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Moon Clementine Topographic Maps

Moon Clementine Topographic Maps

GEOLOGIC INVESTIGATIONS SERIES I–2769 U.. DEPARTMENT OF THE INTERIOR Prepared for the LUNAR NEAR SIDE AND FAR SIDE HEMISPHERES U.S. GEOLOGICAL SURVEY NORTH NATIONAL AERONAUTICS AND SPACE ADMINISTRATION NORTH SHEET 1 OF 3 90° 90° 80° . 80° 80° 80° Nansen Byrd Rozhdestvenskiy 70° 70° Near Side Far Side 70° 70° Hemisphere Hemisphere Pascal . Petermann . Poinsot . Cremona

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Le Gentil Demonax No topographic data INTERIOR —GEOLOGICAL SURVEY, RESTON, VA—2002 –70° –70° –70° –70° Prepared on behalf of the and Geophysics Hale Ashbrook Program, Solar System Exploration Division, Office of Space Drygalski . Amundsen Color-coded Drygalski Science, National Aeronautics and Space Administration –80° –80° key –80° –80° Manuscript approved for publication April 23, 2002 –90° –90° SOUTH SOUTH 90 N values for the near side hemisphere ° Scale 1:10,000,000 (1 mm = 10 km) Scale 1:10,000,000 (1 mm = 10 km) 90° N Elevation values for the far side hemisphere binned in increments of 500 meters. Count is 60° N 60° N At 0° latitude and 0° longitude At 0° latitude and 180° longitude 60° N 60° N binned in increments of 500 meters. Count is number of elevation posts within the bin. Per- Lambert Azimuthal Equal-Area projection Lambert Azimuthal Equal-Area projection number of elevation posts within the bin. Per- cent is count for indicated elevation values NEAR SIDE HEMISPHERE FAR SIDE HEMISPHERE cent is count for indicated elevation values divided by total count. divided by total count. 30° N 30° N L 10M 0/0 RTK L 10M 0/180 RTK Minimum Maximum Count Percent 30° N 30° N Minimum Maximum Count Percent –10000 –9500 –10000 –9500 273 0.00% –9500 –9000 –9500 –9000 751 0.00% –9000 –8500 90° W 60° W 30° W 0° 30° E 60° E 90° E NOTES ON BASE The across-track spacing was based on the orbital ground track and is trol was established by using the global topographic gridded digital ter- derived from the laser altimeter data. At first the photo- nomenclature (T) and color-coded topo- map of the from the Clementine UVVIS imaging instrument 90° E 120° E 150° E 180° 150° W 120° W 90° W –9000 –8500 1,464 0.01% (270) (300) (330) (0) (30) (60) (90) approximately 60 km (2 ) at the equator. Elevation values were col- rain model developed from the Clementine laser altimeter points to grammetric topographic data exhibited a systematic stair-step error, in graphic data (K) (Greeley and Batson, 1990). [abs.], in Lunar and Conference XXX: Houston, (90) (120) (150) (180) (210) (240) (270) –8500 –8000 0° 0° This sheet is one in a series of topographic maps that presents color- ° 0° 0° –8500 –8000 2,878 0.01% lected at 72,548 points by the Clementine laser altimeter. The estimated estimate elevation values for the Clementine match points. To improve that stereo models closer to the poles had a systematic bias to be higher Lunar and Planetary Institute, abstract no. 1933 [CD-ROM]. –8000 –7500 coded topographic data digitally merged with shaded relief data. OTHER SOURCES OF LUNAR ELEVATION DATA –8000 –7500 4,541 0.02% –7500 –7000 31 0.00% vertical accuracy of points collected by the Clementine laser altimeter the geometry of the control network for the photogrammetric analysis, than stereo models farther from the poles. When this bias was removed, Margot, J.L., Campbell, D.B., Jurgens, R.., Slade, M.A., 1999, Topog- –7500 –7000 8,761 0.03% ADOPTED FIGURE Two other recent sources of lunar elevation data are from work done by –7000 –6500 304 0.00% is 130 m (Smith and others, 1997). the Clementine match points, which were selected to tie two images the resulting digital terrain model had a bowl-shape appearance with a raphy of the lunar poles from radar interferometry: A survey of –7000 –6500 38,139 0.14% Dr. Tony Cook of the National Air and Space Museum and by Dr. Jean- –6500 –6000 760 0.00% The figure for the Moon, used for the computation of the map projec- The Clementine laser altimeter did not collect data over the lunar north together in order to build the Clementine global mosaic, were transfer- low spot near the pole. Each stereo model was tilted to remove the bowl cold trap locations: Science, v. 284, p. 1658–1660. –6500 –6000 52,984 0.20% tion, is a sphere with a radius of 1737.4 km (Seidelmann and others, Luc Margot while at Cornell University. The elevation data collected by –6000 –5500 3,226 0.01% 30° S 30° S or south pole. Therefore, topographic data were collected photogram- red to all images that contained the point. Additional points were shape: for stereo models in the north pole area this was 800 m per ———2000, Digital elevation models of the Moon from -based 30° S 30° S –6000 –5500 146,902 0.56% Dr. Cook is derived from overlapping Clementine images from the –5500 –5000 8,512 0.03% 2002). Because the Moon has no surface water, and hence no , metrically to fill in these gaps. The image sources were the oblique and selected to have four well-distributed points per image, where possible. degree and for stereo models in the south pole area this was 1 km per radar interferometry: IEEE Transactions on Geoscience and –5500 –5000 462,020 1.75% same orbit. This method provides a larger set of images to use in col- –5000 –4500 7,364 0.03% the datum (the 0 km contour) for is defined as the radius of nadir 750 nm images collected by the Clementine UVVIS camera (Ro- Analytical areotriangulation, a weighted least squares process, is used degree. To fit the stereo models to the Clementine laser altimeter data, Remote Sensing, v. 38, no. 2, p. 1122–1133. –5000 –4500 509,121 1.93% lecting topographic data. Elevation values that are collected are relative –4500 –4000 54,040 0.20% 1737.4 km. Coordinates are based on the mean Earth/polar axis (M.E.) siek and others, 1998). Vertical control, for the photogrammetric data, to solve for all the parameters of the photogrammetric project. These an initial set of stereo models that overlaid the Clementine laser altime- Isbell, C.E., Eliason, E.M., Becker, T.L., Lee, E.M., McEwen, A.S., and –4500 –4000 528,390 2.00% 60° S 60° S to each other and are not known in an absolute sense relative to some 60° S 60° S –4000 –3500 233,596 0.89% coordinates system, the axis is the axis of the Moon’s rotation, and was established by using the Clementine laser altimeter data at the parameters include image sensor position and angles; latitude, longi- ter data was adjusted to vertically align with the Clementine laser altim- Robinson, M.S., 1997, The Clementine Mission—An archive of a –4000 –3500 537,160 2.03% datum. To provide an estimate of the absolute height, the elevation val- –3500 –3000 297,377 1.13% 90° S the axis is the mean Earth direction. The center of mass is the origin outer edge of these circular polar areas, and the imagery was used to tude, and elevation of match points; and image coordinates of match eter data. Stereo models that overlaid the previously adjusted stereo Digital Image Model of the Moon [abs.], in Lunar and Planetary 90° S –3500 –3000 639,641 2.42% ues are matched to the Clementine altimetry data and to elevation val- –3000 –2500 1,842,080 6.99% of the coordinate system (Davies and Colvin, 2000). The equator lies in bridge control and fill in the central part of the circle (Rosiek and oth- points. Adjusting the weight assigned to a parameter determines models were adjusted further, this process continued until all stereo Science Conference XXVIII: Houston, Lunar and Planetary Insti- –3000 –2500 663,684 2.51% Gridded Clementine laser altimeter ues previously collected where Clementine altimetry does not exist. Gridded Clementine laser altimeter –2500 –2000 3,422,630 12.98% the x–y plane and the prime meridian lies in the x–z plane with east ers, 2001). The expected precision of points collected photogrammetri- whether values with high weight are held to the original estimate or val- models were adjusted to align vertically. tute, p. 623–624. –2500 –2000 722,275 2.73% longitude values being positive. Traditional photogrammetric solutions employ a least squares method –2000 –1500 4,893,310 18.56% Photogrammetric data cally is 180 m (Rosiek and others, 1998). Further discussion of the ues with low weight are allowed to float and a new value determined In analyzing the photogrammetric data for the north pole region, Greeley, R., and Batson, R.M., 1990, Planetary mapping: New York, Photogrammetric data –2000 –1500 1,023,300 3.87% to distribute the error throughout the model, whereas the method –1500 –1000 5,207,304 19.75% PROJECTION photogrammetric topographic data can be found in the topographic data for the parameter. The parameters with the most error in their original 1,189,935 points (83% of the data) occur on two or more stereo models. Cambridge University Press, p. 261–276. –1500 –1000 1,573,795 5.95% employed by Dr. Cook aligns the derived data with the Clementine –1000 –500 4,080,234 15.48% no data available section below. estimate for their values are the image sensor angles, so they are given For 90% of those points, the standard deviation in elevation is between Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T., 1998, Lunar no data available –1000 –500 2,176,308 8.23% The projection is Lambert Azimuthal Equal Area Projection. The scale altimetry data where it exists and in areas where there is no data the rel- –500 0 2,665,361 10.11% a low weight. The latitude and longitude values of Clementine match 24 and 409 m, with a mean of 184 m. In the south pole region, topographic maps derived from Clementine imagery [abs.], in –500 0 2,091,301 7.91% factor at the central latitude and central longitude point is 1:10,000,000. IMAGE BASE ative elevation measurements are aligned with previous aligned data 0 500 1,545,859 5.86% Sources for near side hemisphere topographic data points are given a high weight so the solution holds to the Clementine 1,262,349 points (73% of the data) occur on two or more stereo models. Lunar and Planetary Science Conference XXX: Houston, Lunar Sources for far side hemisphere topographic data 0 500 1,854,489 7.01% For the near side hemisphere the central latitude and central longitude The shaded relief data were originally published as a series of 1:5 mil- until the area is connected back with Clementine data. The error in 500 1000 1,019,491 3.87% [Coordinates shown in parenthesis are longitude global mosaic horizontal coordinates. Weights for the elevation values For 90% of those points, the standard deviation in elevation is between and Planetary Institute, abstract no. 1853 [CD-ROM]. [Coordinates shown in parenthesis are longitude 500 1000 1,899,223 7.18% coordinates in 0 to 360 east system] point is at 0° and 0°. For the far side hemisphere the central latitude and lion shaded relief maps. This series included three U.S. Geological Sur- unknown areas is unconstrained, but the method does close back to an coordinates in 0 to 360 east system] 1000 1500 539,764 2.05% are varied depending on the horizontal distance to a Clementine laser 13 and 395 m, with a mean of 160 m. Rosiek, M.R, and Aeschliman, R.A., 2001, Lunar shaded relief map 1000 1500 1,918,159 7.25% central longitude point is at 0° and 180°. vey maps: I–1218–B, Shaded Relief Map of the Lunar Far Side, 1980; area with known elevation values, which constrains the error at the 1500 2000 291,199 1.10% altimeter point: match points within 2000 m of a Clementine laser updated with Clementine data [abs.], in Lunar and Planetary Sci- 1500 2000 1,816,072 6.87% I–1326–A, Shaded Relief Map of the Lunar Polar Regions, 1981; and In the north pole region 1,276 Clementine laser altimeter points are in starting and ending spots (Cook and others 2000). 2000 2500 143,507 0.54% CONTROL altimeter point are given a high weight; match points between 2000 m ence Conference XXXII: Houston, Lunar and Planetary Institute, 2000 2500 1,773,185 6.71% I–2276, Sheet 2 of 2, Shaded Relief Map of the Lunar Near Side, 1992. the area where photogrammetric topographic data were collected. 2500 3000 62,633 0.24% 6,000,000 The original control for the shaded relief maps was based on horizontal and 5000 m from a Clementine laser altimeter point are given a The elevation data collected by Dr. Margot is derived from radar inter- abstract no. 1943 [CD-ROM]. 6,000,000 2500 3000 1,521,749 5.76% These data were digitized and mosaicked into a single digital file. An Comparing the photogrammetric topographic data with the Clementine 3000 3500 26,652 0.10% control tied to either the Lunar Positional Reference of 1974 (Schimer- medium weight; and match points greater than 5000 m from a Clemen- ferometry using the Goldstone radar. Over the polar region, five images Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T, 2001, Combining 3000 3500 1,125,359 4.26% area of approximately 500,000 km2 near the south pole was not visible laser altimeter points shows that for the north pole region the stereo 3500 4000 10,602 0.04% man, 1975) or the Apollo control system of 1973. Positional discrepan- tine laser altimeter point are given a low weight. This weighting allows were collected and mosaicked together. To collect elevation informa- lunar photogrammetric topographic data with Clementine 3500 4000 856,299 3.24% 5,000,000 in any pre-Clementine images and is blank on the published map. The topographic data is an average of 46 m higher than the Clementine 5,000,000 4000 4500 4,440 0.02% cies as large as 25 km at map scale existed in the original shaded relief the vertical control to be bridged between areas of known vertical con- tion, the radar signal is sent from one antenna and is received by at least data [abs.], in Planetary Mapping 2001, International Society for 4000 4500 761,785 2.88% digitized relief base was revised based on the Clementine mosaic and laser altimeter points, with a standard deviation of 719 m. In the south 4500 5000 2,616 0.01% base. To improve the accuracy, digital shaded relief data were aligned trol (the area covered by Clementine laser altimeter measurements) and two antennas. The phase difference in the received signal from the two Photogrammetry and Remote Sensing, Working Group IV/9: Flag- 4500 5000 619,379 2.34% recent Earth-based radar imagery (Margot and others, 1999) to show pole region, 1,379 Clementine laser altimeter points are in the area 5000 5500 1,260 0.00% 4,000,000 with a mosaic produced from Clementine 750 nm images (Eliason, the areas void of control (the area over the poles). radar sites provides information about the elevation. The elevation staff, Arizona, web publication http://wwwflag.wr.usgs.gov/ 4,000,000 5000 5500 443,699 1.68% features in this area. Errors that were present in the original interpreta- where photogrammetric topographic data were collected. For the south 5500 6000 539 0.00% 1997, Isbell and others, 1997, Eliason and others, 1999). This align- The Clementine mission collected both oblique and vertical images information derived from radar interferometry is relative and requires USGSFlag/Space/Isprs/flagstaff2001/index.html. 5500 6000 318,252 1.20% tions of lunar morphology have not been corrected in the digital version pole region the stereo topographic data is an average of 163 m lower 6000 6500 131 0.00% ment process consisted of picking features (commonly called match or over the polar regions; these images form stereo pairs that can be used the use of the Clementine altimetry points to provide absolute elevation Schimerman, L.A. ed., 1975, Lunar cartographic dossier: U.S. Defense 6000 6500 238,315 0.90% 3,000,000 of the warped shaded relief map base. These original errors were than the Clementine laser altimeter points, with a standard deviation of 3,000,000 tie points) that were visible in both the shaded relief data and the Clem- photogrammetrically to collect topographic data. In the north pole information relative to a datum (Margot and others 1999, 2000). Mapping Agency Aerospace Center, St. Louis, Missouri, v. 1, sec-

