Autonomous Navigation for the Deep Impact Mission Encounter with Comet Tempel 1

The engineering goal of the Deep Impact mission is to impact comet Tempel 1 on July 4, 2005, with a 370 kg active Impactor spacecraft (s/c). The impact velocity will be just over 10 km/s and is expected to excavate a crater approximately 20 m deep and 100 m wide. The Impactor s/c will be delivered to the vicinity of Tempel 1 by the Flyby s/c, which is also the key observing platform for the event. Following Impactor release, the Flyby will change course to pass the nucleus at an altitude of 500 km and at the same time slow down in order to allow approximately 800 s of observation of the impact event, ejecta plume expansion, and crater formation. Deep Impact will use the autonomous optical navigation (AutoNav) software system to guide the Impactor s/c to intercept the nucleus of Tempel 1 at a location that is illuminated and viewable from the Flyby. The Flyby s/c uses identical software to determine its comet-relative trajectory and provide the attitude determination and control system (ADCS) with the relative position information necessary to point the High Resolution Imager (HRI) and Medium Resolution Imager (MRI) instruments at the impact site during the encounter. This paper describes the Impactor s/c autonomous targeting design and the Flyby s/c autonomous tracking design, including image processing and navigation (trajectory estimation and maneuver computation). We also discuss the analysis that led to the current design, the expected system performance as compared to the key mission requirements and the sensitivity to various s/c subsystems and Tempel 1 environmental factors.     

Impact Cratering Theory and Modeling for the Deep Impact Mission: From Mission Planning to Data Analysis

The cratering event produced by the Deep Impact mission is a unique experimental opportunity, beyond the capability of Earth-based laboratories with regard to the impacting energy, target material, space environment, and extremely low-gravity field. Consequently, impact cratering theory and modeling play an important role in this mission, from initial inception to final data analysis. Experimentally derived impact cratering scaling laws provide us with our best estimates for the crater diameter, depth, and formation time: critical in the mission planning stage for producing the flight plan and instrument specifications. Cratering theory has strongly influenced the impactor design, producing a probe that should produce the largest possible crater on the surface of Tempel 1 under a wide range of scenarios. Numerical hydrocode modeling allows us to estimate the volume and thermodynamic characteristics of the material vaporized in the early stages of the impact. Hydrocode modeling will also aid us in understanding the observed crater excavation process, especially in the area of impacts into porous materials. Finally, experimentally derived ejecta scaling laws and modeling provide us with a means to predict and analyze the observed behavior of the material launched from the comet during crater excavation, and may provide us with a unique means of estimating the magnitude of the comet’s gravity field and by extension the mass and density of comet Tempel 1.     

Deep Impact: The Anticipated Flight Data

A comprehensive observational sequence using the Deep Impact (DI) spacecraft instruments (consisting of cameras with two different focal lengths and an infrared spectrometer) will yield data that will permit characterization of the nucleus and coma of comet Tempel 1, both before and after impact by the DI Impactor. Within the constraints of the mission system, the planned data return has been optimized. A subset of the most valuable data is planned for return in near-real time to ensure that the DI mission success criteria will be met even if the spacecraft should not survive the comet’s closest approach. The remaining prime science data will be played back during the first day after the closest approach. The flight data set will include approach observations spanning the 60 days prior to encounter, pre-impact data to characterize the comet at high resolution just prior to impact, photos from the Impactor as it plunges toward the nucleus surface (including resolutions exceeding 1 m), sub-second time sampling of the impact event itself from the Flyby spacecraft, monitoring of the crater formation process and ejecta outflow for over 10 min after impact, observations of the interior of the fully formed crater at spatial resolutions down to a few meters, and high-phase lookback observations of the nucleus and coma for 60 h after closest approach. An inflight calibration data set to accurately characterize the instruments’ performance is also planned. A ground data processing pipeline is under development at Cornell University that will efficiently convert the raw flight data files into calibrated images and spectral maps as well as produce validated archival data sets for delivery to NASA’s Planetary Data System within 6 months after the Earth receipt for use by researchers world-wide.     

