Analysis of Local Slopes at the InSight Landing Site on Mars

To evaluate the topography of the surface within the InSight candidate landing ellipses, we generated Digital Terrain Models (DTMs) at lander scales and those appropriate for entry, descent, and landing simulations, along with orthoimages of both images in each stereopair, and adirectional slope images. These products were used to assess the distribution of slopes for each candidate ellipse and terrain type in the landing site region, paying particular attention to how these slopes impact InSight landing and engineering safety, and results are reported here. Overall, this region has extremely low slopes at 1-meter baseline scales and meets the safety constraints of the InSight lander. The majority of the landing ellipse has a mean slope at 1-meter baselines of 3.2°. In addition, a mosaic of HRSC, CTX, and HiRISE DTMs within the final landing ellipse (ellipse 9) was generated to support entry, descent, and landing simulations and evaluations. Several methods were tested to generate this mosaic and the NASA Ames Stereo Pipeline program dem_mosaic produced the best results. For the HRSC-CTX-HiRISE DTM mosaic, more than 99 % of the mosaic has slopes less than 15°, and the introduction of artificially high slopes along image seams was minimized.     

Meter-Scale Slopes of Candidate InSight Landing Sites from Point Photoclinometry

Photoclinometry was used to analyze the small-scale roughness of areas within the proposed Mars InSight landing ellipse. The landing ellipse presented in this study is in Elysium Planitia.This study was able to constrain surface slopes on length scales comparable to the HiRISE image resolution (0.25 meters/pixel and coarser). The InSight mission has various engineering constraints that each candidate landing ellipse must satisfy. These constraints indicate that the statistical value of the slopes at one, two, and five meter baselines are an important criterion. This technique estimates surface slopes across large swaths of each image, and builds up slope statistics for the images in the landing ellipse. The slopes I derived for the InSight landing site ellipse in this study are within the small-scale roughness constraints put forth by the InSight project. These results have provided input into the landing hazard assessment process.     

Selection of the Mars Science Laboratory Landing Site

The selection of Gale crater as the Mars Science Laboratory landing site took over five years, involved broad participation of the science community via five open workshops, and narrowed an initial >50 sites (25 by 20?km) to four finalists (Eberswalde, Gale, Holden and Mawrth) based on science and safety. Engineering constraints important to the selection included: (1)?latitude (±30°) for thermal management of the rover and instruments, (2)?elevation (<?1?km) for sufficient atmosphere to slow the spacecraft, (3)?relief of <100–130?m at baselines of 1–1000?m for control authority and sufficient fuel during powered descent, (4)?slopes of <30° at baselines of 2–5?m for rover stability at touchdown, (5)?moderate rock abundance to avoid impacting the belly pan during touchdown, and (6)?a?radar-reflective, load-bearing, and trafficable surface that is safe for landing and roving and not dominated by fine-grained dust. Science criteria important for the selection include the ability to assess past habitable environments, which include diversity, context, and biosignature (including organics) preservation. Sites were evaluated in detail using targeted data from instruments on all active orbiters, and especially Mars Reconnaissance Orbiter. All of the final four sites have layered sedimentary rocks with spectral evidence for phyllosilicates that clearly address the science objectives of the mission. Sophisticated entry, descent and landing simulations that include detailed information on all of the engineering constraints indicate all of the final four sites are safe for landing. Evaluation of the traversabilty of the landing sites and target “go to” areas outside of the ellipse using slope and material properties information indicates that all are trafficable and “go to” sites can be accessed within the lifetime of the mission. In the final selection, Gale crater was favored over Eberswalde based on its greater diversity and potential habitability.     