6500 7000 C O U N T 6500 7000 80,376 0.30% 1005 m. C O U N T caused by scanty data, ambiguities introduced by highly oblique solar tions 3.1.10 and 3.4.63. 7000 7500 entine mosaic. To accomplish this, the files were divided into three region (90° N. to 64° N. latitude) data were collected from 640 stereo The merged topographic data were color-coded and combined with the 7000 7500 23,240 0.09% 2,000,000 incidence angles, and distortions created in generating orthophoto- Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., de Bergh, 2,000,000 7500 8000 areas: north pole, equatorial region, and south pole. They were aligned models. Over the south pole region (90° S. to 63° S. latitude) topo- shaded relief data. Areas where no topographic data were collected are REFERENCES 7500 8000 6,218 0.02% graphs from oblique images (Rosiek and Aeschliman, 2001). C., Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke, P., 8000 8500 first in the equatorial region and then in the polar regions. Within the graphic data were collected from 667 stereo models. Topographic data not color-coded, and the shaded relief image is shown as gray scale. Cook, A., Watters, T.R., Robinson, M.S., Spudis, P.D., and Bussey, 8000 8500 1,463 0.01% TOPOGRAPHIC DATA 8500 9000 1,000,000 equatorial region, an area extending from 60° S. to 60° N., approxi- were collected within each stereo model with an elevation post spacing D.B.J., 2000, Lunar polar topography derived from Clementine and Thomas, P.C., 2002, Report of the IAU/IAG Working Group 1,000,000 8500 9000 9000 9500 mately 1000 points were picked. Within the north polar region, an area The Clementine laser altimeter points were interpolated to create a of 1 km in the x and y directions. This spacing resulted in 1,437,368 NOMENCLATURE stereoimages: Journal of Geophysical Research, v. 105, no. E5, p. on Cartographic and Rotational Elements of the Planets and Satel- 9000 9500 9500 10000 from 57° N. to 90° N., approximately 1900 points were picked. Within global topographic gridded digital terrain model for the lunar surface. points being collected in the north pole region and 1,724,872 points The number, size, and placement of text annotations were chosen to 12,023–12,033. lites—2000: Celestial Mechanics and Dynamical , v. 82, 9500 10000 0 0 – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , the south polar region, an area from 57° S. to 90° S., approximately Because the altimeter points were sparser near the poles and non-exis- being collected in the south pole region. On average, over the area that provide a general orientation of conspicuous features on a Davies, M.E., and Colvin, T.R., 2000, Lunar coordinates in the regions p. 83–110. – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , Elevation (meters) Smith, D.E., Zuber, M.T., Neumann, G.A., and Lemoine, F.G., 1997, Elevation (meters) Minimum –7244 1100 points were picked. These points were used to warp the shaded tent over the poles in this digital terrain model, only data between 75° data were collected (79° S. and 81° N.), the Clementine laser altimeter 1:10,000,000-scale map. Features are labeled with names approved by of the Apollo Landers: Journal of Geophysical Research, v. 105, Minimum –9889 Maximum 6178 relief map to match the Clementine mosaic. The Clementine mosaic has S. and 75° N. were used in the final digital terrain model. To fill in the collected an elevation value for every 514 km2; and the photogrammet- the International Astronomical Union (for a complete list of lunar no. E8, p. 20,277–20,280. from the Clementine Lidar: Journal of Maximum 8193 Mean –1163 a positional accuracy of 500 m (1/60°) (Eliason and others, 1999). polar regions, topographic data were collected photogrammetrically ric data collected an elevation value for every 1.3 km2 in the north pole nomenclature, see http://planetarynames.wr.usgs.gov). Eliason, E.M., 1997, Production of Digital Image Models using the Geophysical Research, v. 102, no. E1, p. 1591–1611. Mean 492 Standard Deviation 1110 ELEVATION, IN METERS ELEVATION, IN METERS Standard Deviation 1658 Vertical control is based on measurements from the Clementine laser from Clementine 750 nm oblique and nadir images. and 1.2 km2 in the south pole. The photogrammetric data were merged L 10M 0/0 180 RTK: Abbreviation for Moon; 1:10,000,000 series; ISIS system [abs.], in Lunar and Planetary Science Conference Histogram of elevation values for near side hemisphere altimeter that collected data between 79° S. and 81° N. The along-track For the photogrammetric analysis, horizontal control was established and vertically transformed to align with the Clementine laser altimeter center of maps: 0° latitude and 0° longitude XXVIII: Houston, Lunar and Planetary Institute, p. 331–332. Histogram of elevation values for far side hemisphere spacing of these measurements varied: over some smooth mare surfaces by selecting some of the match points that were used in building the data to form the final digital terrain model (Rosiek and others, 2001). for near side hemisphere, and 0° latitude and Eliason, E.M., McEwen, A.S., Robinson, M.S., Lee, E.M., Becker, T.L., an along-track spacing of 20 km was achieved; where the instrument Clementine global mosaic. These points provided estimates for latitude Merging the topographic data required an iterative process to reduce the 180° longitude for far side hemisphere; Gaddis, L.R., Weller, L.A., Isbell, C.E., Shinaman, J.R., Duxbury, lost lock over rough highland terrain, the spacing degraded to 100 km. and longitude values, but no estimate for elevation values. Vertical con- error between the photogrammetric data and the topographic data shaded relief (R) with topographic data and T., Malaret, E., 1999, Digital processing for a global multispectral

