Ground Compatibility Tests for Gravity Measurement of SELENE: Accuracies of Two- and Four-Way Doppler and Range Measurements

The Japanese lunar mission Selenological and Engineering Explorer (SELENE) was launched in September 2007 and continued its mission until June 2009, when the main orbiter impacted with the surface of the Moon. SELENE consisted of three satellites: Main, Rstar, and Vstar. Rstar’s tasks were to forward up-link signals from the Usuada Deep Space Center (UDSC) to Main, and to down-link returning signals from Main to UDSC. We refer to this tracking sub-system as a four-way Doppler measurement. In contrast, conventional tracking systems between Rstar and UDSC as well as between Main and ground stations are referred to as two-way Doppler and range measurements. Using Main and Rstar, we successfully observed the gravity field over the farside of the Moon. Because four-way Doppler measurements via a relay sub-satellite were a fundamental experiment in space for Japanese space agencies, compatibility of radiometric instruments onboard Main and Rstar to UDSC were carefully examined at the UDSC using components manufactured for flight models. These tests not only proved the feasibility of the four-way Doppler measurements but also provided biases and variations of the four-way Doppler and two-way Doppler and range measurements that were later taken into account during the processing of tracking data and the analysis of the lunar global gravity field.     

Overview of Differential VLBI Observations of Lunar Orbiters in SELENE (Kaguya) for Precise Orbit Determination and Lunar Gravity Field Study

The Japanese lunar explorer SELENE (Kaguya), which was launched on September 14th, 2007, was the target of VLBI observations over the period November 2007 to June 2009. These observations were made in order to improve the lunar gravity field model, in particular the lower degree coefficients and the model near the limb. Differential VLBI Radio sources, called VRAD instruments, were on-board the subsatellites, Rstar (Okina) and Vstar (Ouna), and the radio signals were observed by the Japanese VERA (VLBI Exploration of Radio Astrometry) network, and an international VLBI network. Multi-frequency and same-beam VLBI techniques were utilized and were essential aspects of the successful observing program. Multi-frequency VLBI was employed in order to improve the accuracy of the orbit determination obtained from the phase delay from the narrow-band satellite signals, while the same-beam VLBI method was used to resolve the cycle ambiguity which is inherent in the multi-frequency VLBI method. The observations were made at three S-band frequencies (2212, 2218 and 2287 MHz), and one X-band frequency (8456 MHz). We have succeeded in correlating the recorded signals from Okina/Ouna, and we obtained phase delays with an accuracy of several pico-seconds at S-band.     

The Kaguya Mission Overview

The Japanese lunar orbiter Kaguya (SELENE) was successfully launched by an H2A rocket on September 14, 2007. On October 4, 2007, after passing through a phasing orbit 2.5 times around the Earth, Kaguya was inserted into a large elliptical orbit circling the Moon. After the apolune altitude was lowered, Kaguya reached its nominal 100 km circular polar observation orbit on October 19. During the process of realizing the nominal orbit, two subsatellites Okina (Rstar) and Ouna (Vstar) were released into elliptical orbits with 2400 km and 800 km apolune, respectively; both elliptical orbits had 100 km perilunes. After the functionality of bus system was verified, four radar antennas and a magnetometer boom were extended, and a plasma imager was deployed. Acquisition of scientific data was carried out for 10 months of nominal mission that began in mid-December 2007. During the 8-month extended mission, magnetic fields and gamma-rays from lower orbits were measured; in addition to this, low-altitude observations were carried out using a Terrain Camera, a Multiband Imager, and an HDTV camera. New data pertaining to an intense magnetic anomaly and GRS data with higher spatial resolution were acquired to study magnetism and the elemental distribution of the Moon. After some orbital maneuvers were performed by using the saved fuel, the Kaguya spacecraft finally impacted on the southeast part of the Moon. The Kaguya team has archived the initial science data, and since November 2, 2009, the data has been made available to public, and can be accessed at the Kaguya homepage of JAXA. The team continues to also study and publish initial results in international journals. Science purposes of the mission and onboard instruments including initial science results are described in this overview.     