The Thermal Emission Imaging System (THEMIS) for the Mars 2001 Odyssey Mission

The Thermal Emission Imaging System (THEMIS) on 2001 Mars Odyssey will investigate the surface mineralogy and physical properties of Mars using multi-spectral thermal-infrared images in nine wavelengths centered from 6.8 to 14.9 μm, and visible/near-infrared images in five bands centered from 0.42 to 0.86 μm. THEMIS will map the entire planet in both day and night multi-spectral infrared images at 100-m per pixel resolution, 60% of the planet in one-band visible images at 18-m per pixel, and several percent of the planet in 5-band visible color. Most geologic materials, including carbonates, silicates, sulfates, phosphates, and hydroxides have strong fundamental vibrational absorption bands in the thermal-infrared spectral region that provide diagnostic information on mineral composition. The ability to identify a wide range of minerals allows key aqueous minerals, such as carbonates and hydrothermal silica, to be placed into their proper geologic context. The specific objectives of this investigation are to: (1) determine the mineralogy and petrology of localized deposits associated with hydrothermal or sub-aqueous environments, and to identify future landing sites likely to represent these environments; (2) search for thermal anomalies associated with active sub-surface hydrothermal systems; (3) study small-scale geologic processes and landing site characteristics using morphologic and thermophysical properties; and (4) investigate polar cap processes at all seasons. THEMIS follows the Mars Global Surveyor Thermal Emission Spectrometer (TES) and Mars Orbiter Camera (MOC) experiments, providing substantially higher spatial resolution IR multi-spectral images to complement TES hyperspectral (143-band) global mapping, and regional visible imaging at scales intermediate between the Viking and MOC cameras. The THEMIS uses an uncooled microbolometer detector array for the IR focal plane. The optics consists of all-reflective, three-mirror anastigmat telescope with a 12-cm effective aperture and a speed of f/1.6. The IR and visible cameras share the optics and housing, but have independent power and data interfaces to the spacecraft. The IR focal plane has 320 cross-track pixels and 240 down-track pixels covered by 10 ～1-μm-bandwidth strip filters in nine different wavelengths. The visible camera has a 1024×1024 pixel array with 5 filters. The instrument weighs 11.2 kg, is 29 cm by 37 cm by 55 cm in size, and consumes an orbital average power of 14 W.     

2001 Mars Odyssey Mission Summary

The 2001 Mars Odyssey spacecraft, now in orbit at Mars, will observe the Martian surface at infrared and visible wavelengths to determine surface mineralogy and morphology, acquire global gamma ray and neutron observations for a full Martian year, and study the Mars radiation environment from orbit. The science objectives of this mission are to: (1) globally map the elemental composition of the surface, (2) determine the abundance of hydrogen in the shallow subsurface, (3) acquire high spatial and spectral resolution images of the surface mineralogy, (4) provide information on the morphology of the surface, and (5) characterize the Martian near-space radiation environment as related to radiation-induced risk to human explorers. To accomplish these objectives, the 2001 Mars Odyssey science payload includes a Gamma Ray Spectrometer (GRS), a multi-spectral Thermal Emission Imaging System (THEMIS), and a radiation detector, the Martian Radiation Environment Experiment (MARIE). THEMIS and MARIE are mounted on the spacecraft with THEMIS pointed at nadir. GRS is a suite of three instruments: a Gamma Subsystem (GSS), a Neutron Spectrometer (NS) and a High-Energy Neutron Detector (HEND). The HEND and NS instruments are mounted on the spacecraft body while the GSS is on a 6-m boom. Some science data were collected during the cruise and aerobraking phases of the mission before the prime mission started. THEMIS acquired infrared and visible images of the Earth-Moon system and of the southern hemisphere of Mars. MARIE monitored the radiation environment during cruise. The GRS collected calibration data during cruise and aerobraking. Early GRS observations in Mars orbit indicated a hydrogen-rich layer in the upper meter of the subsurface in the Southern Hemisphere. Also, atmospheric densities, scale heights, temperatures, and pressures were observed by spacecraft accelerometers during aerobraking as the spacecraft skimmed the upper portions of the Martian atmosphere. This provided the first in-situ evidence of winter polar warming in the Mars upper atmosphere. The prime mission for 2001 Mars Odyssey began in February 2002 and will continue until August 2004. During this prime mission, the 2001 Mars Odyssey spacecraft will also provide radio relays for the National Aeronautics and Space Administration (NASA) and European landers in early 2004. Science data from 2001 Mars Odyssey instruments will be provided to the science community via NASA’s Planetary Data System (PDS). The first PDS release of Odyssey data was in October 2002; subsequent releases occur every 3 months.     