Any use of trade, product, or firm names in this publication is for descriptive purposes only and does not imply endorsement by the COLOR-CODED TOPOGRAPHY AND SHADED RELIEF MAP OF THE LUNAR NEAR SIDE AND FAR SIDE HEMISPHERES U.S. Government For sale by U.S. Geological Survey, Information Services, Box L 10M 0/0 180 RTK 25286, Federal Center, Denver, CO 80225, 1–888–ASK–USGS 2002 Printed on recycled paper GEOLOGIC INVESTIGATIONS SERIES I–2769 U.S. DEPARTMENT OF THE INTERIOR Prepared for the LUNAR WEST AND EAST HEMISPHERES U.S. GEOLOGICAL SURVEY NORTH NATIONAL AERONAUTICS AND SPACE ADMINISTRATION NORTH SHEET 2 OF 3 90° 90° 80° 80° 80° Peary 80° . Byrd Plaskett Hermite Rozhdestvenskiy 70° 70° Near Side Far Side 70° 70° Roberts . . Mouchez Hemisphere Hemisphere Barrow Meton Nansen . Karpinskiy

W. Bond . Baillaud Seares Emden . Philolaus SHEET 1 60° . Kirkwood . . 60° 60° 60° Pascal Anaximenes . Sommerfeld . Mezentsev Petermann Tikhov Birmingham Avogadro Arnold Schwarzschild . MARE Gamow . Stebbins Chappell West East . Cremona wland Hemisphere Hemisphere 50° Ro J. Herschel 50° 50° FRIGORIS 50° . Pythagoras Hayn Birkhoff Gärtner Strabo Plato . Vallis Alp . Olivier . Dyson Babbage SHEET 2 De La D'Alembert . South Rue Bel'kovich Perkin . Smoluchowski . Aristoteles . MARE . Carnot Poczobutt Xenophanes . . . Harpalus HUMBOLDTIANUM Compton Paraskevopoulos Coulomb r Endymion . Chandler 40° Ju a 40° 40° 40° Montgolfier Volta North South . Eudoxus s Lacus e MARE t Hemisphere Hemisphere Campbell

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M s Mortis Atlas . Galvani su Lacus IRIDUM a Hercules Ley c u . Millikan SINUS R SHEET 3 a . Mercurius Von Stefan Rynin . McLaughlin C Temporis Bridgman . . . Aristillus Wiener Wood . Zeno Boss Neumann IMBRIUM INDEX s . te LACUS . n . Appleton Larmor Landau o H.G. Bragg Mons M Fabry . Shayn 30° Rümker 30° 30° SOMNIORUM Wells Kurchatov 30° . . Franklin Klute Messala Ca . t en Cantor Charlier Harkhebi a S . Frost O um Cockcroft . Lavoisier ne Archimedes r . Kidinnu C . Trumpler . Posidonius Gauss . Nernst E . Geminus Fitzgerald A Szilard MARE . Berosus . Vestine N Montes . Kovalevskaya Lorentz Röntgen U MARE . Freundlich Taur Hahn . Richardson S us . Joule Maxwell SERENITATIS Seyfert Morse MOSCOVIENSE Montes . S s Cleomedes Komarov Laue Agricola chr M Buys- 20° s u 20° 20° . 20° i ö l t o e n . Ballot l r i M . Russell n A a i R . V n t E e . n Polzunov s Joliot . Artamonov . e A Aristarchus . Berkner N p G . Vernadskiy Parenago . A Struve Plutarch I Konstantinov U .

Sinus

s H S . e . Bell Eddington . Seleucus t a Mitra n e Olcott . . Moseley o . Dziewulski McMath Mach Robertson M m Amoris . Anderson M u MARE Poynting Fersman o MARE s P nt . Gavrilov es Car . Eratosthenes . R patus . Al-Biruni Weyl VAPORUM . Krafft O Einstein . Sharonov Kekulé . C SINUS Palus CRISIUM M E A . Fleming . Kostinskiy Spencer Somni R 10° Vasco L 10° 10° Jones 10° . da Gama AESTUUM E . Cardanus L Hertz A MARE . . Condorcet MA Papaleksi R Copernicus RGIN Guyot . . Kolhörster U IS Ostwald . Vetchinkin . M Zhukovskiy C . Moiseev . a Lobachevskiy te Elvey Neper . n a Jansky . . Olbers MARE . Ibn Tsander Michelson Le Al-Khwarizmi u Firnas . Mandel'shtam s TRANQUILLITATIS UNDARUM Mendeleev c . Taruntius h . Cavalerius . Agrippa King . Krasovskiy n . Schuster C e . Saenger a r . Babcock te . Reinhold SINUS . . Kibal'chich n a . Hartmann Hertzsprung Hedin Hevelius MEDII MARE E A S T E A S T

180° 170° 160° 150° 140° 130° 120° 110° 100° 90° 80° 70° 60° 50° 40° 30° 20° 10° 0° 0° 10° 20° 30° 40° 50° 60° SPUMANS 70° 80° 90° 100° 110° 120° 130° 140° 150° 160° 170° 180° MARE . 0° 0° 0° 0°

M Coriolis W E S T Vavilov W E S T ic Wyld Saha Ca h te e . Delambre . na Riccioli Gilbert Schliemann L o uc n Cordi re ller SINUS ti tes a FECUNDITATIS us on Grimaldi . Einthoven Korolev M . Hirayama Schlüter . Kiess Fra . ASPERITATIS Kästner . Icarus Hipparchus . Chaplygin Mauro . Dellinger . Lucretius tes R on ook Lacus A . Gutenberg . Langrenus M Montes . La Pérouse MARE . . Langemak . Perepelkin . Marconi utumni Letronne Riphaeus Pasteur is Meitner Keeler Lacus Rocca l Ptolemaeus . . Ansgarius a Theophilus M . Lowell s COGNITUM . . Chauvenet –10° . Fridman ir –10° –10° o . Heaviside –10° . Maunder S n t Lamé Paschen Ioffe MARE e . . Albategnius s Kondratyuk . . Cyrillus P . Colombo Vendelinus e y Galois V . Abulfeda r a Doppler MARE er e Gibbs t . Sklodowska Hilbert . Houzeau m . n d is i Alphonsus l Racah R . Gassendi NECTARIS a o

. e b Fermi

Darwin u Balmer m Isaev ORIENTALE s Catharina u . Hecataeus H Tsiolkovskiy Zwicky . V na Sternfeld al e Aitken . Mersenius MARE . Santbech lis t a Curie Gagarin P C MARE . Fracastorius a Alden . Bullialdus l . i Gerasimovich Arzachel t

. z . Byrgius

s Levi- R Petavius

c Phillips h Civita u p Humboldt Lacus –20° M HUMORUM –20° –20° es Neujmin –20° o ok . Plummer nte Ro Solitudinis Paracelsus . s METERS . Legendre NUBIUM Barnard Vieta A 8200 l . Snellius ta . Donner Milne i . Adams Pavlov . Sierpinski . Barringer . Piccolomini Lagrange . Stevinus M V Abel . Orlov on lera a . te il l s ord l Bolyai C i Van de Chebyshev s PALUS 6000

Piazzi Furnerius Graaff Lacus EPIDEMIARUM . Werner Brouwer B Pitatus . . . Lindenau Eötvös Blackett o Excellentiae Zagut . Harlan MARE u . Rheita Jules v Aliacensis Verne . Leeuwenhoek a . Rabbi . Apollo r MARE d Deslandres 4000 er –30° –30° –30° Levi Brenn Jenner Thomson –30° Riccius . Va lli . Hamilton Lamb Buffon V Va Metius s INGENII a Ing lli Oken Opp l s enheimer l h Baade . i ir Walther Van der s ami . Roche . Ramsay . AUSTRALE . B Hainzel Waals Lundmark . Rydberg Schickard . Fabricius R Vega a 2000 he . Peirescius a ita d . Inghirami Mee . Lebedev Leavitt e Pauli Koch Davisson . Mendel Janssen . Lyot Wargentin Maurolycus eibnitz . Maksutov . . . L . Wilhelm Orontius 0 . Leibnitz Grissom . . . Stöfler . Kugler . Tseraskiy Phocylides Tycho . Barocius –40° . Arrhenius –40° –40° –40° Finsen k . . . Pitiscus c Karrer Lippmann Schiller . rétien . –2000 Biela n Cori a . acq l Vl Von Kármán Pingré . P Longomontanus Chamberlin . Rosenberger . Licetus Hommel . Pontécoulant .