联合地基GNSS及空基GNSS掩星探测水汽三维分布

研究了联合地基GNSS和空基GNSS掩星观测的大气水汽探测方法。首先,利用COSMIC(气象、电离层、气候星座观测系统)和GRACE(重力恢复与气候实验)无线电掩星产品对对流层层析成像的几个关键技术进行了优化,标定了对流层干延迟模型,建立了新的大气加权平均温度模型,提出了一种新方法用于确定水汽层层顶(即对流层层析模型的顶部边界)。选择香港地区12个连续GNSS气象监测站2017年6月份的数据反演计算了水汽的三维分布,以探空测站的水汽密度为真值,统计层析反演结果与真值之间的偏差为:偏差平均值优于1.36g/m~3,RMS值优于1.70g/m~3。     

Lunar Exploration Neutron Detector for the NASA Lunar Reconnaissance Orbiter

The design of the Lunar Exploration Neutron Detector (LEND) experiment is presented, which was optimized to address several of the primary measurement requirements of NASA’s Lunar Reconnaissance Orbiter (LRO): high spatial resolution hydrogen mapping of the Moon’s upper-most surface, identification of putative deposits of appreciable near-surface water ice in the Moon’s polar cold traps, and characterization of the human-relevant space radiation environment in lunar orbit. A comprehensive program of LEND instrument physical calibrations is discussed and the baseline scenario of LEND observations from the primary LRO lunar orbit is presented. LEND data products will be useful for determining the next stages of the emerging global lunar exploration program, and they will facilitate the study of the physics of hydrogen implantation and diffusion in the regolith, test the presence of water ice deposits in lunar cold polar traps, and investigate the role of neutrons within the radiation environment of the shallow lunar surface.     

The origin of tektites

The tektites called Muong Nong type by V. Barnes apparently represent the parent material from which other types are derived. In these tektites are found clues (coesite, angular voids) which indicate that they have not been substantially remelted since the event which detached them from the planet or satellite on which they were formed.From the nickel-iron spherules and the coesite it is deduced that the tektites were detached by meteorite impact. From the absence of cosmogenic isotopes and the distribution over the earth it is deduced that the source was either the earth or the moon. Calculations of rates of diffusion in silicates indicate that tektites could not have been produced from terrestrial sedimentary rocks; it has long been remarked that they are different from terrestrial igneous rocks. A lunar origin is therefore considered likely, in agreement with aerodynamic evidence. Contrary indications from the geochemical likeness of tektites to terrestrial materials, especially at the Ries Kessel and the Bosumtwi crater are noted, but these indications are considered to be outweighed by the difficulties of giving a physical account of a terrestrial origin.Interpreted as lunar materials, the tektites suggest that large portions of the lunar surface are covered with ash-flow tuff of a peculiar type, remarkably free of water and other volatiles. They also give evidence concerning the origin of the moon.     

The New Horizons Radio Science Experiment (REX)

The New Horizons (NH) Radio Science Experiment, REX, is designed to determine the atmospheric state at the surface of Pluto and in the lowest few scale heights. Expected absolute accuracies in n, p, and T at the surface are 4?10¹⁹ m^?3, 0.1 Pa, and 3 K, respectively, obtained by radio occultation of a 4.2 cm-λ signal transmitted from Earth at 10–30 kW and received at the NH spacecraft. The threshold for ionospheric observations is roughly 2?10⁹ e^??m^?3. Radio occultation experiments are planned for both Pluto and Charon, but the level of accuracy for the neutral gas is expected to be useful at Pluto only. REX will also measure the nightside 4.2 cm-λ thermal emission from Pluto and Charon during the time NH is occulted. At Pluto, the thermal scan provides about five half-beams across the disk; at Charon, only disk integrated values can be obtained. A combination of two-way tracking and occultation signals will determine the Pluto system mass to about 0.01 percent, and improve the Pluto–Charon mass ratio. REX flight equipment augments the NH radio transceiver used for spacecraft communications and tracking. Implementation of REX required realization of a new CIC-SCIC signal processing algorithm; the REX hardware implementation requires 1.6 W, and has mass of 160 g in 520 cm³. Commissioning tests conducted after NH launch demonstrate that the REX system is operating as expected.     

