ARTEMIS Science Objectives

NASA??s two spacecraft ARTEMIS mission will address both heliospheric and planetary research questions, first while in orbit about the Earth with the Moon and subsequently while in orbit about the Moon. Heliospheric topics include the structure of the Earth??s magnetotail; reconnection, particle acceleration, and turbulence in the Earth??s magnetosphere, at the bow shock, and in the solar wind; and the formation and structure of the lunar wake. Planetary topics include the lunar exosphere and its relationship to the composition of the lunar surface, the effects of electric fields on dust in the exosphere, internal structure of the Moon, and the lunar crustal magnetic field. This paper describes the expected contributions of ARTEMIS to these baseline scientific objectives.     

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.     

ARTEMIS Mission Design

The ARTEMIS mission takes two of the five THEMIS spacecraft beyond their prime mission objectives and reuses them to study the Moon and the lunar space environment. Although the spacecraft and fuel resources were tailored to space observations from Earth orbit, sufficient fuel margins, spacecraft capability, and operational flexibility were present that with a circuitous, ballistic, constrained-thrust trajectory, new scientific information could be gleaned from the instruments near the Moon and in lunar orbit. We discuss the challenges of ARTEMIS trajectory design and describe its current implementation to address both heliophysics and planetary science objectives. In particular, we explain the challenges imposed by the constraints of the orbiting hardware and describe the trajectory solutions found in prolonged ballistic flight paths that include multiple lunar approaches, lunar flybys, low-energy trajectory segments, lunar Lissajous orbits, and low-lunar-periapse orbits. We conclude with a discussion of the risks that we took to enable the development and implementation of ARTEMIS.     

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.     

Gravity Recovery and Interior Laboratory (GRAIL): Mapping the Lunar Interior from Crust to Core

The Gravity Recovery and Interior Laboratory (GRAIL) is a spacecraft-to-spacecraft tracking mission that was developed to map the structure of the lunar interior by producing a detailed map of the gravity field. The resulting model of the interior will be used to address outstanding questions regarding the Moon’s thermal evolution, and will be applicable more generally to the evolution of all terrestrial planets. Each GRAIL orbiter contains a Lunar Gravity Ranging System instrument that conducts dual-one-way ranging measurements to measure precisely the relative motion between them, which in turn are used to develop the lunar gravity field map. Each orbiter also carries an Education/Public Outreach payload, Moon Knowledge Acquired by Middle-School Students (MoonKAM), in which middle school students target images of the Moon for subsequent classroom analysis. Subsequent to a successful launch on September 10, 2011, the twin GRAIL orbiters embarked on independent trajectories on a 3.5-month-long cruise to the Moon via the EL-1 Lagrange point. The spacecraft were inserted into polar orbits on December 31, 2011 and January 1, 2012. After a succession of 19 maneuvers the two orbiters settled into precision formation to begin science operations in March 1, 2012 with an average altitude of 55 km. The Primary Mission, which consisted of three 27.3-day mapping cycles, was successfully completed in June 2012. The extended mission will permit a second three-month mapping phase at an average altitude of 23 km. This paper provides an overview of the mission: science objectives and measurements, spacecraft and instruments, mission development and design, and data flow and data products.     

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.     

Properties of Near-Earth Magnetic Reconnection from In-Situ Observations

Many properties of magnetic reconnection have been determined from in-situ spacecraft observations in the Earth??s magnetosphere. Recent studies have focused on ion scale lengths and have largely confirmed theoretical predictions. In addition, some interesting features of reconnection regions on electron scale lengths have been identified. These recent studies have demonstrated the need for combined plasma and field measurements on electron scale lengths in the reconnection diffusion regions at the magnetopause and in the magnetotail. They have also indicated that measurements, such as those that will be made by the Magnetospheric Multiscale mission in the near future, will have a significant impact on understanding magnetic reconnection as a fundamental plasma process.     

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.     

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.     

In-flight Performance and Initial Results of Plasma Energy Angle and Composition Experiment (PACE) on SELENE (Kaguya)

