International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XXXIX-B4, 2012 
XXII ISPRS Congress, 25 August — 01 September 2012, Melbourne, Australia 
  
  
  
  
  
  
  
  
  
  
  
  
  
  
  
Calculated Location Standard Delta True, 
Deviation, m m 
Object Lat Lon Lat | Lon | Lat | Lon 
AlIILM| 0.67431 23.47318 | 128 | 15.6 | 48 | 14 
AI2 LM | -3.01269 | 336.57805 | 11.8 | 17.0 
AI4 LM | -3.64595 | 342.52822 | 11.5 | 14.4 | -1.4 | 5.1 
A15 LM | 26.13236 3.63335 13.0 | 16.3 | -0.4 | 1.5 
Al6 LM | -8.97341 15.50106 | 12.6 | 93 
AI/LM_ 20.19113 | 30.77221 | 15.3 | 14.0 
All PSE| 0.67333 2347313 | 118 | 161 | 36! 12 
A12 
ALSEP -3.00960 | 336.57514 | 9.9 | 11.5 
A -3.64426 | 342.52248 | 12.4 | 14.2 | -1.9 | 4.9 
ALSEP . : ; . ; : 
Als 26.13407 3.63006 12.9 | 17.9 | 0.3 | 4.8 
ALSEP . x 4 i ; : 
AI6 
ALSEP -8.97589 | 15.49850 | 12.4 | 11.2 
AI 20.19234 | 30.76521 | 15.4 | 18.4 
ALSEP s : 2 
  
  
  
  
  
  
  
  
Table 3. Location of Apollo surface hardware derived from 
NAC images using the improved pointing correction 
4.2 WAC Calibration Results 
Using the data from the in-flight WAC calibration outlined in 
Section 3.2.1, a new pointing and distortion model was 
empirically derived. This new model removes the twist 
previously seen in the image data (Figure 9) and eliminates 
residual errors still present after the pre-flight calibration. The 
resulting model projects each pixel of the frame with sub-pixel 
accuracy (Figure 10). 
4 
aslo 
3 
Count 
  
0 om 
-300 -200 -100 0 100 200 300 
Residual Error, m 
  
-300 -200 -100 0 100 200 300 
Residual Error, m 
Figure 10. Residual errors in the down track (top) and cross 
track (bottom) direction before (blue) and after (red) applying 
the updated camera pointing and improved distortion model. 
4.3 Release of In-Flight Calibration Results 
The product of the calibration efforts highlighted here will be 
included in a set of updated SPICE kernels delivered to 
Navigation and Ancillary Information Facility (NAIF) and the 
USGS [Acton, 1996]. There will be updates to the pointing 
information found in the Frames Kernel (FK), new temperature 
dependent C-matrix Kernels (CK) for NAC pointing correction, 
and a new camera model and distortion model defined in the 
LROC Instrument Kernel (IK). These products will be released 
during the summer of 2012. 
5. REFERENCES 
Acton, C.H., 1996. Ancillary Data Services of NASA's 
Navigation and Ancillary Information Facility, Planetary and 
Space Science, 44(1), pp. 65-70. 
Anderson, J.A., Sides, S.C., Soltesz, D.L., Sucharski, T.L, 
and Becker, K.J., 2004. Modernization of the Integrated 
Software for Imagers and Spectrometers. Lunar and 
Planetary Science Conference XXXV, #2039. 
Brown, D.C. 1966. Decentering Distortion of Lenses, 
Photogrammetric Engineering, 32 (3), pp. 444-462. 
Brown, D.C. 1971. Close-Range Camera Calibration. 
Photogrammetric Engineering, 37(8), pp. 855-866. 
Lee, E.M. et al., 2012. Controlled Polar Mosaics of the Moon 
for LMMP by USGS. Lunar and Planetary Science 
Conference XLIII, #2507. 
Mazarico, E., Rowlands, D.D., Neumann, G.A., Smith, D.E., 
Torrence, M.H., Lemoine, F.G., Zuber, M.T., 2012. Orbit 
Determination of the Lunar Reconnaissance Orbiter, Journal of 
Geodesy, 86(3), 193-207. 
Murphy, T.W., et al, 2010. Laser Ranging to the Lost 
Lunokhod~1 Reflector, Icarus, 211(2), pp. 1103-1108. 
Robinson, M.S. et al, 2010. Lunar Reconnaissance Orbiter 
Camera (LROC) Instrument Overview, Space Science Reviews, 
150(1-4), pp. 81-124. 
Scholten, F., et al., 2012, GLD100: The Near-Global Lunar 100 
m Raster DTM from LROC WAC Stereo Image Data, Journal 
of Geophysical Research, in press. 
Speyerer, E.J., Robinson, M.S., 2012. Persistently Illuminated 
Regions at the Lunar Poles: Ideal Sites for Future Exploration, 
Icarus, in revision. 
Vondrak, R., Keller, J., Chin, G., Garvin, J., 2010. Lunar 
Reconnaissance Orbiter (LRO): Observations for Lunar 
Exploration and Science, Space Science Reviews, 150(1-4), pp. 
7-22. 
6. ACKNOWLEDGEMENTS 
The LROC Team would like to acknowledge the scientist and 
engincers at Malin Space Science Systems who designed, built, 
and integrated the LROC system. We would not be able to 
produce products with such a high level of precision and 
accuracy without their attention to detail and craftsmanship. 
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