder, 1977] Alan G.Bindcr, Raymond E. Arvidson, Edward A. [Morris, 1980] Elliot C. Morris and Kenneth. L Jones, "Viking
Guinness, Kenneth L. Jones, Elliot C. Morris, Thomas 1 Lander on the Surface of Mars: Revised Location," |
A. MuLch, l)avid C. Pier[, and Carl Sagan, "The Geology Icarus 44 217 (1980).
of the Viking Lander 1 Site," J. Geophys. Res. 82 4439
[Mutch, 1976a] Mutch, T. A., A. B. Binder, F. O. Huek, E. C.
{Sept. 30, 1977).
Levinthal, S. Liebes, Jr., E. C. Morris, W. R. Patterson,
[Davies, 1978] M. E. Davies, "The Control Net of Mars," Reports J. II. Pollack, C, Sagan, G. IL Taylor, "The Surface of
of Planetary Geology Program, 1977-78, NASA Techni- Mars: The View from the Viking 1 Lander," Science 193
cal Memo no. 79729, 328 (1978}. 791 (1976).
[de Vaucouleurs, 1973] G. D. de Vaucouleurs, M. E. Davies and F. [Mutch, 1976b] Mutch, T. A., R. E. Arvidson, A. B. Binder, F.
M. Sturms, Jr., "The Mariner g Areographic Coordinate O. [luck, E. C. Levinthal, S. Liebes, Jr., E. C. Morris,
System," J. Geophys. Res. 78 4395 (1973). D. Numedal, J. B. Pollack, C. Sagan, "Fine Particles on
Mars: Observations with the Viking 1 Lander Cameras,"
[[,evinthal, 1980[ Elliott C. Levinthal and Kenneth L. Jones, Science 194 87 (1976).
"The Mosaics of Mars as Seen by the Viking Lander
Cameras," NASA Contractor Report no. 3326 (Sept. [Patterson, 1977] W. R. Patterson III, F. O. lluck, S. D. Wall
1980). and M. R. Wolf, "Calibration and Performance of the,
Viking Lander Cameras," J. Geophys. Res. 82 4391
II,iebcs, 1977] Sidney Liebes, Jr. and Arnold. A. Schwartz,
(Sept. 30,1977}.
"Viking 1975 Mars Lander Interactive Computerized
Video Stereophotogrammetry," J. Geophys. Res. 82
[Villyard, 1977] K. W. Villyard and W. S. lvers, "Design and
4421 (Sept. 30, 1977). Performance Characteristics of the Viking Lander Iner-
tial Reference Unit," Amer. [nat. of Aero. and Astro.
]Martin, 1976] James S. Martin, Jr. and A. Thomas Young,
"Viking to Mars -- Protile of a Space Expedition," Guidance and Control Conf., Hollywood, FL, paper no.
Astronautics and Aeronautics 22 (Nov. 1076). 77-1110 (1977).
[Moore, 1978] Moore, II. J., S. Liebes, Jr., D. S. Crouch and L. [Wolf, 1981] Michael B. Wolf, "Viking Lander Camera Geometry
V. Clark, "Rock Pushing and Sampling Under Rocks on Col[brat.ion Report, Vol. I, Test Methods and Data
Mars," Geological Survey Professional Paper no. 1081 Reduction Techniques." Jet Propulsion Laboratory Pub-
(1978). lication no. 79-54 (April 15, 1981).
289
i !
i.!
1. Rego_'t No. I 2. G_nm_t Accluion No. 3. Recip_ent's Catalog No.
NASA CR-3568
J
4. Title aM Subt,tle 5, Report Date
July 1982
Viking Lander Atlas of Mars
6. Perfo_'mln90rganizetlo_l Code
EL-4
7, Aut_r[tl 8 Performing Ofgiiln_zation Report NO | |

Sidney Liebes, Jr.
tO Work Unit No.
9 Perfuming Or_nization Name and Addreu
Department of Computer Science

t 1. Contract or Grant No
Stanford University NASI-9682 JPL-955249
Stanford, CA 94305 NSG-7538 NAGW-128
13. Ty_ of Report _nd Period Covered
12 S_nsoring Age_y Name _d Addr_s Contractor Report I •

Office of Space Sciences and Applications 14. Spon_ring Agency Code
National Aeronautics and Space Administration
Washington, DC 20546
15, _Jpcdernentecy Notlri
Technical Monitor: Joseph M. Boyce
16. A_tract
The 1976 Viking mission to Mars placed two identical landers on the surface of
[,
the planet. This Atlas contains half-size reproductions of the complete set of
true-scale systematic map products that have been generated for the two Mars
Viking landing sites from stereo pairs of images radioed to Earth from the landers.
The maps cover from the immediate foreground to the remote limits of ranging
capability, several hundred meters from the landers. The maps are of two kinds:
i) elevation contour, and 2) vertical profile.
! |
The Atlas includes background and explanatory material important for understanding
and utilizing the maps. The collection consists of nearly 200 individual sheets,
spanning eleven different scales from i:I to 1:2000. The Atlas includes an
extensive
vertical
The half-slze
set
profile
of both
data
collection
single
have
is
been
and stereo
inlayed.
complementary
mosaic
to the
images
true-scale
into which
map
the
sheets
contour
that are
and
\
individually available on special order. It is believed that most requirements
can be satisfied by this reduced scale collection.
I i
17. Key W_ (Suggest_ by Auth_(sJ) I 18. Distribution Statement
Viking
Lander
Stereophotogrammetry
Photogrametry
STAR Category - 91 I|
Mars
Atlas Cartography
Stereo I Unclasslfied-Unlimlted
Maps
19. Security Oe=if.(ofthisre_rt) I _SecurityCle.iflofthisl_lgel 121. No, of Pages 22 _ice
Unclassified J Unclassified I 299 AI3
F_ sale byt_ Naho_lTechn,callnl_mah0nServ,ce. Spr=ngf,etdV,rg,n,a 22161
J
HASA-Langley, 198Z
_'T US GOVERNMENT PRINTING OFFICE 1962_$42-3_1