. Hopmann Planck

Pilâtre Fizeau . V . Segner . Cuvier a s Alder –4000 l i l l Minkowski i l Petzval s . Zucchius Gill a . Prandtl V

Hausen Sikors ky Bose S –50° –50° –50° –50° . c

Bailly Bettinus Scheiner h Lemaître r Poincaré Hess . Eijkman –6000 ö Clavius d Mutus Helmholtz i . n g Kircher e . . . Neumayer r Abbe Berlage . Crommelin Blancanus Boussingault Le Gentil –8000 Zach . Manzinus Hale Lyman Boguslawsky –60° Klaproth –60° –60° . –60° Schrödinger Zeeman Casatus Numerov Demonax Drygalski –9900 Curtius . Minnaert Antoniadi . . Ashbrook . Schomberger Ganswindt Simpelius INTERIOR —GEOLOGICAL SURVEY, RESTON, VA—2002 No topographic data Scott –70° Short –70° –70° Amundsen –70°

Color-coded –80° –80° topography key –80° –80° –90° –90° SOUTH SOUTH 90 N Elevation values for the west hemisphere bin- ° Scale 1:10,000,000 (1 mm = 10 km) Scale 1:10,000,000 (1 mm = 10 km) 90° N Elevation values for the east hemisphere bin- ned in increments of 500 meters. Count is 60°N 60° N At 0° latitude and 90° W longitude At 0° latitude and 90° E longitude 60° N 60° N ned in increments of 500 meters. Count is number of elevation posts within the bin. Per- Lambert Azimuthal Equal-Area projection Lambert Azimuthal Equal-Area projection number of elevation posts within the bin. Per- cent is count for indicated elevation values WEST HEMISPHERE EAST HEMISPHERE cent is count for indicated elevation values divided by total count. divided by total count. 30°N 30° N L 10M 0/–90 RTK L 10M 0/90 RTK Minimum Maximum Count Percent 30° N 30°N Minimum Maximum Count Percent –10000 –9500 169 0.00% –10000 –9500 119 0.00% –9500 –9000 518 0.00% –9500 –9000 238 0.00% –9000 –8500 826 0.00% 180° W 150° W 120° W 90° 60° E 30° E 0° E NOTES ON BASE The across-track spacing was based on the orbital ground track and is trol was established by using the global topographic gridded digital ter- derived from the Clementine laser altimeter data. At first the photo- color-coded topographic data (K) (Greeley and map of the Moon from the Clementine UVVIS imaging instrument 0° 30° E 60° E 90° 120° W 150° W 180° W –9000 –8500 635 0.00% (180) (210) (240) (270) (300) (330) (0) approximately 60 km (2 ) at the equator. Elevation values were col- rain model developed from the Clementine laser altimeter points to grammetric topographic data exhibited a systematic stair-step error, in Batson, 1990). [abs.], in Lunar and Planetary Science Conference XXX: Houston, (0) (30) (60) (90) (120) (150) (180) –8500 –8000 2,380 0.01% 0° 0° This sheet is one in a series of topographic maps that presents color- ° 0° 0° –8500 –8000 473 0.00% lected at 72,548 points by the Clementine laser altimeter. The estimated estimate elevation values for the Clementine match points. To improve that stereo models closer to the poles had a systematic bias to be higher Lunar and Planetary Institute, abstract no. 1933 [CD-ROM]. –8000 –7500 4,147 0.02% coded topographic data digitally merged with shaded relief data. OTHER SOURCES OF LUNAR ELEVATION DATA –8000 –7500 372 0.00% –7500 –7000 7,745 0.03% vertical accuracy of points collected by the Clementine laser altimeter the geometry of the control network for the photogrammetric analysis, than stereo models farther from the poles. When this bias was removed, Margot, J.L., Campbell, D.B., Jurgens, R.F., Slade, M.A., 1999, Topog- –7500 –7000 1,054 0.00% ADOPTED FIGURE Two other recent sources of lunar elevation data are from work done by –7000 –6500 35,531 0.13% is 130 m (Smith and others, 1997). the Clementine match points, which were selected to tie two images the resulting digital terrain model had a bowl-shape appearance with a raphy of the lunar poles from radar interferometry: A survey of –7000 –6500 2,913 0.01% Dr. Tony Cook of the National Air and Space Museum and by Dr. Jean- –6500 –6000 48,612 0.18% The figure for the Moon, used for the computation of the map projec- The Clementine laser altimeter did not collect data over the lunar north together in order to build the Clementine global mosaic, were transfer- low spot near the pole. Each stereo model was tilted to remove the bowl cold trap locations: Science, v. 284, p. 1658–1660. –6500 –6000 5,157 0.02% tion, is a sphere with a radius of 1737.4 km (Seidelmann and others, Luc Margot while at Cornell University. The elevation data collected by –6000 –5500 110,030 0.42% 30° S 30° S or south pole. Therefore, topographic data were collected photogram- red to all images that contained the point. Additional points were shape: for stereo models in the north pole area this was 800 m per ———2000, Digital elevation models of the Moon from Earth-based 30° S 30° S –6000 –5500 40,190 0.15% Dr. Cook is derived from overlapping Clementine images from the –5500 –5000 348,543 1.32% 2002). Because the Moon has no surface water, and hence no sea level, metrically to fill in these gaps. The image sources were the oblique and selected to have four well-distributed points per image, where possible. degree and for stereo models in the south pole area this was 1 km per radar interferometry: IEEE Transactions on Geoscience and –5500 –5000 122,138 0.46% same orbit. This method provides a larger set of images to use in col- –5000 –4500 336,699 1.28% the datum (the 0 km contour) for elevations is defined as the radius of nadir 750 nm images collected by the Clementine UVVIS camera (Ro- Analytical areotriangulation, a weighted least squares process, is used degree. To fit the stereo models to the Clementine laser altimeter data, Remote Sensing, v. 38, no. 2, p. 1122–1133. –5000 –4500 179,836 0.68% lecting topographic data. Elevation values that are collected are relative –4500 –4000 380,951 1.44% 1737.4 km. Coordinates are based on the mean Earth/polar axis (M.E.) siek and others, 1998). Vertical control, for the photogrammetric data, to solve for all the parameters of the photogrammetric project. These an initial set of stereo models that overlaid the Clementine laser altime- Isbell, C.E., Eliason, E.M., Becker, T.L., Lee, E.M., McEwen, A.S., and –4500 –4000 201,306 0.76% 60° S 60° S to each other and are not known in an absolute sense relative to some 60° S 60° S –4000 –3500 297,586 1.13% coordinates system, the z axis is the axis of the Moon’s rotation, and was established by using the Clementine laser altimeter data at the parameters include image sensor position and angles; latitude, longi- ter data was adjusted to vertically align with the Clementine laser altim- Robinson, M.S., 1997, The Clementine Mission—An archive of a –4000 –3500 472,307 1.79% datum. To provide an estimate of the absolute height, the elevation val- –3500 –3000 277,757 1.05% 90° S the x axis is the mean Earth direction. The center of mass is the origin outer edge of these circular polar areas, and the imagery was used to tude, and elevation of match points; and image coordinates of match eter data. Stereo models that overlaid the previously adjusted stereo Digital Image Model of the Moon [abs.], in Lunar and Planetary 90° S –3500 –3000 659,066 2.50% ues are matched to the Clementine altimetry data and to elevation val- –3000 –2500 998,766 3.78% of the coordinate system (Davies and Colvin, 2000). The equator lies in bridge control and fill in the central part of the circle (Rosiek and oth- points. Adjusting the weight assigned to a parameter determines models were adjusted further, this process continued until all stereo Science Conference XXVIII: Houston, Lunar and Planetary Insti- –3000 –2500 1,507,604 5.71% Gridded Clementine laser altimeter ues previously collected where Clementine altimetry does not exist. Gridded Clementine laser altimeter –2500 –2000 2,426,804 9.20% the x–y plane and the prime meridian lies in the x–z plane with east ers, 2001). The expected precision of points collected photogrammetri- whether values with high weight are held to the original estimate or val- models were adjusted to align vertically. tute, p. 623–624. –2500 –2000 1,716,181 6.50% longitude values being positive. Traditional photogrammetric solutions employ a least squares method –2000 –1500 3,131,526 11.87% Photogrammetric data cally is 180 m (Rosiek and others, 1998). Further discussion of the ues with low weight are allowed to float and a new value determined In analyzing the photogrammetric data for the north pole region, Greeley, R., and Batson, R.M., 1990, Planetary mapping: New York, Photogrammetric data –2000 –1500 2,782,187 10.54% to distribute the error throughout the model, whereas the method –1500 –1000 2,819,781 10.69% PROJECTION photogrammetric topographic data can be found in the topographic data for the parameter. The parameters with the most error in their original 1,189,935 points (83% of the data) occur on two or more stereo models. Cambridge University Press, p. 261–276. –1500 –1000 3,956,635 14.99% employed by Dr. Cook aligns the derived data with the Clementine –1000 –500 2,223,878 8.43% no data available section below. estimate for their values are the image sensor angles, so they are given For 90% of those points, the standard deviation in elevation is between Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T., 1998, Lunar no data available –1000 –500 4,027,048 15.26% The projection is Lambert Azimuthal Equal Area Projection. The scale altimetry data where it exists and in areas where there is no data the rel- –500 0 1,744,190 6.61% a low weight. The latitude and longitude values of Clementine match 24 and 409 m, with a mean of 184 m. In the south pole region, topographic maps derived from Clementine imagery [abs.], in –500 0 3,006,987 11.39% factor at the central latitude and central longitude point is 1:10,000,000. IMAGE BASE ative elevation measurements are aligned with previous aligned data 0 500 1,491,147 5.65% Sources for west hemisphere topographic data points are given a high weight so the solution holds to the Clementine 1,262,349 points (73% of the data) occur on two or more stereo models. Lunar and Planetary Science Conference XXX: Houston, Lunar Sources for east hemisphere topographic data 0 500 1,907,225 7.23% For the west side hemisphere the central latitude and central longitude The shaded relief data were originally published as a series of 1:5 mil- until the area is connected back with Clementine data. The error in 500 1000 1,428,808 5.41% [Coordinates shown in parenthesis are longitude global mosaic horizontal coordinates. Weights for the elevation values For 90% of those points, the standard deviation in elevation is between and Planetary Institute, abstract no. 1853 [CD-ROM]. [Coordinates shown in parenthesis are longitude 500 1000 1,489,551 5.64% coordinates in 0 to 360 east system] point is at 0° and 90° west. For the east side hemisphere the central lati- lion shaded relief maps. This series included three U.S. Geological Sur- unknown areas is unconstrained, but the method does close back to an coordinates in 0 to 360 east system] 1000 1500 1,138,869 4.32% are varied depending on the horizontal distance to a Clementine laser 13 and 395 m, with a mean of 160 m. Rosiek, M.R, and Aeschliman, R.A., 2001, Lunar shaded relief map 1000 1500 1,319,180 5.00% tude and central longitude point is at 0° and 90° east. vey maps: I–1218–B, Shaded Relief Map of the Lunar Far Side, 1980; area with known elevation values, which constrains the error at the 1500 2000 1,034,507 3.92% altimeter point: match points within 2000 m of a Clementine laser updated with Clementine data [abs.], in Lunar and Planetary Sci- 1500 2000 1,073,012 4.07% I–1326–A, Shaded Relief Map of the Lunar Polar Regions, 1981; and In the north pole region 1,276 Clementine laser altimeter points are in starting and ending spots (Cook and others 2000). 2000 2500 1,072,031 4.06% CONTROL altimeter point are given a high weight; match points between 2000 m ence Conference XXXII: Houston, Lunar and Planetary Institute, 2000 2500 845,010 3.20% I–2276, Sheet 2 of 2, Shaded Relief Map of the Lunar Near Side, 1992. the area where photogrammetric topographic data were collected. 2500 3000 1,062,262 4.03% 4,500,000 The original control for the shaded relief maps was based on horizontal and 5000 m from a Clementine laser altimeter point are given a The elevation data collected by Dr. Margot is derived from radar inter- abstract no. 1943 [CD-ROM]. 4,500,000 2500 3000 522,506 1.98% These data were digitized and mosaicked into a single digital file. An Comparing the photogrammetric topographic data with the Clementine 3000 3500 826,748 3.13% control tied to either the Lunar Positional Reference of 1974 (Schimer- medium weight; and match points greater than 5000 m from a Clemen- laser altimeter points shows that for the north pole region the stereo ferometry using the Goldstone radar. Over the polar region, five images Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T, 2001, Combining 3000 3500 325,416 1.23% 4,000,000 area of approximately 500,000 km2 near the south pole was not visible 4,000,000 3500 4000 701,355 2.66% man, 1975) or the Apollo control system of 1973. Positional discrepan- tine laser altimeter point are given a low weight. This weighting allows were collected and mosaicked together. To collect elevation informa- lunar photogrammetric topographic data with Clementine Lidar 3500 4000 165,767 0.63% in any pre-Clementine images and is blank on the published map. The topographic data is an average of 46 m higher than the Clementine 4000 4500 723,026 2.74% cies as large as 25 km at map scale existed in the original shaded relief the vertical control to be bridged between areas of known vertical con- tion, the radar signal is sent from one antenna and is received by at least data [abs.], in Planetary Mapping 2001, International Society for 4000 4500 43,277 0.16% 3,500,000 digitized relief base was revised based on the Clementine mosaic and laser altimeter points, with a standard deviation of 719 m. In the south 3,500,000 4500 5000 605,993 2.30% base. To improve the accuracy, digital shaded relief data were aligned trol (the area covered by Clementine laser altimeter measurements) and two antennas. The phase difference in the received signal from the two Photogrammetry and Remote Sensing, Working Group IV/9: Flag- 4500 5000 16,225 0.06% recent Earth-based radar imagery (Margot and others, 1999) to show pole region, 1,379 Clementine laser altimeter points are in the area 5000 5500 441,706 1.67% 3,000,000 with a mosaic produced from Clementine 750 nm images (Eliason, the areas void of control (the area over the poles). radar sites provides information about the elevation. The elevation staff, Arizona, web publication http://wwwflag.wr.usgs.gov/ 3,000,000 5000 5500 3,231 0.01% features in this area. Errors that were present in the original interpreta- where photogrammetric topographic data were collected. For the south 5500 6000 317,694 1.20% 1997, Isbell and others, 1997, Eliason and others, 1999). This align- The Clementine mission collected both oblique and vertical images information derived from radar interferometry is relative and requires USGSFlag/Space/Isprs/flagstaff2001/index.html. 5500 6000 1,113 0.00% 2,500,000 tions of lunar morphology have not been corrected in the digital version pole region the stereo topographic data is an average of 163 m lower 2,500,000 6000 6500 237,941 0.90% ment process consisted of picking features (commonly called match or over the polar regions; these images form stereo pairs that can be used the use of the Clementine altimetry points to provide absolute elevation Schimerman, L.A. ed., 1975, Lunar cartographic dossier: U.S. Defense 6000 6500 524 0.00% of the warped shaded relief map base. These original errors were than the Clementine laser altimeter points, with a standard deviation of tie points) that were visible in both the shaded relief data and the Clem- photogrammetrically to collect topographic data. In the north pole information relative to a datum (Margot and others 1999, 2000). Mapping Agency Aerospace Center, St. Louis, Missouri, v. 1, sec-