The Lunar Radar Sounder (LRS) Onboard the KAGUYA (SELENE) Spacecraft

The Lunar Radar Sounder (LRS) onboard the KAGUYA (SELENE) spacecraft has successfully performed radar sounder observations of the lunar subsurface structures and passive observations of natural radio and plasma waves from the lunar orbit. After the transfer of the spacecraft into the final lunar orbit and antenna deployment, the operation of LRS started on October 29, 2007. Through the operation until June 10, 2009, 2363 hours worth of radar sounder data and 8961 hours worth of natural radio and plasma wave data have been obtained. It was revealed through radar sounder observations that there are distinct reflectors at a depth of several hundred meters in the nearside maria, which are inferred to be buried regolith layers covered by a basalt layer with a thickness of several hundred meters. Radar sounder data were obtained not only in the nearside maria but also in other regions such as the farside highland region and polar region. LRS also performed passive observations of natural plasma waves associated with interaction processes between the solar wind plasma and the moon, and the natural waves from the Earth, the sun, and Jupiter. Natural radio waves such as auroral kilometric radiation (AKR) with interference patterns caused by the lunar surface reflections, and Jovian hectometric (HOM) emissions were detected. Intense electrostatic plasma waves around 20 kHz were almost always observed at local electron plasma frequency in the solar wind, and the electron density profile, including the lunar wake boundary, was derived along the spacecraft trajectory. Broadband noises below several kHz were frequently observed in the dayside and wake boundary of the moon and it was found that a portion of them consist of bipolar pulses. The datasets obtained by LRS will make contributions for studies on the lunar geology and physical processes of natural radio and plasma wave generation and propagation.     

Cratering Records in the Inner Solar System in Relation to the Lunar Reference System

The well investigated size-frequency distributions (SFD) for lunar craters is used to estimate the SFD for projectiles which formed craters on terrestrial planets and on asteroids. The result shows the relative stability of these distributions during the past 4 Gyr. The derived projectile size-frequency distribution is found to be very close to the size-frequency distribution of Main-Belt asteroids as compared with the recent Spacewatch asteroid data and astronomical observations (Palomar-Leiden survey, IRAS data) as well as data from close-up imagery by space missions. It means that asteroids (or, more generally, collisionally evolved bodies) are the main component of the impactor family. Lunar crater chronology models of the authors published elsewhere are reviewed and refined by making use of refinements in the interpretation of radiometric ages and the improved lunar SFD. In this way, a unified cratering chronology model is established which can be used as a safe basis for modeling the impact chronology of other terrestrial planets, especially Mars.     

Observations of Vertical Reflections from the Topside Martian Ionosphere

The Martian ionosphere has for the first time been probed by a low frequency topside radio wave sounder experiment (MARSIS) (Gurnett et al., 2005). The density profiles in the Martian ionosphere have for the first time been observed for solar zenith angles less than 48 degrees. The sounder spectrograms typically have a single trace of echoes, which are controlled by reflections from the ionosphere in the direction of nadir. With the local density at the spacecraft derived from the sounder measurements and using the lamination technique the spectrograms are inverted to electron density profiles. The measurements yield electron density profiles from the sub-solar region to past the terminator. The maximum density varies in time with the solar rotation period, indicating control of the densities by solar ionizing radiation. Electron density increases associated with solar flares were observed. The maximum electron density varies with solar zenith angle as predicted by theory. The altitude profile of electron densities between the maximum density and about 170m altitude is well approximated by a classic Chapman layer. The neutral scale height is close to 10 to 13 km. At altitudes above 180 km the densities deviate from and are larger than inferred by the Chapman layer. At altitudes above the exobase the density decrease was approximated by an exponential function with scale heights between 24 and 65 km. The densities in the top side ionosphere above the exobase tends to be larger than the densities extrapolated from the Chapman layer fitted to the measurements at lower altitudes, implying more efficient upward diffusion above the collision dominated photo equilibrium region.     