Viking Lander Atlas of Mars

Hochgeladen von

Dokumentinformationen

Copyright

Verfügbare Formate

Dieses Dokument teilen

Dokument teilen oder einbetten

Freigabeoptionen

Stufen Sie dieses Dokument als nützlich ein?

Sind diese Inhalte unangemessen?

Copyright:

Verfügbare Formate

Viking Lander Atlas of Mars

Hochgeladen von

Copyright:

Verfügbare Formate

NASA Contractor Report 3568

Viking Lander Atlas of Mars

Sidney Liebes, Jr.

and Space Administration

Scientific and Technical

Dedication .................................... iii

Acknowledgments ................................. vii

PART 1 BACKGROUND AND EXPLANATION OF MAPS

2. MAPPING TIIE MART1AN SURFACE ...................... 3

2.[ The Stereo Mapping System .......................... 3

3. EXPI,ANATION OF MAPS ........................... 5

3,1 Systematic Map Types ............................ 5

3.2.I Maps and Support Products ........................ 5

PART II VIKING LANDER 1: MAPS AND ASSOCIATED PRODUCTS

4. I';I,EVATION CONTOURS ............................ 11

4,1 Elevation Contour Mosaic Overlay Stereo Pairs .................. 11

4,3 Elevation Contour Map Collection ....................... ,30

5. VER'FICAL PROFILES ............................. 95

5.I Vertical l}rofile Mosaic Overlay Stereo Pairs ................... 95

PART III VIKING LANDER 2: MAPS AND ASSOCIATED PRODUCTS

6. [';LEVATION C()NTOU[_.S ........................... 141

6.2 CameraPerspeetive Annotated Elevation Contour- Camera I .......... 151

7. VEIITICAL PROFILES ............................ 227

7.1 Vertical Profile Mosaic Overlay Stereo Pairs .................. 227

8. Glossary ................................... 273

Appendix A. COORDINATE SYSTEMS AND LANDER ORIENTATION ........ 275

A2 Local Mars System (I,MS) .......................... 276

Appendix C. MAP GENERATION SYSTEM AND PRODUCTS ............ 281

Appendix D. STEREO SYSTEM RANGING ACCURACY .............. 283

Appendix E. RAGGEDNESS AND DISTORTION .................. 285

Appendix F. DATA AVAILABILITY ........................ 287

References ................................... 280

1.1 The Viking Mission

2.1 The Stereo Mapping System

3.2 General Comment parameter vahms of lines in the overlay images.

......... _ ....._- -z",

. "_ 1 _ _; ._.__ %4- :,_.,,t " ;',,-'" _. _, .)/*" : " • 'L-=..

-- '-. L_ -;>,,_' St _ ,_" ' _" I i__ _- o

• '/ '_,, ' = _ ' Z / )'_ ,of ,, '

........................................... % ............. _ ., < / = ................... . ._

Fig. 1. Example or an elevation contour map sheet,

• .... + +_ ................ ! ,,, ! _ . ,..... . •

........... :f-+++..+-. ++--+-- ..... : ......... i ................ i ................... : ....... -- ........ •

• J . ,.... f ,++u_-.+.-- +,+.

_'[t +_¸ _ . .+ , +++- ,,, _J'"_"'_ • ,,,_ _ --+ ,,, - • - _ ,,s +

nl_ ............................................ _ ...... T ..................................

Fig. 2. Example of a vertical profile plot sheet.

for showing the overlay lines in good contrast. The images, as

from IPL PIC ID 79/07/15/100746.

_,L.._ ._--_H _--_ ._-"_'_ _-_..-- _ . . • _ .... _..... _ •

CAMERA PERSPECTIVE[L[VATION CONTOUII$

Fig. 14. Camera Perspective Annotated Elevation Contour Lines:

C:AMEILA PU£_I'ECI"IV[ ICLI£VAI'IOW co_,r_'o_m_

Fig. 16. Camera Perspective Annotated Elevation Contour Lines:

from IPL PIC ID 79/03/20/034017.

C._ME_A I'EmSP_CTlV£ EL[V_'rJo_ COlCrOI/It_

VIKING LANDER I _, ,,_.

Fig. 18. Camera Perspective Annotated Elevation Contour Lines:

Table 1. Tabulation of Elevation Contour Map Sheets.

_ICALIE I : fill SHEET (-I, -1)

' : i i ./: : i ..'"i:.-,_

i ;..... :> ....................

_CkL[ I : _11_ SHEET II, -11

.................... _ ..... _ .......... _,.......................................