6500 7000 80,408 0.30% C O U N T 2,000,000 6500 7000 caused by scanty data, ambiguities introduced by highly oblique solar 1005 m. C O U N T 2,000,000 7000 7500 23,217 0.09% entine mosaic. To accomplish this, the files were divided into three region (90° N. to 64° N. latitude) data were collected from 640 stereo tions 3.1.10 and 3.4.63. 7000 7500 incidence angles, and distortions created in generating orthophoto- The merged topographic data were color-coded and combined with the 7500 8000 6,233 0.02% 1,500,000 areas: north pole, equatorial region, and south pole. They were aligned models. Over the south pole region (90° S. to 63° S. latitude) topo- REFERENCES Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., de Bergh, 1,500,000 7500 8000 graphs from oblique images (Rosiek and Aeschliman, 2001). shaded relief data. Areas where no topographic data were collected are first in the equatorial region and then in the polar regions. Within the C., Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke, P., 8000 8500 1,459 0.01% 1,000,000 graphic data were collected from 667 stereo models. Topographic data not color-coded, and the shaded relief image is shown as gray scale. Cook, A., Watters, T.R., Robinson, M.S., Spudis, P.D., and Bussey, 1,000,000 8000 8500 8500 9000 equatorial region, an area extending from 60° S. to 60° N., approxi- TOPOGRAPHIC DATA were collected within each stereo model with an elevation post spacing D.B.J., 2000, Lunar polar topography derived from Clementine and Thomas, P.C., 2002, Report of the IAU/IAG Working Group 8500 9000 9000 9500 500,000 mately 1000 points were picked. Within the north polar region, an area The Clementine laser altimeter points were interpolated to create a of 1 km in the x and y directions. This spacing resulted in 1,437,368 NOMENCLATURE stereoimages: Journal of Geophysical Research, v. 105, no. E5, p. on Cartographic and Rotational Elements of the Planets and Satel- 500,000 9000 9500 9500 10000 from 57° N. to 90° N., approximately 1900 points were picked. Within global topographic gridded digital terrain model for the lunar surface. points being collected in the north pole region and 1,724,872 points The number, size, and placement of text annotations were chosen to 12,023–12,033. lites—2000: Celestial Mechanics and Dynamical Astronomy, v. 82, 9500 10000 0 0 – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , the south polar region, an area from 57° S. to 90° S., approximately Because the altimeter points were sparser near the poles and non-exis- being collected in the south pole region. On average, over the area that provide a general orientation of conspicuous features on a Davies, M.E., and Colvin, T.R., 2000, Lunar coordinates in the regions p. 83–110. – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , Elevation (meters) Smith, D.E., Zuber, M.T., Neumann, G.A., and Lemoine, F.G., 1997, Elevation (meters) Minimum –9889 1100 points were picked. These points were used to warp the shaded tent over the poles in this digital terrain model, only data between 75° data were collected (79° S. and 81° N.), the Clementine laser altimeter 1:10,000,000-scale map. Features are labeled with names approved by of the Apollo Landers: Journal of Geophysical Research, v. 105, Minimum –9726 Maximum 8192 relief map to match the Clementine mosaic. The Clementine mosaic has S. and 75° N. were used in the final digital terrain model. To fill in the collected an elevation value for every 514 km2; and the photogrammet- the International Astronomical Union (for a complete list of lunar no. E8, p. 20,277–20,280. Topography of the Moon from the Clementine Lidar: Journal of Maximum 6401 Mean 1 a positional accuracy of 500 m (1/60°) (Eliason and others, 1999). polar regions, topographic data were collected photogrammetrically ric data collected an elevation value for every 1.3 km2 in the north pole nomenclature, see http://planetarynames.wr.usgs.gov ). Eliason, E.M., 1997, Production of Digital Image Models using the Geophysical Research, v. 102, no. E1, p. 1591–1611. Mean –669 Standard Deviation 2582 ELEVATION IN METERS ELEVATION IN METERS Standard Deviation 1658 Vertical control is based on measurements from the Clementine laser from Clementine 750 nm oblique and nadir images. and 1.2 km2 in the south pole. The photogrammetric data were merged L 10M 0/±90 RTK: Abbreviation for Moon; 1:10,000,000 series; cen- ISIS system [abs.], in Lunar and Planetary Science Conference Histogram of elevation values for west hemisphere Histogram of elevation values for east hemisphere altimeter that collected data between 79° S. and 81° N. The along-track For the photogrammetric analysis, horizontal control was established and vertically transformed to align with the Clementine laser altimeter ter of maps: 0° latitude and 90° west longitude XXVIII: Houston, Lunar and Planetary Institute, p. 331–332. spacing of these measurements varied: over some smooth mare surfaces by selecting some of the match points that were used in building the data to form the final digital terrain model (Rosiek and others, 2001). for west hemisphere, and 0° latitude and 90° east Eliason, E.M., McEwen, A.S., Robinson, M.S., Lee, E.M., Becker, T.L., an along-track spacing of 20 km was achieved; where the instrument Clementine global mosaic. These points provided estimates for latitude Merging the topographic data required an iterative process to reduce the longitude for east hemisphere; shaded relief (R) Gaddis, L.R., Weller, L.A., Isbell, C.E., Shinaman, J.R., Duxbury, lost lock over rough highland terrain, the spacing degraded to 100 km. and longitude values, but no estimate for elevation values. Vertical con- error between the photogrammetric data and the topographic data with topographic data and nomenclature (T) and T., Malaret, E., 1999, Digital processing for a global multispectral

