The Study On The Coordinate Systems Transformation For Localization And Mapping Of China Lunar Rover

China’s Lunar Exploration Project(CLEP) is one of the major scientific and technological projects in the history of the Chinese nation. China’s Lunar Exploration Project points "around, down, back " three steps. The "around" is the use of lunar satellites (including Chang-e1,2No.) to carry multiple types of sensors to obtain information on the lunar surface, also known as the first phase of lunar exploration."Off is to make rover successfully land in the specified location on the lunar surface using a soft landing technology. Rover path planning, security, navigation and terrain display is that use positioning and mapping systems. This step is also called second phase of lunar exploration. The task of "Back" is that is not only landing the lunar surface but also collecting experimental samples on the lunar surface and can successfully return to Earth. This step is also known as third phase of lunar exploration. At present, China has achieved a "round" moon project, the second phase of lunar exploration is in full swing in progress.Lunar rover is one of the core of the system needing to be developed, Its high-precision positioning plays a vital role in the lunar exploration activities. To achieve the rover’s high-precision positioning, using acquired images of three-dimensional camera carrying and using in the rover for to high precision mapping, and needing to involve more than one coordinate system, It is a need for further research issues for the conversion relationship between the coordinate system.This paper analyzes coordinate system in the landing of lander and in the process of road and Positioning graphics of rover. And it study the relationship between them, achieves the conversion of a variety of coordinate. Achieve the function of coordinate transformation during "RoverLocater" and "RoverInitializer"...