Planetary landings with terrain sensing and hazard avoidance: A review

The site selection and certification processes for planetary landers equipped with hazard avoidance capability are reviewed. The prior (large-scale) ‘landability’ of the target areas determined from orbital remote sensing can be only a few tens of per cent (～40 % for Perseverance, ～80–90 % for Apollo 11 and 60–70 % for subsequent Apollo landers) because on-board sensing is able to find safe areas at smaller scales (meters to tens of meters) than the delivery ellipse which may be several to several tens of kilometers across. This contrasts with the ‘blind’ landings of unguided missions, where safe terrain occupying 95–99 % of the landing ellipse are typically sought. The particulars of Apollo 11 and Perseverance/Ingenuity are discussed, together with the similar Chang-E-3 and Tianwen-1 Moon and Mars landers, and the Hayabusa-2 and OSIRIS-REx asteroid contacts, since these missions all used on-board terrain-relative navigation to steer relative to hazards either mapped previously or detected in real-time. These missions set the context for the application of these techniques to the Dragonfly mission to Titan, which has a more austere remote sensing basis on which to select a landing site, but whose rotor propulsion allows substantial divert capability.     

Thermospheric winds over Abuja during solar minimum period

Monthly variations of averaged nighttime thermospheric winds have been investigated over Abuja, Nigeria (Geographic: 9.06°N, 7.5°E; Geomagnetic: 1.60°S). The reports are based on Fabry-Perot interferometer measurements of Doppler shifts and Doppler broadening of the 630.0 nm spectral emission. The results were obtained during a period of weak solar activity with the solar flux (F10.7) typically below 70 solar flux units. Inspection of the average monthly thermospheric winds from October 2017 to December 2017 found December meridional winds to be more equatorward than the October and November winds. Zonal winds are eastward with pre-midnight maximum speeds going above 100 m/s. Compared to Jicamarca zonal winds in the Peruvian sector for the same month of October, the magnitude of maximum Abuja zonal wind speed is weaker. We compare the observed diurnal variation with the recently updated Horizontal wind model (HWM 14). Most of the observational features of thermospheric wind diurnal variation are captured in the model variation. The HWM14 generally showed good agreement with the Abuja October and November zonal wind observations but overestimates the December meridional winds. Expected longer period analysis of the results from Abuja will stimulate a better understanding of wind climatology over the West African sector.     

Mesosphere/lower thermosphere wind regime parameters using a newly installed SKiYMET meteor radar at Kazan (56°N, 49°E)

New meteor radar (MR) horizontal wind data obtained during 2015–2018 at Kazan (56°N, 49°E) are presented. The measurements were carried out with a state-of-the-art SKiYMET meteor radar. Monthly mean vertical profiles of zonal and meridional components of the prevailing wind speeds, also amplitudes and phases of the components of diurnal (DT) and semidiurnal tide (SDT) winds are displayed as contour plots for a mean calendar year over the four recent years and compared with distributions of these parameters provided by the previous multiyear (1986–2002) meteor radar (MR) measurements at Kazan and by the recent HWM07 empirical model. The analysis shows that the SKiYMET zonal and meridional prevailing wind speeds are generally in good agreement, sharing the same seasonal features, with the earlier MR seasonal winds. Comparisons with the HWM07 model are not favourable: eastward solstitial cells as modelled are significantly larger, >30?m/s compared to 15–20?m/s. Also, reversal lines are too variable with height, and the positions of modelled cells (positive and negative) are unlike those of either MRs at Kazan or other MLT radars. Both MR systems provide the large SDT amplitudes, approximately 30?m/s and vertical wavelengths, approximately 55?km, for both components at middle latitudes in winter. They also show the well known strong SDT September feature (heights 85–100?km, the vertical wavelength ～55–60?km), and the weak summer SDT for 80–91?km. HWM07 shows unrealistic amplitudes and phases above 90?km by height and month: minimal amplitudes in equinoxes and no September feature.The weak DT of middle to high latitudes provide similar amplitude and phase structures from both MRs, 1986–2002 and 2015–2017: largest amplitudes (10–12 or 8–10?m/s) for the evanescent meridional tide in summer, peaking in late July; weakest (0–2, 2–4?m/s) at 80 to 92–96?km, when the tide is vertically propagating (January, February, November, December) with a vertical wavelength near 40?km. Again, HWM07 differs in amplitude and phase structures: showing peak amplitudes in equinoxes: April, 15?m/s at 88?km; October, 21?m/s at 89?km.Coupling of the MR wind parameters with the ERA5 wind parameters is studied for a case in 2016. It is shown that the prevailing winds and DT amplitudes and phases of both datasets can be simply linked together, but that the ERA5 SDT amplitudes are significantly underestimated at the top model levels of the ERA5 reanalysis project.     

