Fig. 1. Camera imaging geometry

Fig. 2. Circle in 3-D space

Fig. 3. Schematic diagram of simulated imaging results

Fig. 4. Analog point cloud map and nominal arc point cloud map

Fig. 5. Matching results of nominal arc and simulated imaging arc

Fig. 6. Taking point diagram

Fig. 7. Least squares ellipse fitting result

Fig. 8. Mars center in the phase plane projection geometric relationship

Fig. 9. Centroid vector pitch angle error standard deviation

Fig. 10. Centroid vector yaw angle error standard deviation

Fig. 11. Effect of different points on the centroid vector

Fig. 12. Effect of different offsets on the centroid vector

Fig. 13. Effect of rotation on the centroid vector solution

Fig. 14. Effect of translation on the centroid vector solution

Fig. 15. Effect of size transformation on the centroid vector solution