An Investigation of the Mechanical Properties of Some Martian Regolith Simulants with Respect to the Surface Properties at the InSight Mission Landing Site

In support of the InSight mission in which two instruments (the SEIS seismometer and the \(\mbox{HP}^{3}\) heat flow probe) will interact directly with the regolith on the surface of Mars, a series of mechanical tests were conducted on three different regolith simulants to better understand the observations of the physical and mechanical parameters that will be derived from InSight. The mechanical data obtained were also compared to data on terrestrial sands. The density of the regolith strongly influences its mechanical properties, as determined from the data on terrestrial sands. The elastoplastic compression volume changes were investigated through oedometer tests that also provided estimates of possible changes in density with depth. The results of direct shear tests provided values of friction angles that were compared with that of a terrestrial sand, and an extrapolation to lower density provided a friction angle compatible with that estimated from previous observations on the surface of Mars. The importance of the contracting/dilating shear volume changes of sands on the dynamic penetration of the mole was determined, with penetration facilitated by the \(\sim1.3~\mbox{Mg/m}^{3}\) density estimated at the landing site. Seismic velocities, measured by means of piezoelectric bender elements in triaxial specimens submitted to various isotropic confining stresses, show the importance of the confining stress, with lesser influence of density changes under compression. A power law relation of velocity as a function of confining stress with an exponent of 0.3 was identified from the tests, allowing an estimate of the surface seismic velocity of 150 m/s. The effect on the seismic velocity of a 10% proportion of rock in the regolith was also studied. These data will be compared with in situ data measured by InSight after landing.     

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.     

Determining the Absolute Abundances of Natural Radioactive Elements on the Lunar Surface by the Kaguya Gamma-ray Spectrometer

The Kaguya gamma-ray spectrometer (KGRS) has great potential to precisely determine the absolute abundances of natural radioactive elements K, Th and U on the lunar surface because of its excellent spectroscopic performance. In order to achieve the best performance of the KGRS, it is important to know the spatial response function (SRF) that describes the directional sensitivity of the KGRS. The SRF is derived by a series of Monte Carlo simulations of gamma-ray transport in the sensor of the KGRS using the full-fledged simulation model of the KGRS, and is studied in detail. In this paper, the method for deriving absolute abundance of natural radioactive elements based on the SRF is described for the analysis of KGRS data, which is also applicable to any gamma-ray remote sensings. In the preliminary analysis of KGRS data, we determined the absolute abundances of K and Th on the lunar surface without using any previous knowledge of chemical information gained from Apollo samples, lunar meteorites and/or previous lunar remote sensings. The results are compared with the previous measurements and the difference and the correspondence are discussed. Future detailed analysis of KGRS data will provide new and more precise maps of K, Th and U on the lunar surface.     

Lunar Magnetic Field Observation and Initial Global Mapping of Lunar Magnetic Anomalies by MAP-LMAG Onboard SELENE (Kaguya)