Radar-Derived Properties of the InSight Landing Site in Western Elysium Planitia on Mars

We carried out an assessment of surface and subsurface properties based on radar observations of the region in western Elysium Planitia selected as the landing site for the InSight mission. Using observations from Arecibo Observatory and from the Mars Reconnaissance Orbiter’s Shallow Radar (SHARAD), we examined the near-surface properties of the landing site, including characterization of reflectivity, near-surface roughness, and layering. In the Arecibo data (12.6-cm wavelength), we found a radar-reflective surface with no unusual properties that would cause problems for the InSight radar altimeter (7-cm wavelength). In addition, the moderately low backscatter strength is indicative of a relatively smooth surface at \({\sim} 10\mbox{-cm}\) scales that is composed of load-bearing materials and should not present a hazard for landing safety. For roughness at 10–100 m scales derived from SHARAD data, we find relatively low values in a narrow distribution, similar to those found at the Phoenix and Opportunity landing sites. The power of returns at InSight is similar to that at Phoenix and thus suggestive of near-surface layering, consistent with a layer of regolith over bedrock (e.g., lava flows) that is largely too shallow (\({<}10\mbox{--}20~\mbox{m}\)) for SHARAD to discern distinct reflectors. However, an isolated area outside of the ellipse chosen in 2015 for InSight’s landing shows faint returns that may represent such a contact at depths of \({\sim} 20\mbox{--}43~\mbox{m}\).     

ExoMars 2016 Schiaparelli Module Trajectory and Atmospheric Profiles Reconstruction

On 19^th October 2016 Schiaparelli module of the ExoMars 2016 mission flew through the Mars atmosphere. After successful entry and descent under parachute, the module failed the last part of the descent and crashed on the Mars surface. Nevertheless the data transmitted in real-time by Schiaparelli during the entry and descent, together with the entry state vector as initial condition, have been used to reconstruct both the trajectory and the profiles of atmospheric density, pressure and temperature along the traversed path.The available data-set is only a small sub-set of the whole data acquired by Schiaparelli, with a limited data rate (8 kbps) and a large gap during the entry because of the plasma blackout on the communications.This paper presents the work done by the AMELIA (Atmospheric Mars Entry and Landing Investigations and Analysis) team in the exploitation of the available inertial and radar data. First a reference trajectory is derived by direct integration of the inertial measurements and a strategy to overcome the entry data gap is proposed. First-order covariance analysis is used to estimate the uncertainties on all the derived parameters. Then a refined trajectory is computed incorporating the measurements provided by the on-board radar altimeter.The derived trajectory is consistent with the events reported in the telemetry and also with the impact point identified on the high-resolution images of the landing site.Finally, atmospheric profiles are computed tacking into account the aerodynamic properties of the module. Derived profiles result in good agreement with both atmospheric models and available remote sensing observations.     