MAP-PACE (MAgnetic field and Plasma experiment—Plasma energy Angle and Composition Experiment) on SELENE (Kaguya) has completed its ～1.5-year observation of low-energy charged particles around the Moon. MAP-PACE consists of 4 sensors: ESA (Electron Spectrum Analyzer)-S1, ESA-S2, IMA (Ion Mass Analyzer), and IEA (Ion Energy Analyzer). ESA-S1 and S2 measured the distribution function of low-energy electrons in the energy range 6 eV–9 keV and 9 eV–16 keV, respectively. IMA and IEA measured the distribution function of low-energy ions in the energy ranges 7 eV/q–28 keV/q and 7 eV/q–29 keV/q. All the sensors performed quite well as expected from the laboratory experiment carried out before launch. Since each sensor has a hemispherical field of view, two electron sensors and two ion sensors installed on the spacecraft panels opposite each other could cover the full 3-dimensional phase space of low-energy electrons and ions. One of the ion sensors IMA is an energy mass spectrometer. IMA measured mass-specific ion energy spectra that have never before been obtained at a 100 km altitude polar orbit around the Moon. The newly observed data show characteristic ion populations around the Moon. Besides the solar wind, MAP-PACE-IMA found four clearly distinguishable ion populations on the dayside of the Moon: (1) Solar wind protons backscattered at the lunar surface, (2) Solar wind protons reflected by magnetic anomalies on the lunar surface, (3) Reflected/backscattered protons picked-up by the solar wind, and (4) Ions originating from the lunar surface/lunar exosphere.     

The Lunar Orbiter Laser Altimeter Investigation on the Lunar Reconnaissance Orbiter Mission

The Lunar Orbiter Laser Altimeter (LOLA) is an instrument on the payload of NASA’s Lunar Reconnaissance Orbiter spacecraft (LRO) (Chin et al., in Space Sci. Rev. 129:391–419, 2007). The instrument is designed to measure the shape of the Moon by measuring precisely the range from the spacecraft to the lunar surface, and incorporating precision orbit determination of LRO, referencing surface ranges to the Moon’s center of mass. LOLA has 5 beams and operates at 28 Hz, with a nominal accuracy of 10 cm. Its primary objective is to produce a global geodetic grid for the Moon to which all other observations can be precisely referenced.     

Lunar orbital science

Summary Orbital science has, to the present, concentrated on studies of force fields, particles, and visible photography. Cameras have been the major scientific instrument (it could be debated that for geodesy and gravity the entire spacecraft represents an instrument), and geology has been the principle benefactor. Photography has also been essential for the manned landing program, which would not have been possible on the schedule followed without the detailed Lunar Orbiter pictures.Orbital tracking data indicates that the Moon is almost homogeneous with perhaps a slight increase in density with depth. Significant analysis of the higher gravity harmonics have identified localized, near surface gravity highs that appear to be associated with circular maria. The Moon does not have a significant magnetic field of its own, and the solar wind appears to impinge directly on the surface. Russian and United States evidence on micrometeorite fluxes near the Moon is conflicting, but probably there is a decrease in flux compared to that near the Earth.Photographic evidence indicates that both impact and volcanic action has shaped the lunar surface. Mass movements of surface material and surface erosional effects are clearly evident. Surface water in the past, or near surface permafrost now, are definite possibilities to explain the sinuous rills. Faulting, both regional and local, is evident, as is probably horizontal layering near the surface.The United States space program is embarking on a broad program of orbital science including nearly the entire spectra of remote sensing. Approved orbital missions extend through 1972 and will be carried out in conjunction with manned landings. Emphasis will be placed on determining the extent and degree of surface variations between and within lunar provinces and the nature and strength of the lunar spectrum. Information obtained from the surface missions and the returned lunar samples will be invaluable in helping us to design orbital instruments and interpret the results.Missions after 1972 undoubtedly will carry more sophisticated instruments that will give us definitive information on the geochemical nature of the lunar surface and interior.Copies of NASA-issued documents may be obtained by writing to the Superintendent of Documents, U.S. Government Printing Office, Washington, D.C. 20402. Information about, and data from, U.S. space missions, including photographs, can be obtained from the National Space Science Data Center, Code 601, Goddard Space Flight Center, Greenbelt, Maryland 20771.     

Studying the Lunar Ionosphere with SELENE Radio Science Experiment

Radio occultation observations of the electron density near the lunar surface were conducted during the SELENE (Kaguya) mission using the Vstar and Rstar sub-satellites. Previous radio occultation measurements conducted in the Soviet lunar missions have indicated the existence of an ionosphere with peak densities of several hundreds of electrons per cubic centimeters above the dayside lunar surface. These densities are difficult to explain theoretically when the removal of plasma by the solar wind is considered, and thus the generation mechanism of the lunar ionosphere is a major issue, with even the validity of previous observations still under debate. The most serious error source in the measurement is the fluctuation of the terrestrial ionosphere which also exists along the ray path. To cope with this difficulty, about 400 observations were conducted using Vstar to enable statistical analysis of the weak signal of the lunar ionosphere. Another method is to utilize Vstar and Rstar with the second one being used to measure the terrestrial ionosphere contribution. The observations will establish the morphology of the lunar ionosphere and will reveal its relationship with various conditions to provide possible clues to the mechanism.     