Deep Impact and the Origin and Evolution of Cometary Nuclei

The Deep Impact mission revealed many properties of comet Tempel 1, a typical comet from the Jupiter family in so far as any comet can be considered typical. In addition to the properties revealed by the impact itself, numerous properties were also discovered from observations prior to the impact just because they were the types of observations that had never been made before. The impact showed that the cometary nucleus was very weak at scales from the impactor diameter (～1 m) to the crater diameter (～100 m) and suggested that the strength was low at much smaller scales as well. The impact also showed that the cometary nucleus is extremely porous and that the ice was close to the surface but below a devolatilized layer with thickness of order the impactor diameter. The ambient observations showed a huge range of topography, implying ubiquitous layering on many spatial scales, frequent (more than once a week) natural outbursts, many of them correlated with rotational phase, a nuclear surface with many features that are best interpreted as impact craters, and clear chemical heterogeneity in the outgassing from the nucleus.     

Expectations for Infrared Spectroscopy of 9P/Tempel 1 from Deep Impact

The science payload on the Deep Impact mission includes a 1.05–4.8 μm infrared spectrometer with a spectral resolution ranging from R∼200–900. The Deep Impact IR spectrometer was designed to optimize, within engineering and cost constraints, observations of the dust, gas, and nucleus of 9P/Tempel 1. The wavelength range includes absorption and emission features from ices, silicates, organics, and many gases that are known to be, or anticipated to be, present on comets. The expected data will provide measurements at previously unseen spatial resolution before, during, and after our cratering experiment at the comet 9P/Tempel 1. This article explores the unique aspects of the Deep Impact IR spectrometer experiment, presents a range of expectations for spectral data of 9P/Tempel 1, and summarizes the specific science objectives at each phase of the mission.     

Deep Impact: A Large-Scale Active Experiment on a Cometary Nucleus

The Deep Impact mission will provide the first data on the interior of a cometary nucleus and a comparison of those data with data on the surface. Two spacecraft, an impactor and a flyby spacecraft, will arrive at comet 9P/Tempel 1 on 4 July 2005 to create and observe the formation and final properties of a large crater that is predicted to be approximately 30-m deep with the dimensions of a football stadium. The flyby and impactor instruments will yield images and near infrared spectra (1–5 μm) of the surface at unprecedented spatial resolutions both before and after the impact of a 350-kg spacecraft at 10.2 km/s. These data will provide unique information on the structure of the nucleus near the surface and its chemical composition. They will also used to interpret the evolutionary effects on remote sensing data and will indicate how those data can be used to better constrain conditions in the early solar system.     

Loss of the Surface Layers of Comet Nuclei

The Deep Impact observations of low thermal inertia for comet 9P/Tempel 1 are of profound importance for the observations to be made by the Rosetta spacecraft at comet 67P/Churyumov-Gerasimenko. While sub-surface sublimation is necessary to explain the observations, the depth at which this occurs is no more than 2–3 cm and possibly less. The low thermal conductivity when combined with local surface roughness (also observed with Deep Impact) implies that local variations in outgassing rates can be substantial. These variations are likely to be on scales smaller than the resolution limits of all experiments on the Rosetta orbiter. The observed physico-chemical inhomogeneity further suggests that the Rosetta lander will only provide a local snapshot of conditions in the nucleus layer.     

The History and Dynamics of Comet 9P/Tempel 1

Since its discovery in 1867, periodic comet 9P/Tempel 1 has been observed at 10 returns to perihelion, including all its returns since 1967. The observations for the seven apparitions beginning in 1967 have been fit with an orbit that includes only radial and transverse nongravitational accelerations that model the rocket-like thrusting introduced by the outgassing of the cometary nucleus. The successful nongravitational acceleration model did not assume any change in the comet’s ability to outgas from one apparition to the next and the outgassing was assumed to reach a maximum at perihelion. The success of this model over the 1967–2003 interval suggests that the comet’s spin axis is currently stable. Rough calculations suggest that the collision of the impactor released by the Deep Impact spacecraft will not provide a noticeable perturbation on the comet’s orbit nor will any new vent that is opened as a result of the impact provide a noticeable change in the comet’s nongravitational acceleration history. The observing geometries prior to, and during, the impact will allow extensive Earth based observations to complement the in situ observations from the impactor and flyby spacecraft.     