Mars Science Laboratory Mission and Science Investigation

Scheduled to land in August of 2012, the Mars Science Laboratory (MSL) Mission was initiated to explore the habitability of Mars. This includes both modern environments as well as ancient environments recorded by the stratigraphic rock record preserved at the Gale crater landing site. The Curiosity rover has a designed lifetime of at least one Mars year (～23?months), and drive capability of at least 20?km. Curiosity’s science payload was specifically assembled to assess habitability and includes a gas chromatograph-mass spectrometer and gas analyzer that will search for organic carbon in rocks, regolith fines, and the atmosphere (SAM instrument); an x-ray diffractometer that will determine mineralogical diversity (CheMin instrument); focusable cameras that can image landscapes and rock/regolith textures in natural color (MAHLI, MARDI, and Mastcam instruments); an alpha-particle x-ray spectrometer for in situ determination of rock and soil chemistry (APXS instrument); a?laser-induced breakdown spectrometer to remotely sense the chemical composition of rocks and minerals (ChemCam instrument); an active neutron spectrometer designed to search for water in rocks/regolith (DAN instrument); a weather station to measure modern-day environmental variables (REMS instrument); and a sensor designed for continuous monitoring of background solar and cosmic radiation (RAD instrument). The various payload elements will work together to detect and study potential sampling targets with remote and in situ measurements; to acquire samples of rock, soil, and atmosphere and analyze them in onboard analytical instruments; and to observe the environment around the rover. The 155-km diameter Gale crater was chosen as Curiosity’s field site based on several attributes: an interior mountain of ancient flat-lying strata extending almost 5?km above the elevation of the landing site; the lower few hundred meters of the mountain show a progression with relative age from clay-bearing to sulfate-bearing strata, separated by an unconformity from overlying likely anhydrous strata; the landing ellipse is characterized by a mixture of alluvial fan and high thermal inertia/high albedo stratified deposits; and a number of stratigraphically/geomorphically distinct fluvial features. Samples of the crater wall and rim rock, and more recent to currently active surface materials also may be studied. Gale has a well-defined regional context and strong evidence for a progression through multiple potentially habitable environments. These environments are represented by a stratigraphic record of extraordinary extent, and insure preservation of a rich record of the environmental history of early Mars. The interior mountain of Gale Crater has been informally designated at Mount Sharp, in honor of the pioneering planetary scientist Robert Sharp. The major subsystems of the MSL Project consist of a single rover (with science payload), a Multi-Mission Radioisotope Thermoelectric Generator, an Earth-Mars cruise stage, an entry, descent, and landing system, a launch vehicle, and the mission operations and ground data systems. The primary communication path for downlink is relay through the Mars Reconnaissance Orbiter. The primary path for uplink to the rover is Direct-from-Earth. The secondary paths for downlink are Direct-to-Earth and relay through the Mars Odyssey orbiter. Curiosity is a scaled version of the 6-wheel drive, 4-wheel steering, rocker bogie system from the Mars Exploration Rovers (MER) Spirit and Opportunity and the Mars Pathfinder Sojourner. Like Spirit and Opportunity, Curiosity offers three primary modes of navigation: blind-drive, visual odometry, and visual odometry with hazard avoidance. Creation of terrain maps based on HiRISE (High Resolution Imaging Science Experiment) and other remote sensing data were used to conduct simulated driving with Curiosity in these various modes, and allowed selection of the Gale crater landing site which requires climbing the base of a mountain to achieve its primary science goals. The Sample Acquisition, Processing, and Handling (SA/SPaH) subsystem is responsible for the acquisition of rock and soil samples from the Martian surface and the processing of these samples into fine particles that are then distributed to the analytical science instruments. The SA/SPaH subsystem is also responsible for the placement of the two contact instruments (APXS, MAHLI) on rock and soil targets. SA/SPaH consists of a robotic arm and turret-mounted devices on the end of the arm, which include a drill, brush, soil scoop, sample processing device, and the mechanical and electrical interfaces to the two contact science instruments. SA/SPaH also includes drill bit boxes, the organic check material, and an observation tray, which are all mounted on the front of the rover, and inlet cover mechanisms that are placed over the SAM and CheMin solid sample inlet tubes on the rover top deck.     

四种飞行器绕流的三维DSMC计算与传热分析

在地球大气层与火星大气层中,使用自己编制的DSMC(direct simulation Monte Carlo)源程序完成了四种飞行器(即Apollo,Orion,Mars Pathfinder以及Mars Microprobe)高超声速穿越稀薄气体时的三维绕流计算,给出了上述飞行器42个典型飞行工况(其中包括在地球大...     