The magnetic field around the Moon has been successfully observed at a nominal altitude of ～100 km by the lunar magnetometer (LMAG) on the SELENE (Kaguya) spacecraft in a polar orbit since October 29, 2007. The LMAG mission has three main objectives: (1) mapping the magnetic anomaly of the Moon, (2) measuring the electromagnetic and plasma environment around the Moon and (3) estimating the electrical conductivity structure of the Moon. Here we review the instrumentation and calibration of LMAG and report the initial global mapping of the lunar magnetic anomaly at the nominal altitude. We have applied a new de-trending technique of the Bayesian procedure to multiple-orbit datasets observed in the tail lobe and in the lunar wake. Based on the nominal observation of 14 months, global maps of lunar magnetic anomalies are obtained with 95% coverage of the lunar surface. After altitude normalization and interpolation of the magnetic anomaly field by an inverse boundary value problem, we obtained full-coverage maps of the vector magnetic field at 100 km altitude and the radial component distribution on the surface. Relatively strong anomalies are identified in several basin-antipode regions and several near-basin and near-crater regions, while the youngest basin on the Moon, the Orientale basin, has no magnetic anomaly. These features well agree with characteristics of previous maps based on the Lunar Prospector observation. Relatively weak anomalies are distributed over most of the lunar surface. The surface radial-component distribution estimated from the inverse boundary value problem in the present study shows a good correlation with the radial component distribution at 30 km altitude by Lunar Prospector. Thus these weak anomalies over the lunar surface are not artifacts but likely to be originated from the lunar crustal magnetism, suggesting possible existence of an ancient global magnetic field such as a dynamo field of the early Moon. The possibility of the early lunar dynamo and the mechanism of magnetization acquisition will be investigated by a further study using the low-altitude data of the magnetic field by Kaguya.     

The ARTEMIS Mission

The Acceleration, Reconnection, Turbulence, and Electrodynamics of the Moon??s Interaction with the Sun (ARTEMIS) mission is a spin-off from NASA??s Medium-class Explorer (MIDEX) mission THEMIS, a five identical micro-satellite (hereafter termed ??probe??) constellation in high altitude Earth-orbit since 17 February 2007. By repositioning two of the five THEMIS probes (P1 and P2) in coordinated, lunar equatorial orbits, at distances of ??55?C65 R _E geocentric (??1.1?C12 R _L selenocentric), ARTEMIS will perform the first systematic, two-point observations of the distant magnetotail, the solar wind, and the lunar space and planetary environment. The primary heliophysics science objectives of the mission are to study from such unprecedented vantage points and inter-probe separations how particles are accelerated at reconnection sites and shocks, and how turbulence develops and evolves in Earth??s magnetotail and in the solar wind. Additionally, the mission will determine the structure, formation, refilling, and downstream evolution of the lunar wake and explore particle acceleration processes within it. ARTEMIS??s orbits and instrumentation will also address key lunar planetary science objectives: the evolution of lunar exospheric and sputtered ions, the origin of electric fields contributing to dust charging and circulation, the structure of the lunar interior as inferred by electromagnetic sounding, and the lunar surface properties as revealed by studies of crustal magnetism. ARTEMIS is synergistic with concurrent NASA missions LRO and LADEE and the anticipated deployment of the International Lunar Network. It is expected to be a key element in the NASA Heliophysics Great Observatory and to play an important role in international plans for lunar exploration.     

Infrared astronomy

This review paper is a survey of infrared astronomy up to early 1969. The techniques and photometric standards are mentioned briefly, and results cover solar, lunar, and planetary observations. Point sources and extended sources both within and beyond the Galaxy are included, ending with the problem of cosmic background radiation. It is concluded that great progress will be possible when large infrared telescopes are placed above the atmosphere in orbit for extended periods of time.This work was conducted under the McDonnell Douglas Corporation Independent Research and Development Program.     