Application of heterogeneous mesospheric ion-chemistry model to MST radar echoes over low latitude

MST radar studies at low latitude stations have documented regions in the mesosphere from where enhanced echoes (Low Latitude Mesospheric Echoes (LMEs)) are observed. Such echoes cannot, in general, be explained by considering the dynamical aspects (such as turbulence, winds, waves, etc.) of the region alone. Mesospheric dust/aerosols can enhance the radar echoes considerably and dust is known to exist at all heights and latitudes of the mesosphere. This study investigates the presence of dusty plasma in the mesosphere through the heterogeneous ion-chemistry of the region.Dust of meteoric origin is incorporated in the conventional ion chemistry scheme and the equilibrium height profiles of charged and neutral dust densities corresponding to effective dust sizes (radii) of 1, 10 and 30 nm are computed for the equatorial quiet daytime conditions.The model derived dust density profiles show structures with respect to dust size, height and season that are indicative of the possible role of mesospheric dust in the production/enhancement mechanisms of the LMEs observed over the equatorial station at Gadanki (13.5°N, 79.2°E), India.     

Creating an artificial Geminid meteor shower: Correlation between ejecta velocity and observability

One of the interesting arguments for a space impact mission to asteroid 3200 Phaethon is to create an artificial Geminid meteor shower. In this work we investigate the artificial shower’s dates of observability and dependence on ejecta velocity using dust trail theory. We find that when the dust ejecta velocities are 200 m/s the artificial meteor showers start to be visible in 2204 and continue for about 30 years. If the dust ejecta velocity is 20 m/s they only last 10 years from 2215 to 2225. Thus, the onset of artificial shower activity begins sooner and lasts longer with higher ejecta velocities. To produce an artificial meteor shower with 3200 Phaethon as the parent will require higher impact energy than the Deep Impact spacecraft delivered to 9P/Tempel 1.     

Numerical modeling of the pulsar wind interaction with ISM

Time dependent numerical simulation of relativistic wind interaction with interstellar medium was performed. The winds are ejected from magnetosphere of rotation powered pulsars. The particle flux in the winds is assumed to be isotropic. The energy flux is taken as strongly anisotropic in accordance with prediction of the MHD theory of the relativistic winds. The modeling has been performed for the wind magnetization in the range 3 × 10⁻³–10⁻¹. The numerical solutions reproduce the most spectacular features observed in the central part of plerions: toroidal structure and jet-like features. Increase of the wind’s magnetization results in decrease of the size of the synchrotron nebula.     

Mesospheric doppler wind measurements from Aura Microwave Limb Sounder (MLS)

This paper describes a microwave limb technique for measuring Doppler wind in the Earth’s mesosphere. The research algorithm has been applied to Aura Microwave Limb Sounder (MLS) 118.75 GHz measurements where the O₂ Zeeman lines are resolved by a digital autocorrelation spectrometer. A precision of ∼17 m/s for the line-of-sight (LOS) wind is achieved at 80–92 km, which corresponds to radiometric noise during 1/6 s integration time. The LOS winds from Aura MLS are mostly in the meridional direction at low- and mid-latitudes with vertical resolution of ∼8 km. This microwave Doppler technique has potential to obtain useful winds down to ∼40 km of the Earth’s atmosphere if measurements from other MLS frequencies (near H₂O, O₃, and CO lines) are used. Initial analyses show that the MLS winds from the 118.75 GHz measurements agree well with the TIDI (Thermosphere Ionosphere Mesosphere Energetics and Dynamics Doppler Interferometer) winds for the perturbations induced by a strong quasi 2-day wave (QTDW) in January 2005. Time series of MLS winds reveal many interesting climatological and planetary wave features, including the diurnal, semidiurnal tides, and the QTDW. Interactions between the tides and the QTDW are clearly evident, indicating possible large tidal structural changes after the QTDW events dissipate.     