Summary of quantitative interpretation of IMAGE far ultraviolet auroral data

Direct imaging of the magnetosphere by instruments on the IMAGE spacecraft is supplemented by simultaneous observations of the global aurora in three far ultraviolet (FUV) wavelength bands. The purpose of the multi-wavelength imaging is to study the global auroral particle and energy input from the magnetosphere into the atmosphere. This paper describes the method for quantitative interpretation of FUV measurements. The Wide-Band Imaging Camera (WIC) provides broad band ultraviolet images of the aurora with maximum spatial resolution by imaging the nitrogen lines and bands between 140 and 180 nm wavelength. The Spectrographic Imager (SI), a dual wavelength monochromatic instrument, images both Doppler-shifted Lyman-α emissions produced by precipitating protons, in the SI-12 channel and OI 135.6 nm emissions in the SI-13 channel. From the SI-12 Doppler shifted Lyman-α images it is possible to obtain the precipitating proton flux provided assumptions are made regarding the mean energy of the protons. Knowledge of the proton (flux and energy) component allows the calculation of the contribution produced by protons in the WIC and SI-13 instruments. Comparison of the corrected WIC and SI-13 signals provides a measure of the electron mean energy, which can then be used to determine the electron energy flux. To accomplish this, reliable emission modeling and instrument calibrations are required. In-flight calibration using early-type stars was used to validate the pre-flight laboratory calibrations and determine long-term trends in sensitivity. In general, very reasonable agreement is found between in-situ measurements and remote quantitative determinations.     

Lunar Reconnaissance Orbiter Overview: The Instrument Suite and Mission

NASA’s Lunar Precursor Robotic Program (LPRP), formulated in response to the President’s Vision for Space Exploration, will execute a series of robotic missions that will pave the way for eventual permanent human presence on the Moon. The Lunar Reconnaissance Orbiter (LRO) is first in this series of LPRP missions, and plans to launch in October of 2008 for at least one year of operation. LRO will employ six individual instruments to produce accurate maps and high-resolution images of future landing sites, to assess potential lunar resources, and to characterize the radiation environment. LRO will also test the feasibility of one advanced technology demonstration package. The LRO payload includes: Lunar Orbiter Laser Altimeter (LOLA) which will determine the global topography of the lunar surface at high resolution, measure landing site slopes, surface roughness, and search for possible polar surface ice in shadowed regions, Lunar Reconnaissance Orbiter Camera (LROC) which will acquire targeted narrow angle images of the lunar surface capable of resolving meter-scale features to support landing site selection, as well as wide-angle images to characterize polar illumination conditions and to identify potential resources, Lunar Exploration Neutron Detector (LEND) which will map the flux of neutrons from the lunar surface to search for evidence of water ice, and will provide space radiation environment measurements that may be useful for future human exploration, Diviner Lunar Radiometer Experiment (DLRE) which will chart the temperature of the entire lunar surface at approximately 300 meter horizontal resolution to identify cold-traps and potential ice deposits, Lyman-Alpha Mapping Project (LAMP) which will map the entire lunar surface in the far ultraviolet. LAMP will search for surface ice and frost in the polar regions and provide images of permanently shadowed regions illuminated only by starlight. Cosmic Ray Telescope for the Effects of Radiation (CRaTER), which will investigate the effect of galactic cosmic rays on tissue-equivalent plastics as a constraint on models of biological response to background space radiation. The technology demonstration is an advanced radar (mini-RF) that will demonstrate X- and S-band radar imaging and interferometry using light weight synthetic aperture radar. This paper will give an introduction to each of these instruments and an overview of their objectives.     

Lunar Reconnaissance Orbiter Camera (LROC) Instrument Overview

The Lunar Reconnaissance Orbiter Camera (LROC) Wide Angle Camera (WAC) and Narrow Angle Cameras (NACs) are on the NASA Lunar Reconnaissance Orbiter (LRO). The WAC is a 7-color push-frame camera (100 and 400 m/pixel visible and UV, respectively), while the two NACs are monochrome narrow-angle linescan imagers (0.5 m/pixel). The primary mission of LRO is to obtain measurements of the Moon that will enable future lunar human exploration. The overarching goals of the LROC investigation include landing site identification and certification, mapping of permanently polar shadowed and sunlit regions, meter-scale mapping of polar regions, global multispectral imaging, a global morphology base map, characterization of regolith properties, and determination of current impact hazards.     