The Lunar Reconnaissance Orbiter Miniature Radio Frequency (Mini-RF) Technology Demonstration

The Miniature Radio Frequency (Mini-RF) system is manifested on the Lunar Reconnaissance Orbiter (LRO) as a technology demonstration and an extended mission science instrument. Mini-RF represents a significant step forward in spaceborne RF technology and architecture. It combines synthetic aperture radar (SAR) at two wavelengths (S-band and X-band) and two resolutions (150 m and 30 m) with interferometric and communications functionality in one lightweight (16 kg) package. Previous radar observations (Earth-based, and one bistatic data set from Clementine) of the permanently shadowed regions of the lunar poles seem to indicate areas of high circular polarization ratio (CPR) consistent with volume scattering from volatile deposits (e.g. water ice) buried at shallow (0.1–1 m) depth, but only at unfavorable viewing geometries, and with inconclusive results. The LRO Mini-RF utilizes new wideband hybrid polarization architecture to measure the Stokes parameters of the reflected signal. These data will help to differentiate “true” volumetric ice reflections from “false” returns due to angular surface regolith. Additional lunar science investigations (e.g. pyroclastic deposit characterization) will also be attempted during the LRO extended mission. LRO’s lunar operations will be contemporaneous with India’s Chandrayaan-1, which carries the Forerunner Mini-SAR (S-band wavelength and 150-m resolution), and bistatic radar (S-Band) measurements may be possible. On orbit calibration, procedures for LRO Mini-RF have been validated using Chandrayaan 1 and ground-based facilities (Arecibo and Greenbank Radio Observatories).     

月面特征稀疏环境下的视觉惯性SLAM方法

月球车在执行科学探测任务过程中,其自身的高精度定位是一项亟需解决的关键问题。针对在特征稀疏的月面环境下的定位问题,提出一种视觉惯性融合的SLAM方法,将视觉测量与惯性传感器的信息利用位姿图优化方法融合,实现高精度的联合定位。针对特征稀疏环境下的前端视觉数据关联误差较大的问题,提出了一种基于四元树的光流跟踪算法,能够有效地跟踪鲁棒的特征点,提升了关键帧之间相对位姿估计的准确性。并且针对月面环境特有的恒星无穷远点干扰问题,提出一种高效的恒星点剔除算法,能够有效改善无穷远点导致的定位精度下降的问题。搭建了一套模拟月面环境的计算机仿真系统,并构建了多个月面环境视觉惯性SLAM仿真数据集,在不同的模拟月面场景下进行定位性能仿真验证,仿真测试结果表明本文算法的鲁棒性更强,具有更高的定位准确度。     

Thermosphere-Ionosphere-Electrodynamics General Circulation Model for the Ionospheric Connection Explorer: TIEGCM-ICON

The NASA Ionospheric Connection explorer (ICON) will study the coupling between the thermosphere and ionosphere at low- and mid-latitudes by measuring the key parameters. The ICON mission will also employ numerical modeling to support the interpretation of the observations, and examine the importance of different vertical coupling mechanisms by conducting numerical experiments. One of these models is the Thermosphere-Ionosphere-Electrodynamics General Circulation Model-ICON (TIEGCM-ICON) which will be driven by tidal perturbations derived from ICON observations using the Hough Mode Extension method (HME) and at high latitude by ion convection and auroral particle precipitation patterns from the Assimilative Mapping of Ionospheric Electrodynamics (AMIE). The TIEGCM-ICON will simulate the thermosphere-ionosphere (TI) system during the period of the ICON mission. In this report the TIEGCM-ICON is introduced, and the focus is on examining the effect of the lower boundary on the TI-system to provide some guidance for interpreting future ICON model results.     

月面巡视机器人快速安全路径规划

为提高月面巡视机器人自主探测任务的效率及安全性,提出了一种基于月面数字高程地图的大范围自主探测快速安全路径规划算法。首先根据获取的月面数字高程地图设计了一种地形可通过性分析方法,并生成了欧几里得距离地图（EDM）为安全路径规划提供参考。然后针对A^*算法解决月面巡视探测问题时搜索速度慢、未考虑路径安全性的问题,提出了FSA^*算法,改进了A^*算法的搜索机制以适用于月面大范围路径的快速搜索,并结合EDM地图设计了一种安全启发式函数,可使生成路径尽量远离危险区域,提高了巡视机器人自主探测过程的安全性。最后选取月球艾特肯盆地区域作为仿真场景,验证了该算法的有效性。