基于月面单幅图像的软着陆障碍识别与安全区选取方法

针对月球软着陆自主避障的需求,提出了一种适合月球灰尘表面的改进优化Hapke模型,给出了相对高程的求解、障碍识别与安全区选取方法,解决了已有纹理法无法识别坡度的问题,实现了利用单幅图像的月面着陆障碍识别与安全区域选取。利用月球软着陆下降段仿真图像,进行了模型解算和三维高程恢复并计算安全区域,结果表明,利用月面单幅图像能够实现障碍的识别与安全区的选取。     

An aerobot for global in situ exploration of Titan

This paper describes the design and component testing of an aerobot that would be capable of global in situ exploration of Saturn’s moon, Titan, over a 6–12 month mission lifetime. The proposed aerobot is a propeller-driven, buoyant vehicle that resembles terrestrial airships. However, the extremely cold Titan environment requires the use of cryogenic materials of construction and careful thermal design for protection of temperature-sensitive payload elements. Multiple candidate balloon materials have been identified based on extensive laboratory testing at 77 K. The most promising materials to date are laminates comprised of polyester fabrics and/or films with areal densities in the range of 40–100 g/m². The aerobot hull is a streamlined ellipsoid 14 m in length with a maximum diameter of 3 m. The enclosed volume of 60 m³ is sufficient to float a mass of 234 kg at a maximum altitude of 8 km at Titan. Forward and aft ballonets are located inside the hull to enable the aerobot to descend to the surface while preserving a fully inflated streamlined shape. Altitude changes are effected primarily through thrust vectoring of the twin main propellers, with pressure modulated buoyancy change via the ballonets available as a slower backup option. A total of 100 W of electrical power is provided to the vehicle by a radioisotope power supply. Up to half of this power is available to the propulsion system to generate a top flight speed in the range of 1–2 m/s. This speed is expected to be greater than the near surface winds at Titan, enabling the aerobot to fly to and hover over targets of interest. A preliminary science payload has been devised for the aerobot to give it the capability for aerial imaging of the surface, atmospheric observations and sampling, and surface sample acquisition and analysis. Targeting, hovering, surface sample acquisition and vehicle health monitoring and automatic safing actions will all require significant on-board autonomy due to the over 2 h round trip light time between Titan and Earth. An autonomy architecture and a core set of perception, reasoning and control technologies is under development using a free-flying airship testbed of approximately the same size as the proposed Titan aerobot. Data volume from the Titan science mission is expected to be on the order of 100–300 Mbit per day transmitted either direct to Earth through an 0.8 m high gain antenna or via an orbiter relay using an omni-directional antenna on the aerobot.     

Some features of the day-to-day MLT wind variability in winter 2017–2018 as seen with a European/Siberian meteor radar network

We present results of wind measurements near the mesopause carried out with meteor radars (MRs) at Collm (51°N, 13°E), Obninsk (55°N, 37°E), Kazan (56°N, 49°E), Angarsk (52°N, 104°E) and Anadyr (65°N, 178°E) from October 1, 2017 till March 31, 2018. The Collm and Kazan MRs are SKiYMET radars with vertical transmission and radio echo height finding, while the other radars operate with horizontal transmission and without height finding. We paid particular attention to the meridional wind variability with periods of 4–6 days and 9–11 days. The waves with these periods are seen as spots of the wave activity in the wavelet spectra and include oscillations with different periods and different discrete zonal wavenumbers. These wave packets successively propagate as a group of waves from one site to another one in such a way that they are observed at one site and almost disappear at the previous one. The 4–6 wave group includes planetary-scale oscillations (individual spectral components) which have eastward phase velocities and mostly zonal wavenumbers 2 and 3, and the vertical wavelength exceeds 70 km at middle latitudes. The source of the oscillations is the polar jet instability. The wave group itself propagates westward, and the amplitudes of wind oscillations are approximately 5–6 m/s as obtained from the wind data averaged over the meteor zone. The 9–11 day wave set propagates westward as a group and mainly consists of spectral components which have westward phase velocity and zonal wavenumber 1. Amplitudes of these wind perturbations strongly vary from station to station and can reach, approximately, 8 m/s. The vertical wavenumber is 0.014 km⁻¹ as taken from the Kazan and 0.05 km⁻¹ according to the Collm data. We obtained a global view on the waves by using the AURA MLS geopotential data. We found a good correspondence between wave features obtained from the MR wind measurements and the MLS data. To our knowledge, such a wave propagation of planetary wave in the mesosphere/lower thermosphere (MLT) region has so far not obtained much attention.     