Geochemistry of Carbonates on Mars: Implications for Climate History and Nature of Aqueous Environments

Ongoing research on martian meteorites and a new set of observations of carbonate minerals provided by an unprecedented series of robotic missions to Mars in the past 15 years help define new constraints on the history of martian climate with important crosscutting themes including: the CO₂ budget of Mars, the role of Mg-, Fe-rich fluids on Mars, and the interplay between carbonate formation and acidity. Carbonate minerals have now been identified in a wide range of localities on Mars as well as in several martian meteorites. The martian meteorites contain carbonates in low abundances (<1 vol.%) and with a wide range of chemistries. Carbonates have also been identified by remote sensing instruments on orbiting spacecraft in several surface locations as well as in low concentrations (2–5 wt.%) in the martian dust. The Spirit rover also identified an outcrop with 16 to 34 wt.% carbonate material in the Columbia Hills of Gusev Crater that strongly resembled the composition of carbonate found in martian meteorite ALH 84001. Finally, the Phoenix lander identified concentrations of 3–6 wt.% carbonate in the soils of the northern plains. The carbonates discovered to date do not clearly indicate the past presence of a dense Noachian atmosphere, but instead suggest localized hydrothermal aqueous environments with limited water availability that existed primarily in the early to mid-Noachian followed by low levels of carbonate formation from thin films of transient water from the late Noachian to the present. The prevalence of carbonate along with evidence for active carbonate precipitation suggests that a global acidic chemistry is unlikely and a more complex relationship between acidity and carbonate formation is present.     

Lunar Reconnaissance Orbiter (LRO): Observations for Lunar Exploration and Science

The Lunar Reconnaissance Orbiter (LRO) was implemented to facilitate scientific and engineering-driven mapping of the lunar surface at new spatial scales and with new remote sensing methods, identify safe landing sites, search for in situ resources, and measure the space radiation environment. After its successful launch on June 18, 2009, the LRO spacecraft and instruments were activated and calibrated in an eccentric polar lunar orbit until September 15, when LRO was moved to a circular polar orbit with a mean altitude of 50 km. LRO will operate for at least one year to support the goals of NASA’s Exploration Systems Mission Directorate (ESMD), and for at least two years of extended operations for additional lunar science measurements supported by NASA’s Science Mission Directorate (SMD). LRO carries six instruments with associated science and exploration investigations, and a telecommunications/radar technology demonstration. The LRO instruments are: Cosmic Ray Telescope for the Effects of Radiation (CRaTER), Diviner Lunar Radiometer Experiment (DLRE), Lyman-Alpha Mapping Project (LAMP), Lunar Exploration Neutron Detector (LEND), Lunar Orbiter Laser Altimeter (LOLA), and Lunar Reconnaissance Orbiter Camera (LROC). The technology demonstration is a compact, dual-frequency, hybrid polarity synthetic aperture radar instrument (Mini-RF). LRO observations also support the Lunar Crater Observation and Sensing Satellite (LCROSS), the lunar impact mission that was co-manifested with LRO on the Atlas V (401) launch vehicle. This paper describes the LRO objectives and measurements that support exploration of the Moon and that address the science objectives outlined by the National Academy of Science’s report on the Scientific Context for Exploration of the Moon (SCEM). We also describe data accessibility by the science and exploration community.     