Any use of trade, product, or firm names in this publication is for descriptive purposes only and does not imply endorsement by the COLOR-CODED TOPOGRAPHY AND SHADED RELIEF MAP OF THE LUNAR WEST AND EAST HEMISPHERES U.S. Government For sale by U.S. Geological Survey, Information Services, Box L 10M 0/± 90 RTK 25286, Federal Center, Denver, CO 80225, 1–888–ASK–USGS 2002 Printed on recycled paper GEOLOGIC INVESTIGATIONS SERIES I–2769 U.S. DEPARTMENT OF THE INTERIOR Prepared for the LUNAR NORTH AND SOUTH HEMISPHERES U.S. GEOLOGICAL SURVEY NATIONAL AERONAUTICS AND SPACE ADMINISTRATION SHEET 3 OF 3 180° 0° 0° 0° 170° 170° 10° 10°

. Krasovskiy 160° 160° Near Side Far Side 20° Hipparchus 20° Hemisphere Hemisphere a Ptolemaeus Zhukovskiy 10 Mandel'shtam Fr –10 . ° Mauro ° Albategnius SHEET 1 150° . Sharonov Papaleksi 150° 30° Alphonsus 30° Spencer SINUS Anderson Jones s . Abulfeda

aeu ASPERITATIS . McMath MARE MARE Arzachel ph . Montes Tsander Raimond 20° –20° . Ri Rupes . Cyrillus . Theophilus . Buys-Ballot COGNITUM Recta Kibal'chich Schuster West East Morse . Kohlschütter 140° 140° Hemisphere Hemisphere 40° NUBIUM 40° . Catharina

. Jackson Purbach a . Freundlich Mitr . Bullialdus Mendelee . v R . Fitzgerald SHEET 2 . . Werner Sacrobosco u MARE Regiomontanus p e Mach s 30° –30°

. Deslandres . Aliacensis Trumpler NECTARIS Pitatus Larmor

Shayn . Komarov . Walther A . Ru l Fracastorius . Cockcroft . pe ta s Mer i 130° Green 130° 50° cato . 50° . Gassendi r . . MARE North South Letronne Zagut . Montesn aeus Kekulé MARE Hemisphere Hemisphere Gemma Pyr tzsprung MOSCOVIENSE Her . Evershed Frisius Rabbi MARE . . . . Colombo Joule 40° . Vetchinkin . –40° Levi Piccolomini FECUNDITATIS . Orontius HUMORUM Sasserides Stöfler Poynting SHEET 3 . . Santbech . Schneller . Maurolycus . Tycho Riccius Dunér Chandler INDEX . Von Neumann Wilhelm . Mersenius . Kulik . Perkin . Chernyshev Ley . Licetus Barocius 120° . Vernadskiy . Ibn 120° 60° Lagalla 60° Klute Debye Firnas Hainzel Fersman 50° Wiener –50° . Michelson . Montgolfier Campbell . Kurchatov Lacus Maginus . Fowler . Excellentiae Brenner on Von Slipher Mee ls D'Alembert . Longomontanus he Zeipel Ostwald . renus ic . Lang M Metius Rheita a Weyl . Chappell . . Wrottesley en . . at Kovalevskaya Charlier Paraskevopoulos Pitiscus C . Janssen . Vendelinus

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h Stevinus r . Rowland Lamé e Olcott Clavius R Petavius . hn c Carnot 60° –60°

s u Grimaldi Hommel e Kolhörster . Lobachevskiy Schiller L Vlacq 110° a 110° 70° 70° n . Tikhov te Perrine a Hase . Emden C Ohm Scheiner H. G. Schickard . Birkhoff Avogadro . Byrgius Furnerius

. Leucippus Wells . Rosenberger Blancanus s Frost . i l Cantor l . Sommerfeld . . Seyfert Darwin . Fleming a Olivier von . Curtius Mutus V Landau Balmer . Békésy . Millikan Riccioli Biela . Rocca Gruemberger . Adams . Sarton . Manzinus Stebbins 70° Gamow . . Phocylides –70° Vega Gilbert . Parenago Moretus . van't . Roberts Wargentin . Hertz . Klaproth . Hoff Lagrange . Wegener . Karpinskiy . ami Berkner ir . Inghirami Phillips . Robertson Mo . Casatus Kästner Szilard ntes Schomberger 100° . Winlock . Coulomb 100° 80° In 80° Stefan Seares C is . Elvey o ll . . r a . v d V . . Pontécoulant Milankovic Richardson il de . Boussingault . Ansgarius ni le Baa Oken Hecataeus . Mezentsev . m ra Bragg tu lis Boguslawsky 80° Schwarzschild u al –80° . Rynin V Humboldt . Pingré . Helmholtz Fabry . Maxwell . . Lomonosov Plaskett Compton Lacus A ntes Bailly Lorentz o R ard Bell Laue Schlüter M oo ouv . Gibbs MARE . Harkhebi is k B r lis . Baade . Neumayer Ve al . Poczobutt . V Scott Demonax s . Hamilton u Le . Cabeus Abel . . Rozhdestvenskiy c Barnard SMYTHII Nernst Lyot Vestine . Joliot a Gentil . Smoluchowski . Al-Biruni Babcock L

. McLaughlin M E A S T Shoemaker . E A S T E A S T Röntgen o . Nansen n Hausen Drygalski . Amundsen 90 Cremona Bel'kovich 90 90 t 90 ° . . Hermite ° ° e Hale ° . . s . W E S T Bartels Brianchon Rayleigh W E S T Jeans

Goddard .

Moseley MARE Curie MARE . Riemann Hayn Einstein Volta . Hubble Ashbrook MARE . . Xenophanes . Rydberg Byrd Sikorsky . Jenner . C . r Galvani Pascal HUMBOLDTIANUM ORIENTALE nge . . Petermann o i hröd r Sc . Sklodo d wska Vasco Desargues Neper llis i a . . l V Gerard da Gama l Lamb Hirayama

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MARE SMYTHII r Petzval 80 a –80 . von Braun ° Gauss ° . Zeeman Schrödinger Mouchez Wyld AUSTRALE Pythagoras M . . Baillaud . Plutarch . Parkhurst Anaximenes Zeno o . Lebedev nt ok Mendel 80° 80° 100° es o Lacus 100° Struve R Lippmann Meton V . Russell all Solitudinis is Babbage Hahn . Lowell . Goldschmidt . Mercurius Numerov

Barrow . P Pasteur Saha . Olbers Arnold De La . . lan Hedin South . Berosus ck . . M 70° Rue Endymion Antoniadi –70° Scaliger Eddington U J. Herschel Crommelin R SINUS R Hilbert A ORIS is Fizeau Van der Milne L Blackett . Alden empor Planck Waals L T Lyman Prandtl E W. Bond Lemaître C Mons . Gärtner Lacus Messala IS Minnaert NGU . MARE . Berlage O Rümker A R E UNDARUM . Harpalus Birmingham n R P ha A Condorcet Carver s M . Minkowski . 70° ep 70° 110° . Cabannes . 110° S he Meitner U MA a S METERS RE 60° im . Geminus Brouwer –60° N R Atlas 8200 . Kondratyuk . A Poincaré

E Montes F Pauli Bolyai R . Hercules MARE Langmuir . C . Sharp I . Franklin Buffon Hevelius Agricola es G . SPUMANS . Leavitt O . nt J O Cleomedes Cori Roche Mairan o ur M a R MARE Bose Hess . Neujmin I . Gerasimovich Hopmann . . S 6000 Fermi Eötvös Langemak Va ll SINUS Chebyshev is CRISIUM Sc Montes Plato . Lacus h r Aristoteles ö Recti Montes . Bürg . Lucretius t e T IRIDUM enerif 50° –50° . Ramsay r M Koch i Mortis o 4000 Alder . 60° n 60° 120° Chrétien Tsiolkovskiy 120° f te llis Alpes . Subbotin e s Va . Aristarchus . Fridman . Eudoxus LACUS . . Jules tes A Nishina Von Kármán Mon MARE lp SOMNIORUM Ioffe Verne ger e Lacus . Macrobius Lundmark . Marius bin s 2000 Apollo . Perepelkin Har Montes Taurus Bonitatis . Pavlov . Delisle Maksutov 40° . . Posidonius –40° Love Cassini Palus 0 . Leibnitz Levi- IMBRIUM Somni MARE . Barringer Oppenheimer Civita . Sternfeld Davisson INGENII . 50 50 130 O'Day . Chauvenet 130 ° Montes Caucasus . ° ° Thomson ° . Aristillus Paschen MARE Taruntius –2000 . Birkeland Gagarin . Lambert 30° –30° . . . Isaev Archimedes SERENITATIS Van de . MARE Leeuwenhoek Dellinger . Palus –4000 Graaff . . Putredinis Orlov . Cyrano Marconi Paracelsus M M o o Galois n n 40° t s tes TRANQUILLITATIS 40° 140° 140° es nu i MARE Ca nn Ha –6000 rpa pe em Vertregt tus A 20° us –20°

es . INSULARUM ont Doppler Chaplygin . M Aitken Zwicky . Copernicus Eratosthenes –8000 Keeler Schliemann 30 MARE 30 150 150 ° Julius ° ° Korolev ° SINUS VAPORUM . . Heaviside Ventris . Caesar AESTUUM 10° –9900 –10°

INTERIOR —GEOLOGICAL SURVEY, RESTON, VA—2002 No topographic data Icarus 20° 20° 160° Daedalus 160°