Titan’s new pole: Implications for the Huygens entry and descent trajectory and landing coordinates

The European Space Agency’s Huygens probe separated from the NASA Cassini spacecraft on 25 December 2004, after having been attached for a 7-year interplanetary journey and three orbits around Saturn. The probe reached the predefined NASA/ESA interface point on 14 January 2005 at 09:05:52.523 (UTC). It performed a successful entry and descent sequence and softly landed on Titan’s surface on the same day at 11:38:10.77 (UTC) with a speed of about 4.54 m/s. Since the publication of the official project entry and descent trajectory reconstruction effort by the Descent Trajectory Working Group in 2007 (referred to as DTWG#4) various other efforts have been performed and published. This paper presents an overview of the most relevant reconstructions and compares their methodologies and results. Furthermore, the results of a new reconstruction effort (DTWG#5) are presented, which is based on the same methodology as DTWG#4 but takes into account new estimates of Titan’s pole coordinates which were derived from radar images of different Cassini Titan flybys. It can be shown that the primary effect can be observed in the meridional direction which is represented by a stark southward shift of the trajectory by about 0.3 deg. A much smaller effect is seen in the zonal direction (i.e., less than 0.01 deg in the west to east direction). The revised probe landing coordinates are 192.335 deg W and 10.573 deg S. A comparison of these coordinates with results of recent landing site investigations using visual and radar images of the Cassini VIMS instrument shows excellent agreement of the two independently derived landing coordinates, i.e., longitude and latitude residuals of respectively 0.035 deg and 0.007 deg.     

The compatability of cloud tracked winds from the United States,European, and Japanese geostationary satellites

Overlap of coverage of the five geostationary satellites has allowed an intercomparison of the FGGE cloud tracked winds. No attempt was made during FGGE to standardize the cloud tracking techniques. In spite of this potential for differences between data sets, the compatability of the various cloud wind data sets was generally quite good. The vector magnitude differences between nearly co-located vectors showed similar cumulative frequency statistics for all data producers. A study of systematic biases which could affect a global wind analysis of any given synoptic period showed that image alignment errors caused less than 2 m s^?1 bias for all data producers except the NESS high level winds which had an average bias of slightly greater than 3 m s^?1. This appears to be caused by the manual alignment of images in the movie loops. Height bias studies showed the Japanese winds to be higher than other data producers by as much as 100 mb for both the high and low levels winds. Height biases appear to be caused by the differences in cloud wind height assignment procedures.     

基于LOLA数据的冯·卡门地区地形特征分析

冯·卡门（Von Kármán）撞击坑位于南极—艾肯（South-Pole Aitken,SPA）盆地西北部,为“嫦娥4号”的预选着陆区。本文基于LRO卫星LOLA数据,分别采用最大平均值法、均方根高程法和盒维数法,得到并分析了冯·卡门地区的坡度、粗糙度和分形维数等地形参数信息。结果表明：冯·卡门撞击坑的海拔低,其中坑底最南部海拔最低,其余地区海拔相对较高;冯·卡门撞击坑内存在很多小的撞击结构;冯·卡门撞击坑平均坡度为1.3°,小于2°的地区约占盆地底部面积的85%;粗糙度值小于20 m的区域占95.1%;整体上有较大的分形维数。上述结果说明冯·卡门撞击坑整体上地形起伏小,结构稳定。统计结果表明：冯·卡门撞击坑南部、东南部及西北部地区都有较小的坡度、粗糙度值和较大的分形维数值,可满足探测器的着陆要求。与“嫦娥3号”着陆区地形的对比表明,冯·卡门撞击坑内部的地形条件要优于“嫦娥3号”着陆区。     