Near Surface Stratigraphy and Regolith Production in Southwestern Elysium Planitia,Mars: Implications for Hesperian-Amazonian Terrains and the InSight Lander Mission

The presence of rocks in the ejecta of craters at the InSight landing site in southwestern Elysium Planitia indicates a strong, rock-producing unit at depth. A finer regolith above is inferred by the lack of rocks in the ejecta of 10-m-scale craters. This regolith should be penetrable by the mole of the Heat Flow and Physical Properties Package (HP³). An analysis of the size-frequency distribution (SFD) of 7988 rocky ejecta craters (RECs) across four candidate landing ellipses reveals that all craters >200 m in diameter and \({<}750 \pm 30\ \mbox{Ma}\) in age have boulder-sized rocks in their ejecta. The frequency of RECs however decreases significantly below this diameter (\(D\)), represented by a roll-off in the SFD slope. At \(30\ \text{m} < D < 200\ \text{m}\), the slope of the cumulative SFD declines to near zero at \(D < 30\ \text{m}\). Surface modification, resolution limits, or human counting error cannot account for the magnitude of this roll-off. Rather, a significant population of <200 m diameter fresh non-rocky ejecta craters (NRECs) here indicates the presence of a relatively fine-grained regolith that prevents smaller craters from excavating the strong rock-producing unit. Depth to excavation relationships and the REC size thresholds indicate the region is capped by a regolith that is almost everywhere 3 m thick but may be as thick as 12 to 18 m. The lower bound of the thickness range is independently confirmed by the depth to the inner crater in concentric or nested craters. The data indicate that 85% of the InSight landing region is covered by a regolith that is at least 3 m thick. The probability of encountering rockier material at depths >3 m by the HP³ however increases significantly due to the increase in boulder-size rocks in the lower regolith column, near the interface of the bedrock.     

Extended Pile Driving Model to Predict the Penetration of the Insight/HP<Superscript>3</Superscript> Mole into the Martian Soil

The NASA InSight mission will provide an opportunity for soil investigations using the penetration data of the heat flow probe built by the German Aerospace Center DLR. The Heat flow and Physical Properties Probe (HP³) will penetrate 3 to 5 meter into the Martian subsurface to investigate the planetary heat flow. The measurement of the penetration rate during the insertion of the HP³ will be used to determine the physical properties of the soil at the landing site. For this purpose, numerical simulations of the penetration process were performed to get a better understanding of the soil properties influencing the penetration performance of HP³. A pile driving model has been developed considering all masses of the hammering mechanism of HP³. By cumulative application of individual stroke cycles it is now able to describe the penetration of the Mole into the Martian soil as a function of time, assuming that the soil parameters of the material through which it penetrates are known. We are using calibrated materials similar to those expected to be encountered by the InSight/HP³ Mole when it will be operated on the surface of Mars after the landing of the InSight spacecraft. We consider various possible scenarios, among them a more or less homogeneous material down to a depth of 3–5 m as well as a layered ground, consisting of layers with different soil parameters. Finally we describe some experimental tests performed with the latest prototype of the InSight Mole at DLR Bremen and compare the measured penetration performance in sand with our modeling results. Furthermore, results from a 3D DEM simulation are presented to get a better understanding of the soil response.     

InSight Mars Lander Robotics Instrument Deployment System

The InSight Mars Lander is equipped with an Instrument Deployment System (IDS) and science payload with accompanying auxiliary peripherals mounted on the Lander. The InSight science payload includes a seismometer (SEIS) and Wind and Thermal Shield (WTS), heat flow probe (Heat Flow and Physical Properties Package, HP³) and a precision tracking system (RISE) to measure the size and state of the core, mantle and crust of Mars. The InSight flight system is a close copy of the Mars Phoenix Lander and comprises a Lander, cruise stage, heatshield and backshell. The IDS comprises an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, motor controller, arm-mounted Instrument Deployment Camera (IDC), lander-mounted Instrument Context Camera (ICC), and control software. IDS is responsible for the first precision robotic instrument placement and release of SEIS and HP³ on a planetary surface that will enable scientists to perform the first comprehensive surface-based geophysical investigation of Mars’ interior structure. This paper describes the design and operations of the Instrument Deployment Systems (IDS), a critical subsystem of the InSight Mars Lander necessary to achieve the primary scientific goals of the mission including robotic arm geology and physical properties (soil mechanics) investigations at the Landing site. In addition, we present test results of flight IDS Verification and Validation activities including thermal characterization and InSight 2017 Assembly, Test, and Launch Operations (ATLO), Deployment Scenario Test at Lockheed Martin, Denver, where all the flight payloads were successfully deployed with a balloon gravity offload fixture to compensate for Mars to Earth gravity.     