SINUS MEDII Color-coded 10° 0° 10° topography key 170° 0° 170° 0° 180°

180° 0° (180) (0) Elevation values for the north hemisphere 150° W 150° E Scale 1:10,000,000 (1 mm = 10 km) Scale 1:10,000,000 (1 mm = 10 km) 30° W 30° E Elevation values for the south hemisphere bin- binned in increments of 500 meters. Count is (150) (210) At 90° N. latitude At 90° S. latitude (330) (30) ned in increments of 500 meters. Count is number of elevation posts within the bin. Lambert Azimuthal Equal-Area projection Lambert Azimuthal Equal-Area projection number of elevation posts within the bin. Per- Percent is count for indicated elevation values NORTH HEMISPHERE SOUTH HEMISPHERE cent is count for indicated elevation values divided by total count. 120° W 120° E 60° W 60° E divided by total count. (120) (240) L 10M 90/0 RTK L 10M –90/0 RTK (300) (60) Minimum Maximum Count Percent Minimum Maximum Count Percent –10000 –9500 –10000 –9500 222 0.00% –9500 –9000 –9500 –9000 543 0.00% –9000 –8500 NOTES ON BASE The across-track spacing was based on the orbital ground track and is trol was established by using the global topographic gridded digital ter- derived from the Clementine laser altimeter data. At first the photo- and color-coded topographic data (K) (Greeley map of the Moon from the Clementine UVVIS imaging instrument –9000 –8500 1,079 0.01% –8500 –8000 90° W 90° E This sheet is one in a series of topographic maps that presents color- approximately 60 km (2°) at the equator. Elevation values were col- rain model developed from the Clementine laser altimeter points to grammetric topographic data exhibited a systematic stair-step error, in and Batson, 1990). [abs.], in Lunar and Planetary Science Conference XXX: Houston, 90° W 90° E –8500 –8000 2,074 0.01% (90) (270) lected at 72,548 points by the Clementine laser altimeter. The estimated estimate elevation values for the Clementine match points. To improve that stereo models closer to the poles had a systematic bias to be higher Lunar and Planetary Institute, abstract no. 1933 [CD-ROM]. (270) (90) –8000 –7500 coded topographic data digitally merged with shaded relief data. OTHER SOURCES OF LUNAR ELEVATION DATA –8000 –7500 3,179 0.02% –7500 –7000 vertical accuracy of points collected by the Clementine laser altimeter the geometry of the control network for the photogrammetric analysis, than stereo models farther from the poles. When this bias was removed, Margot, J.L., Campbell, D.B., Jurgens, R.F., Slade, M.A., 1999, Topog- –7500 –7000 6,256 0.03% ADOPTED FIGURE Two other recent sources of lunar elevation data are from work done by –7000 –6500 6 is 130 m (Smith and others, 1997). the Clementine match points, which were selected to tie two images the resulting digital terrain model had a bowl-shape appearance with a raphy of the lunar poles from radar interferometry: A survey of 6 –7000 –6500 27,621 0.15% 0° N Dr. Tony Cook of the National Air and Space Museum and by Dr. Jean- 0° S –6500 –6000 The figure for the Moon, used for the computation of the map projec- The Clementine laser altimeter did not collect data over the lunar north together in order to build the Clementine global mosaic, were transfer- low spot near the pole. Each stereo model was tilted to remove the bowl cold trap locations: Science, v. 284, p. 1658–1660. –6500 –6000 38,568 0.20% Luc Margot while at Cornell University. The elevation data collected by –6000 –5500 60° W 60° E tion, is a sphere with a radius of 1737.4 km (Seidelmann and others, or south pole. Therefore, topographic data were collected photogram- red to all images that contained the point. Additional points were shape: for stereo models in the north pole area this was 800 m per ———2000, Digital elevation models of the Moon from Earth-based 120° W 120° E –6000 –5500 107,715 0.57% (60) (300) Dr. Cook is derived from overlapping Clementine images from the (240) (120) –5500 –5000 436 0.00% 2001). Because the Moon has no surface water, and hence no sea level, metrically to fill in these gaps. The image sources were the oblique and selected to have four well-distributed points per image, where possible. degree and for stereo models in the south pole area this was 1 km per radar interferometry: IEEE Transactions on Geoscience and –5500 –5000 337,103 1.79% 30° N same orbit. This method provides a larger set of images to use in col- 30° S –5000 –4500 2,094 0.01% the datum (the 0 km contour) for elevations is defined as the radius of nadir 750 nm images collected by the Clementine UVVIS camera (Ro- Analytical areotriangulation, a weighted least squares process, is used degree. To fit the stereo models to the Clementine laser altimeter data, Remote Sensing, v. 38, no. 2, p. 1122–1133. –5000 –4500 368,159 1.95% lecting topographic data. Elevation values that are collected are relative –4500 –4000 37,129 0.20% 1737.4 km. Coordinates are based on the mean Earth/polar axis (M.E.) siek and others, 1998). Vertical control, for the photogrammetric data, to solve for all the parameters of the photogrammetric project. These an initial set of stereo models that overlaid the Clementine laser altime- Isbell, C.E., Eliason, E.M., Becker, T.L., Lee, E.M., McEwen, A.S., and –4500 –4000 380,221 2.01% 30° W 30° E coordinates system, the z axis is the axis of the Moon’s rotation, and to each other and are not known in an absolute sense relative to some 150° W 150° E –4000 –3500 159,400 0.84% was established by using the Clementine laser altimeter data at the parameters include image sensor position and angles; latitude, longi- ter data was adjusted to vertically align with the Clementine laser altim- Robinson, M.S., 1997, The Clementine Mission—An archive of a 0 –4000 –3500 392,589 2.08% (30) 0° (330) datum. To provide an estimate of the absolute height, the elevation val- (210) ° (150) –3500 –3000 259,451 1.37% 0° the x axis is the mean Earth direction. The center of mass is the origin outer edge of these circular polar areas, and the imagery was used to tude, and elevation of match points; and image coordinates of match eter data. Stereo models that overlaid the previously adjusted stereo Digital Image Model of the Moon [abs.], in Lunar and Planetary 180° –3500 –3000 412,096 2.18% (0) ues are matched to the Clementine altimetry data and to elevation val- (180) –3000 –2500 1,235,289 6.52% of the coordinate system (Davies and Colvin, 2000). The equator lies in bridge control and fill in the central part of the circle (Rosiek and oth- points. Adjusting the weight assigned to a parameter determines models were adjusted further, this process continued until all stereo Science Conference XXVIII: Houston, Lunar and Planetary Insti- –3000 –2500 560,468 2.97% Gridded Clementine laser altimeter ues previously collected where Clementine altimetry does not exist. Gridded Clementine laser altimeter –2500 –2000 2,038,202 10.75% the x–y plane and the prime meridian lies in the x–z plane with east ers, 2001). The expected precision of points collected photogrammetri- whether values with high weight are held to the original estimate or val- models were adjusted to align vertically. tute, p. 623–624. –2500 –2000 931,668 4.93% Traditional photogrammetric solutions employ a least squares method –2000 –1500 2,444,140 12.89% longitude values being positive. cally is 180 m (Rosiek and others, 1998). Further discussion of the ues with low weight are allowed to float and a new value determined In analyzing the photogrammetric data for the north pole region, Greeley, R., and Batson, R.M., 1990, Planetary mapping: New York, –2000 –1500 1,795,511 9.51% Photogrammetric data to distribute the error throughout the model, whereas the method Photogrammetric data –1500 –1000 2,609,187 13.76% PROJECTION photogrammetric topographic data can be found in the topographic data for the parameter. The parameters with the most error in their original 1,189,935 points (83% of the data) occur on two or more stereo models. Cambridge University Press, p. 261–276. –1500 –1000 2,249,904 11.92% employed by Dr. Cook aligns the derived data with the Clementine –1000 –500 2,135,526 11.26% no data available section below. estimate for their values are the image sensor angles, so they are given For 90% of those points, the standard deviation in elevation is between Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T., 1998, Lunar no data available –1000 –500 2,344,833 12.42% The projection is Lambert Azimuthal Equal Area Projection. The scale altimetry data where it exists and in areas where there is no data the rel- –500 0 1,422,579 7.50% a low weight. The latitude and longitude values of Clementine match 24 and 409 m, with a mean of 184 m. In the south pole region, topographic maps derived from Clementine imagery [abs.], in –500 0 1,982,401 10.50% factor at the central latitude and central longitude point is 1:10,000,000. IMAGE BASE ative elevation measurements are aligned with previous aligned data 0 500 1,002,400 5.29% Sources for north hemisphere topographic data points are given a high weight so the solution holds to the Clementine 1,262,349 points (73% of the data) occur on two or more stereo models. Lunar and Planetary Science Conference XXX: Houston, Lunar Sources for south hemisphere topographic data 0 500 1,433,413 7.59% For the north hemisphere the central latitude and central longitude point The shaded relief data were originally published as a series of 1:5 mil- until the area is connected back with Clementine data. The error in 500 1000 902,322 4.76% [Coordinates shown in parenthesis are longitude global mosaic horizontal coordinates. Weights for the elevation values For 90% of those points, the standard deviation in elevation is between and Planetary Institute, abstract no. 1853 [CD-ROM]. [Coordinates shown in parenthesis are longitude 500 1000 1,189,377 6.30% coordinates in 0 to 360 east system/ is at 90° north and 0°. For the south hemisphere the central latitude and lion shaded relief maps. This series included three U.S. Geological Sur- unknown areas is unconstrained, but the method does close back to an coordinates in 0 to 360 east system] 1000 1500 880,066 4.64% are varied depending on the horizontal distance to a Clementine laser 13 and 395 m, with a mean of 160 m. Rosiek, M.R, and Aeschliman, R.A., 2001, Lunar shaded relief map 1000 1500 882,006 4.67% central longitude point is at 90° south and 0°. vey maps: I–1218–B, Shaded Relief Map of the Lunar Far Side, 1980; area with known elevation values, which constrains the error at the 1500 2000 854,527 4.51% altimeter point: match points within 2000 m of a Clementine laser updated with Clementine data [abs.], in Lunar and Planetary Sci- 1500 2000 656,271 3.48% I–1326–A, Shaded Relief Map of the Lunar Polar Regions, 1981; and In the north pole region 1,276 Clementine laser altimeter points are in starting and ending spots (Cook and others 2000). 2000 2500 759,128 4.00% CONTROL altimeter point are given a high weight; match points between 2000 m ence Conference XXXII: Houston, Lunar and Planetary Institute, 2000 2500 615,299 3.26% I–2276, Sheet 2 of 2, Shaded Relief Map of the Lunar Near Side, 1992. the area where photogrammetric topographic data were collected. 2500 3000 595,557 3.14% 3,000,000 The original control for the shaded relief maps was based on horizontal and 5000 m from a Clementine laser altimeter point are given a The elevation data collected by Dr. Margot is derived from radar inter- abstract no. 1943 [CD-ROM]. 3,000,000 2500 3000 540,626 2.86% These data were digitized and mosaicked into a single digital file. An Comparing the photogrammetric topographic data with the Clementine 3000 3500 387,540 2.04% control tied to either the Lunar Positional Reference of 1974 (Schimer- medium weight; and match points greater than 5000 m from a Clemen- ferometry using the Goldstone radar. Over the polar region, five images Rosiek, M.R., Kirk, R.L., and Howington-Kraus, E.T, 2001, Combining 3000 3500 438,322 2.32% area of approximately 500,000 km2 near the south pole was not visible laser altimeter points shows that for the north pole region the stereo 3500 4000 283,221 1.49% man, 1975) or the Apollo control system of 1973. Positional discrepan- tine laser altimeter point are given a low weight. This weighting allows were collected and mosaicked together. To collect elevation informa- lunar photogrammetric topographic data with Clementine Lidar 3500 4000 338,557 1.79% 2,500,000 in any pre-Clementine images and is blank on the published map. The topographic data is an average of 46 m higher than the Clementine 2,500,000 4000 4500 291,642 1.54% cies as large as 25 km at map scale existed in the original shaded relief the vertical control to be bridged between areas of known vertical con- tion, the radar signal is sent from one antenna and is received by at least data [abs.], in Planetary Mapping 2001, International Society for 4000 4500 257,905 1.37% digitized relief base was revised based on the Clementine mosaic and laser altimeter points, with a standard deviation of 719 m. In the south 4500 5000 242,947 1.28% base. To improve the accuracy, digital shaded relief data were aligned trol (the area covered by Clementine laser altimeter measurements) and two antennas. The phase difference in the received signal from the two Photogrammetry and Remote Sensing, Working Group IV/9: Flag- 4500 5000 203,248 1.08% recent Earth-based radar imagery (Margot and others, 1999) to show pole region, 1,379 Clementine laser altimeter points are in the area 5000 5500 169,376 0.89% 2,000,000 with a mosaic produced from Clementine 750 nm images (Eliason, the areas void of control (the area over the poles). radar sites provides information about the elevation. The elevation staff, Arizona, web publication http://wwwflag.wr.usgs.gov/ 2,000,000 5000 5500 149,660 0.79% features in this area. Errors that were present in the original interpreta- where photogrammetric topographic data were collected. For the south 5500 6000 121,193 0.64% 1997, Isbell and others, 1997, Eliason and others, 1999). This align- The Clementine mission collected both oblique and vertical images information derived from radar interferometry is relative and requires USGSFlag/Space/Isprs/flagstaff2001/index.html. 5500 6000 107,449 0.57% tions of lunar morphology have not been corrected in the digital version pole region the stereo topographic data is an average of 163 m lower 6000 6500 81,690 0.43% ment process consisted of picking features (commonly called match or over the polar regions; these images form stereo pairs that can be used the use of the Clementine altimetry points to provide absolute elevation Schimerman, L.A. ed., 1975, Lunar cartographic dossier: U.S. Defense 6000 6500 89,343 0.47% 1,500,000 of the warped shaded relief map base. These original errors were than the Clementine laser altimeter points, with a standard deviation of 1,500,000 6500 7000 27,922 0.15% tie points) that were visible in both the shaded relief data and the Clem- photogrammetrically to collect topographic data. In the north pole information relative to a datum (Margot and others 1999, 2000). Mapping Agency Aerospace Center, St. Louis, Missouri, v. 1, sec-