Unusually strong magnetic fields in Titan’s ionosphere: T42 case study

Observations of unusually large magnetic fields in the ionosphere indicate periods of maximum stress on Titan’s ionosphere and potentially of the strongest loss rates of ionospheric plasma. During Titan flyby T42, the observed magnetic field attained a maximum value of 37 nT between an altitude of 1200 and 1600 km, about 20 nT stronger than on any other Titan pass and close to five times greater in magnetic pressure. The strong fields occurred near the corotation-flow terminator rather than at the sub-flow point, suggesting that the flow which magnetized the ionosphere was from a direction far from corotation and possibly towards Saturn. Extrapolation of solar wind plasma conditions from Earth to Saturn using the University of Michigan MHD code predicts an enhanced solar wind dynamic pressure at Saturn close to this time. Cassini’s earlier exits from Saturn’s magnetosphere support this prediction because the Cassini Plasma Spectrometer instrument saw a magnetopause crossing three hours before the strong field observation. Thus it appears that Titan’s ionosphere was magnetized when the enhanced solar wind dynamic pressure compressed the Saturnian magnetosphere, and perhaps the magnetosheath magnetic field, against Titan. The solar wind pressure then decreased, leaving a strong fossil field in the ionosphere. When observed, this strong magnetic flux tube had begun to twist, further enhancing its strength.     

Mid-latitude thermospheric wind changes during the St. Patrick’s Day storm of 2015 observed by two Fabry-Perot interferometers in China

In this work, we utilize thermospheric wind observations by the Fabry-Perot interferometers (FPI) from the Kelan (KL) station (38.7°N, 111.6°E, Magnetic Latitude: 28.9°N) and the Xinglong (XL) station (40.2°N, 117.4°E, Magnetic Latitude: 30.5°N) in central China during the St. Patrick’s Day storm (from Mar. 17 to Mar. 19) of 2015 to analyze thermospheric wind disturbances and compare observations with the Horizontal Wind Model 2007 (HWM07). The results reveal that the wind measurements at KL show very similar trends to those at XL. Large enhancements are seen in both the westward and equatorward winds after the severe geomagnetic storm occurred. The westward wind speed increased to a peak value of 75?m/s and the equatorward wind enhanced to a peak value of over 100?m/s. There also exist obvious poleward disturbances in the meridional winds during Mar. 17 to Mar. 19. According to the comparison with HWM07, there exist evident wind speed and temporal differences between FPI-winds and the model outputs in this severe geomagnetic storm. The discrepancies between the observations and HWM07 imply that the empirical model should be used carefully in wind disturbance forecast during large geomagnetic storms and more investigations between measurements and numerical models are necessary in future studies.     

中国地区20──80km高空风的一些特征

利用Nimbus-7卫星1979-1981年的平流层和中间层大气温度探测数据(SAMS)和热成风原理,计算了高空风场,得到中国上空20──80km高度范围风场的一些特征。结果表明,用地转一热成风公式从卫星温度探测数据计算的高空风与当日中国气象火箭探测的高空风基本一致,说明利用卫星温度数据是获得中国20-80k高空风气候特征的一种有效的方法;从计算出的风场看,中国上空20──80km的纬向风与COSPAR国际参考大气CIRA-1986的纬圈平均纬向风有显着差别,文中还给出了经向风的分布和风场的变化情况。      

CYGNSS海面风速固有误差与时空分布特征

全球导航卫星系统反射测量（GNSS-R）是一种新兴的海面风速遥感技术,对GNSS-R反演风速进行详细定量分析是该技术从科学研究走向业务应用的必要条件。 以气旋全球导航卫星系统（CYGNSS）的风速数据为例,利用时空匹配的浮标风速和欧洲中期天气预报中心（ECMWF）的预报风速数据,详细分析了CYGNSS遥感风速的气候态特征和时空分布特征。基于三配对数据分析方法,阐明了CYGNSS遥感风速的固有误差,并提出了相应的风速标定系数。研究表明:GYGNSS的中低风速（w <10 m·s–1）精度较好,但高风速的误差显著增大;风速误差具有良好的时间一致性,但呈现明显的空间分布不均匀现象;总体而言,CYGNSS风速的固有误差约为1.79 m·s–1。研究结果一方面可为CYGNSS风速数据的业务应用提供参考,另一方面也为进一步标定CYGNSS的反射测量信号提供依据。      

Detection of meteors and sub-relativistic dust grains by the fluorescence detectors of ultra high energy cosmic rays