The Dawn Framing Camera

The Framing Camera (FC) is the German contribution to the Dawn mission. The camera will map 4 Vesta and 1 Ceres through a clear filter and 7 band-pass filters covering the wavelengths from the visible to the near-IR. The camera will allow the determination of the physical parameters of the asteroids, the reconstruction of their global shape as well as local topography and surface geomorphology, and provide information on composition via surface reflectance characteristics. The camera will also serve for orbit navigation. The resolution of the Framing Camera will be up to 12 m per pixel in low altitude mapping orbit at Vesta (62 m per pixel at Ceres), at an angular resolution of 93.7 ??rad?px^?1. The instrument uses a reclosable front door to protect the optical system and a filter-wheel mechanism to select the band-pass for observation. The detector data is read out and processed by a data processing unit. A power converter unit supplies all required power rails for operation and thermal maintenance. For redundancy reasons, two identical cameras were provided, both located side by side on the +Z-deck of the spacecraft. Each camera has a mass of 5.5 kg.     

MC-LRF based pose measurement system for shipborne aircraft automatic landing

Due to the portability and anti-interference ability, vision-based shipborne aircraft automatic landing systems have attracted the attention of researchers. In this paper, a Monocular Camera and Laser Range Finder (MC-LRF)-based pose measurement system is designed for shipborne aircraft automatic landing. First, the system represents the target ship using a set of sparse landmarks, and a two-stage model is adopted to detect landmarks on the target ship. The rough 6D pose is measured by solving a Perspective-n-Point problem. Then, once the rough pose is measured, a region-based pose refinement is used to continuously track the 6D pose in the subsequent image sequences. To address the low accuracy of monocular pose measurement in the depth direction, the designed system adopts a laser range finder to obtain an accurate range value. The measured rough pose is iteratively optimized using the accurate range measurement. Experimental results on synthetic and real images show that the system achieves robust and precise pose measurement of the target ship during automatic landing. The measurement means error is within 0.4° in rotation, and 0.2% in translation, meeting the requirements for automatic fixed-wing aircraft landing.Received 5 July 2022; revised 19 August 2022; accepted 27 September 2022.     

Locating the LCROSS Impact Craters

The Lunar CRater Observations and Sensing Satellite (LCROSS) mission impacted a spent Centaur rocket stage into a permanently shadowed region near the lunar south pole. The Sheperding Spacecraft (SSC) separated ～9 hours before impact and performed a small braking maneuver in order to observe the Centaur impact plume, looking for evidence of water and other volatiles, before impacting itself. This paper describes the registration of imagery of the LCROSS impact region from the mid- and near-infrared cameras onboard the SSC, as well as from the Goldstone radar. We compare the Centaur impact features, positively identified in the first two, and with a consistent feature in the third, which are interpreted as a 20 m diameter crater surrounded by a 160 m diameter ejecta region. The images are registered to Lunar Reconnaisance Orbiter (LRO) topographical data which allows determination of the impact location. This location is compared with the impact location derived from ground-based tracking and propagation of the spacecraft’s trajectory and with locations derived from two hybrid imagery/trajectory methods. The four methods give a weighted average Centaur impact location of ?84.6796°, ?48.7093°, with a 1σ uncertainty of 115 m along latitude, and 44 m along longitude, just 146 m from the target impact site. Meanwhile, the trajectory-derived SSC impact location is ?84.719°, ?49.61°, with a 1σ uncertainty of 3 m along the Earth vector and 75 m orthogonal to that, 766 m from the target location and 2.803 km south-west of the Centaur impact. We also detail the Centaur impact angle and SSC instrument pointing errors. Six high-level LCROSS mission requirements are shown to be met by wide margins. We hope that these results facilitate further analyses of the LCROSS experiment data and follow-up observations of the impact region.