C O U N T 6500 7000 29,753 0.16% 1005 m. C O U N T caused by scanty data, ambiguities introduced by highly oblique solar tions 3.1.10 and 3.4.63. 7000 7500 10,062 0.05% entine mosaic. To accomplish this, the files were divided into three region (90° N. to 64° N. latitude) data were collected from 640 stereo The merged topographic data were color-coded and combined with the 7000 7500 6,604 0.03% 1,000,000 incidence angles, and distortions created in generating orthophoto- Seidelmann, P.K., Abalakin, V.K., Bursa, M., Davies, M.E., de Bergh, 1,000,000 7500 8000 3,868 0.02% areas: north pole, equatorial region, and south pole. They were aligned models. Over the south pole region (90° S. to 63° S. latitude) topo- shaded relief data. Areas where no topographic data were collected are REFERENCES 7500 8000 599 0.00% graphs from oblique images (Rosiek and Aeschliman, 2001). C., Lieske, J.H., Oberst, J., Simon, J.L., Standish, E.M., Stooke, P., 8000 8500 1,051 0.01% first in the equatorial region and then in the polar regions. Within the graphic data were collected from 667 stereo models. Topographic data not color-coded, and the shaded relief image is shown as gray scale. Cook, A., Watters, T.R., Robinson, M.S., Spudis, P.D., and Bussey, 8000 8500 TOPOGRAPHIC DATA 8500 9000 500,000 equatorial region, an area extending from 60° S. to 60° N., approxi- were collected within each stereo model with an elevation post spacing D.B.J., 2000, Lunar polar topography derived from Clementine and Thomas, P.C., 2002, Report of the IAU/IAG Working Group 500,000 8500 9000 9000 9500 mately 1000 points were picked. Within the north polar region, an area The Clementine laser altimeter points were interpolated to create a of 1 km in the x and y directions. This spacing resulted in 1,437,368 NOMENCLATURE stereoimages: Journal of Geophysical Research, v. 105, no. E5, p. on Cartographic and Rotational Elements of the Planets and Satel- 9000 9500 9500 10000 from 57° N. to 90° N., approximately 1900 points were picked. Within global topographic gridded digital terrain model for the lunar surface. points being collected in the north pole region and 1,724,872 points The number, size, and placement of text annotations were chosen to 12,023–12,033. lites—2000: Celestial Mechanics and Dynamical Astronomy, v. 82, 9500 10000 0 0 – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , the south polar region, an area from 57° S. to 90° S., approximately Because the altimeter points were sparser near the poles and non-exis- being collected in the south pole region. On average, over the area that provide a general orientation of conspicuous features on a Davies, M.E., and Colvin, T.R., 2000, Lunar coordinates in the regions p. 83–110. – 1 0 , – 8 , 0 – 6 , 0 – 4 , 0 – 2 , 0 0 2 , 0 4 , 0 6 , 0 8 , 0 1 0 , Elevation (meters) Smith, D.E., Zuber, M.T., Neumann, G.A., and Lemoine, F.G., 1997, Elevation (meters) Minimum –5121 1100 points were picked. These points were used to warp the shaded tent over the poles in this digital terrain model, only data between 75° data were collected (79° S. and 81° N.), the Clementine laser altimeter 1:10,000,000-scale map. Features are labeled with names approved by of the Apollo Landers: Journal of Geophysical Research, v. 105, Minimum –9882 Maximum 8193 relief map to match the Clementine mosaic. The Clementine mosaic has S. and 75° N. were used in the final digital terrain model. To fill in the collected an elevation value for every 514 km2; and the photogrammet- the International Astronomical Union (for a complete list of lunar no. E8, p. 20,277–20,280. Topography of the Moon from the Clementine Lidar: Journal of Maximum 7678 Mean –266 a positional accuracy of 500 m (1/60°) (Eliason and others, 1999). polar regions, topographic data were collected photogrammetrically ric data collected an elevation value for every 1.3 km2 in the north pole nomenclature, see http://planetarynames.wr.usgs.gov ). Eliason, E.M., 1997, Production of Digital Image Models using the Geophysical Research, v. 102, no. E1, p. 1591–1611. Mean –402 Standard Deviation 2078 ELEVATION, IN METERS ELEVATION, IN METERS Standard Deviation 2306 Vertical control is based on measurements from the Clementine laser from Clementine 750 nm oblique and nadir images. and 1.2 km2 in the south pole. The photogrammetric data were merged L 10M ±90/0 RTK: Abbreviation for Moon; 1:10,000,000 series; cen- ISIS system [abs.], in Lunar and Planetary Science Conference Histogram of elevation values for north hemisphere Histogram of elevation values for south hemisphere altimeter that collected data between 79° S. and 81° N. The along-track For the photogrammetric analysis, horizontal control was established and vertically transformed to align with the Clementine laser altimeter ter of maps: 90° north latitude and 0° longitude XXVIII: Houston, Lunar and Planetary Institute, p. 331–332. spacing of these measurements varied: over some smooth mare surfaces by selecting some of the match points that were used in building the data to form the final digital terrain model (Rosiek and others, 2001). for north hemisphere, and 90° south latitude and Eliason, E.M., McEwen, A.S., Robinson, M.S., Lee, E.M., Becker, T.L., an along-track spacing of 20 km was achieved; where the instrument Clementine global mosaic. These points provided estimates for latitude Merging the topographic data required an iterative process to reduce the 0° longitude for south hemisphere; shaded relief Gaddis, L.R., Weller, L.A., Isbell, C.E., Shinaman, J.R., Duxbury, lost lock over rough highland terrain, the spacing degraded to 100 km. and longitude values, but no estimate for elevation values. Vertical con- error between the photogrammetric data and the topographic data (R) with topographic data and nomenclature (T) T., Malaret, E., 1999, Digital processing for a global multispectral

Any use of trade, product, or firm names in this publication is for descriptive purposes only and does not imply endorsement by the COLOR-CODED TOPOGRAPHY AND SHADED RELIEF MAP OF THE LUNAR NORTH AND SOUTH HEMISPHERES U.S. Government For sale by U.S. Geological Survey, Information Services, Box L 10M ± 90/0 RTK 25286, Federal Center, Denver, CO 80225, 1–888–ASK–USGS 2002 Printed on recycled paper

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