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Lunar Reconnaissance Orbiter Camera (LROC) system consists of a Wide Angle Camera (WAC) and Narrow Angle Camera (NAC). NAC images (~0.5-1.7 m/pixel) reveal details of the Luna-21 landing site and Lunokhod-2 traverse area. We derived a Digital Elevation Model (DEM) and an orthomosaic for the study region using photogrammetric stereo processing techniques with NAC images. The DEM and mosaic allowed us to analyze the topography and morphology of the landing site area and to map the Lunokhod-2 rover route. The total range of topographic elevation along the traverse was found to be less than 144 m; and the rover encountered slopes of up to 20 degrees. With the orthomosaic tied to the lunar reference frame, derived coordinates of the Lunokhod-2 landing module, its final position and overnight stop points. We identified the exact rover route by following its tracks and determined its total length as 39.16 km, more than was estimated during the mission (37 km), which until recently was a distance record for planetary robotic rovers held for more than 40 years. 126Lunokhod-2 moved at two distinct speeds: 0.8 km/hour and 2.0 km/hour (Kemurdzhian et 127 al., 1993). Turning of the vehicle was achieved by varying the rotation of the wheel on the right 128 and left sides, respectively, and by changing the direction of their rotation. The turning radius of 129 the rover in motion was typically 3 m with wheels turning at different speeds (Kemurdzhian et 130 al., 1993). However, the rover could also turn in place (with its left and right wheels turning in 131 opposite directions) within a radius of 0.8 m. Areas where the rover turned in place can be seen 132 readily in the NAC images. 133

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ABSTRACT:Recently the Lunar Reconnaissance Orbiter (LRO) has obtained images, which cover landing sites from previous missions to the Moon in unprecedented high resolution (up to 0.3 m/pixel). These new data allow us to carry out a precision mapping of the Lunokhod landing sites, combining orbital high resolution images with surface panoramas taken by the rovers during their missions. Unfortunately, a lot of supplementary information about the missions, the rovers and their instrumentation is lost, which includes timing information and exterior orientation parameters. So, we have developed new methods and techniques of Lunokhod panorama processing by means of modern photogrammetric software supported by LRO data * Corresponding author.

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ABSTRACT:The special modules of photogrammetric processing of remote sensing data that provide the opportunity to effectively organize and optimize the planetary studies were developed. As basic application the commercial software package PHOTOMOD™ is used. Special modules were created to perform various types of data processing: calculation of preliminary navigation parameters, calculation of shape parameters of celestial body, global view image orthorectification, estimation of Sun illumination and Earth visibilities from planetary surface. For photogrammetric processing the different types of data have been used, including images of the Moon, Mars, Mercury, Phobos, Galilean satellites and Enceladus obtained by frame or push-broom cameras. We used modern planetary data and images that were taken over the years, shooting from orbit flight path with various illumination and resolution as well as obtained by planetary rovers from surface. Planetary data image processing is a complex task, and as usual it can take from few months to years. We present our efficient pipeline procedure that provides the possibilities to obtain different data products and supports a long way from planetary images to celestial body maps. The obtained data  new three-dimensional control point networks, elevation models, orthomosaics  provided accurate maps production: a new Phobos atlas and various thematic maps that derived from studies of planetary surface (Karachevtseva et al., 2016a).