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.     

Magnetic Cleanliness Program Under Control of Electromagnetic Compatibility for the SELENE (Kaguya) Spacecraft

To achieve the scientific objectives related to the lunar magnetic field measurements in a polar orbit at an altitude of 100 km, strict electromagnetic compatibility (EMC) requirements were applied to all components and subsystems of the SELENE (Kaguya) spacecraft. The magnetic cleanliness program was defined as one of the EMC control procedures, and magnetic tests were carried out for most of the engineering and flight models. The EMC performance of all components was systematically controlled and examined through a series of EMC tests. As a result, the Kaguya spacecraft was made to be very clean, magnetically. Hence reliable scientific data related to the magnetic field around the Moon were obtained by the LMAG (Lunar MAGnetometer) and the PACE (Plasma energy Angle and Composition Experiment) onboard the Kaguya spacecraft. These data have been available for lunar science use since November 2009.     

The Scientific Measurement System of the Gravity Recovery and Interior Laboratory (GRAIL) Mission

The Gravity Recovery and Interior Laboratory (GRAIL) mission to the Moon utilized an integrated scientific measurement system comprised of flight, ground, mission, and data system elements in order to meet the end-to-end performance required to achieve its scientific objectives. Modeling and simulation efforts were carried out early in the mission that influenced and optimized the design, implementation, and testing of these elements. Because the two prime scientific observables, range between the two spacecraft and range rates between each spacecraft and ground stations, can be affected by the performance of any element of the mission, we treated every element as part of an extended science instrument, a science system. All simulations and modeling took into account the design and configuration of each element to compute the expected performance and error budgets. In the process, scientific requirements were converted to engineering specifications that became the primary drivers for development and testing. Extensive simulations demonstrated that the scientific objectives could in most cases be met with significant margin. Errors are grouped into dynamic or kinematic sources and the largest source of non-gravitational error comes from spacecraft thermal radiation. With all error models included, the baseline solution shows that estimation of the lunar gravity field is robust against both dynamic and kinematic errors and a nominal field of degree 300 or better could be achieved according to the scaled Kaula rule for the Moon. The core signature is more sensitive to modeling errors and can be recovered with a small margin.     

Scheme design of the CHANG’E-5T1 extended mission

Flight schemes for the CHANG’E-5T1 extended mission are investigated in this paper. In the flight scheme and trajectory design, the remaining propellant of the CHANG’E-5T1 mission is utilized. The CHANG’E-5T1 mission is firstly introduced with feasible flight goals derived based on the terminal trajectory and satellite status. The flight schemes are designed to include a lunar return and the libration points in the Sun-Earth/Moon and Earth-Moon systems, with an emphasis on the Earth-Moon triangle libration point thus far unexplored. Secondly, three schemes are proposed for the CHANG’E-5T1 extended mission with different flight goals. The direct libration point orbit transfer and injection method is adopted to solve the issue in the transfer trajectory design. Furthermore, an innovative concept is proposed to transfer from the Earth-Moon collinear libration point to the triangle point using the Sun-Earth/Moon libration point. Finally, the merits and drawbacks of the three schemes are discussed in terms of flight time, control energy and frequency, flight distance, and goal value. As a result, the scheme including a lunar return and the Earth-Moon L2 libration point is selected for the CHANG’E-5T1 extended mission. A flight to the Earth-Moon libration point is achieved, replicating the achievement of the ARTEMIS mission.     

The Lunar Gravity Ranging System for the Gravity Recovery and Interior Laboratory (GRAIL) Mission

The Lunar Gravity Ranging System (LGRS) flying on NASA’s Gravity Recovery and Interior Laboratory (GRAIL) mission measures fluctuations in the separation between the two GRAIL orbiters with sensitivity below 0.6 microns/Hz^1/2. GRAIL adapts the mission design and instrumentation from the Gravity Recovery and Climate Experiment (GRACE) to a make a precise gravitational map of Earth’s Moon. Phase measurements of Ka-band carrier signals transmitted between spacecraft with line-of-sight separations between 50 km to 225 km provide the primary observable. Measurements of time offsets between the orbiters, frequency calibrations, and precise orbit determination provided by the Global Positioning System on GRACE are replaced by an S-band time-transfer cross link and Deep Space Network Doppler tracking of an X-band radioscience beacon and the spacecraft telecommunications link. Lack of an atmosphere at the Moon allows use of a single-frequency link and elimination of the accelerometer compared to the GRACE instrumentation. This paper describes the implementation, testing and performance of the instrument complement flown on the two GRAIL orbiters.