Fluorescence detectors of ultra high energy cosmic rays (UHECR) allow to record not only the extensive air showers, initiated by the UHECR particles, but also to detect light, produced by meteors and by the fast dust grains. It is shown that the fluorescence detector operated at the mountain site can register signals from meteors with kinetic energy threshold of about 25 J (meteor mass ∼ 5 × 10⁻⁶ g, velocity ∼ 3 × 10⁶ cm/s). The same detector might be used for recording of the dust grains of smaller mass (of about 10⁻¹⁰ g) but with velocity 10⁹ cm/s, close to the light velocity (sub-relativistic dust grains). The light signal from a sub-relativistic dust grain is expected in much shorter time scale (∼0.001 s), in comparison with the meteor signal (∼0.1–1 s), and much longer than duration of the UHECR signals (tens of μs). The fluorescence detector capable to register various phenomena: from meteors to UHECR – should have a variable pixel and selecting system integration time. A study of the new phenomenon of sub-relativistic grains will help to understand the mechanism of particle and dust grain acceleration in astrophysical objects (in SN explosions, for example).     

USV test flight by stratospheric balloon: Preliminary mission analysis

The Unmanned Space Vehicle test flights will use a 7 m 1300 kg aircraft. The first three launches will take place at the Italian Space Agency ASI base in Trapani–Milo, Sicily, through a stratospheric balloon that will drop the aircraft at a predefined height. After free fall acceleration to transonic velocities, the parachute deployment will allow a safe splash down in the central Mediterranean Sea. The goal of this article is to show the preliminary analysis results for the first USV flight.We carried out a statistical study for the year 2000–2003, evaluating the typical summer and winter launch windows of the Trapani–Milo base.First, in the center Mediterranean, we define safe recovery areas. They cannot be reached during the balloon ascending phase so, after a sufficiently long floating part able to catch the open sea, the balloon will go down to the release height (24 km). The simulation foresees a 400,000 m³ balloon and 3 valves for the altitude transfer.A safe splash down must occur far enough from the nearest coast: the minimum distance is considered around 25 km. The vehicle should be released at a distance, from the nearest coast, greater than this minimum amount plus the USV model maximum horizontal translation, during its own trajectory from balloon separation to splash down. In this way we define safe release areas for some possible translations.Winter stratospheric winds are less stable. The winter average flight duration is 7 h and it is probably too long for the diurnal recovery requirement and its scheduled procedures.Comparing past stratospheric balloons flights and trajectories computed using measured meteorological data (analysis), with their predictions made using forecast models and soundings, we obtain the standard deviation of the trajectory forecast uncertainty at the balloon–aircraft separation. Two cases are taken into account: predictions made 24 and 6 h before the launch.Assuming a Gaussian latitudinal uncertainty distribution for the prediction 6 h before the launch, we are able to identify the forecast trajectories that have a probability greater than 97% to reach the safe release areas.Simulating the summer windows trajectories for the years from 2000 to 2003 and for the favorable ground wind days, we obtain the number of trajectories with the desired forecast probabilities.     

Plasma electron temperature variability in lunar surface potential and in electric field under average solar wind conditions

The Moon is immersed in plasma environment. The most interesting challenge of the lunar plasma– field environment is that it is alternatively dominated by the extended but variable outer atmosphere of the Earth – the magnetosphere – and by the extended but highly variable solar atmosphere – the solar wind. Understanding the plasma environment and its interaction with the lunar surface will be beneficial to both manned and robotic surface exploration activities and to scientific investigations. Presented is a preliminary map of variations of lunar surface electric potential over the day side and night side using probe equations and a discussion on dust dynamics in this E-field structure using the data from Electron Reflectometer in Lunar Prospector spacecraft during 1998–1999. On the day side, potential is around 5 V and on the night side it reaches up to −82 V. On the night side region, only highly energetic electrons can overcome this large negative potential. The variation at electron temperature (T_e) strongly reflects in the surface potential. The potential reaches to a value of −82 V for T_e = 58 eV. Surface charging causes the electrostatic transport of charged dust grains. Dust grain size of 0.1 μm shows a levitation height of 4.92 m on lunar day side, 748 m on terminator region and 3.7 km on the night side. The radius of maximum sized grain to be lofted, R_max, peaks at the terminator region (R_max = 0.83 μm). At the transition region dust levitation is almost absent. This region is most suited for exploration activities as the region is free from hazards caused by lunar dust.