Pan-location mapping and localization for the in-situ science exploration of Zhurong Mars rover

On May 15, 2021, Tianwen-1 successfully landed in the Utopia Planitia of Mars, and its rover Zhurong began to carry out an in-situ science exploration of the Mars surface. To determine the location, driving direction, and exploration targets of the rover, it is necessary to provide decision support for the in-situ science exploration of the rover and ensure the achievement of the scientific objectives, which pose significant challenges to the ground science team. Based on the classical research on Lunar and planetary localization, navigation and exploration target selection, and the recent study of pan-location cartographic theory, a pan-location mapping method for an in-situ rover exploration is proposed. In addition, a pan-location reference system, mapping data model, and mapping method are designed to realize the localization and visualization of the landing platform, rover, and exploration targets. The mapping method has been successfully applied to the localization, navigation, and science exploration of the target selection involved in the in-situ exploration of the Zhurong rover. The results of this study not only provide vital support to the implementation of the Tianwen-1 mission; they can also be used as instructions for other future in-situ Lunar and planetary exploration missions.