A method that utilizes the Mariner Mars 1969 television pictures has been developed to aid in the post-encounter determination of the TV viewing directions. A weighted least-squares estimation scheme is used, based on observation of common Mars surface features in over- lapping TV pictures. Estimates were also obtained for the encounter orbits of Mariners VI and VII, and also for the orientation of the Mars spin axis; however, the estimated solutions for the spacecraft orbits and for the spin axis did not result in a reduction of the a priori un- certainties in these parameters. Good results were obtained for the estimated corrections and the a posteriori uncertainties of the nominal TV viewing directions. 7T10 determine the locations on Mars of the Mariner near- JL encounter TV pictures, accurate determinations of the camera viewing directions are required. Also required are accurate determinations of the encounter orbits and the orien- tation of the Mars spin axis. Highly accurate estimates of the camera pointing angles can be obtained from telemetered readouts of the commanded angle settings and spacecraft attitude. However, the Mariner VII spacecraft experienced an anomaly shortly before arriving at Mars. The anomaly corrupted the radio tracking data for a short time and dam- aged the telemetry channel which described one of the camera pointing angles. Thus, a need arose to refine the nominal encounter estimates of the Mariner VII camera pointing angles. A method was developed for estimating corrections to the nominal camera pointing angles, and also the spacecraft en- counter orbits and the Mars spin axis. The method utilizes the overlapping television pictures which were obtained dur- ing each Mariner '69 flyby, and the weighted-least-squares estimation technique. Solutions were obtained for both Mariner VI and VII parameters. The method can be summarized as follows. In two or more overlapping TV pictures, one identifies a number of surface features which lie in the overlap region. The picture co- ordinates of each feature in each picture are then measured. The aerocentric latitude and longitude of each feature in each overlapping picture are computed from the measured co- ordinates and a set of nominal parameters which describe the camera orientation, the times of the picture shutterings, the spacecraft orbit, and the Mars spin axis and planet radius. The same feature in two or more pictures should have the same computed values of latitude and longitude. However, differences in the computed values will result because of the presence of errors in the nominal parameter values, and the picture measurement errors. The presence of these a priori errors and feature measure- ment noise are accounted for in a weighted-least-squares esti- mate of corrections to the nominal camera pointing angles, the spacecraft encounter orbits, and the Mars spin axis. A total of seven parameters are considered in the model: three camera orientation angles, two components of the space-
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