Deep Impact Mission Design

The Deep Impact mission is designed to provide the first opportunity to probe below the surface of a comet nucleus by a high-speed impact. This requires finding a suitable comet with launch and encounter conditions that allow a meaningful scientific experiment. The overall design requires the consideration of many factors ranging from environmental characteristics of the comet (nucleus size, dust levels, etc.), to launch dates fitting within the NASA Discovery program opportunities, to launch vehicle capability for a large impactor, to the observational conditions for the two approaching spacecraft and for telescopes on Earth.     

The Coma of Comet 9P/Tempel 1

As comet 9P/Tempel 1 approaches the Sun in 2004–2005, a temporary atmosphere, or “coma,” will form, composed of molecules and dust expelled from the nucleus as its component icy volatiles sublimate. Driven mainly by water ice sublimation at surface temperatures T > 200 K, this coma is a gravitationally unbound atmosphere in free adiabatic expansion. Near the nucleus (≤ 10² km), it is in collisional equilibrium, at larger distances (≥10⁴ km) it is in free molecular flow. Ultimately the coma components are swept into the comet’s plasma and dust tails or simply dissipate into interplanetary space. Clues to the nature of the cometary nucleus are contained in the chemistry and physics of the coma, as well as with its variability with time, orbital position, and heliocentric distance. The DI instrument payload includes CCD cameras with broadband filters covering the optical spectrum, allowing for sensitive measurement of dust in the comet’s coma, and a number of narrowband filters for studying the spatial distribution of several gas species. DI also carries the first near-infrared spectrometer to a comet flyby since the VEGA mission to Halley in 1986. This spectrograph will allow detection of gas emission lines from the coma in unprecedented detail. Here we discuss the current state of understanding of the 9P/Tempel 1 coma, our expectations for the measurements DI will obtain, and the predicted hazards that the coma presents for the spacecraft. An erratum to this article is available at .     

The Deep Impact Earth-Based Campaign

Prior to the selection of the comet 9P/Tempel 1 as the Deep Impact mission target, the comet was not well observed. From 1999 through the present there has been an intensive world-wide observing campaign designed to obtain mission critical information about the target nucleus, including the nucleus size, albedo, rotation rate, rotation state, phase function, and the development of the dust and gas coma. The specific observing schemes used to obtain this information and the resources needed are presented here. The Deep Impact mission is unique in that part of the mission observations will rely on an Earth-based (ground and orbital) suite of complementary observations of the comet just prior to impact and in the weeks following. While the impact should result in new cometary activity, the actual physical outcome is uncertain, and the Earth-based observations must allow for a wide range of post-impact phenomena. A world-wide coordinated effort for these observations is described.     

Deep Impact: Working Properties for the Target Nucleus – Comet 9P/Tempel 1

In 1998, Comet 9P/Tempel 1 was chosen as the target of the Deep Impact mission (A’Hearn, M. F., Belton, M. J. S., and Delamere, A., Space Sci. Rev., 2005) even though very little was known about its physical properties. Efforts were immediately begun to improve this situation by the Deep Impact Science Team leading to the founding of a worldwide observing campaign (Meech et al., Space Sci. Rev., 2005a). This campaign has already produced a great deal of information on the global properties of the comet’s nucleus (summarized in Table I) that is vital to the planning and the assessment of the chances of success at the impact and encounter. Since the mission was begun the successful encounters of the Deep Space 1 spacecraft at Comet 19P/Borrelly and the Stardust spacecraft at Comet 81P/Wild 2 have occurred yielding new information on the state of the nuclei of these two comets. This information, together with earlier results on the nucleus of comet 1P/Halley from the European Space Agency’s Giotto, the Soviet Vega mission, and various ground-based observational and theoretical studies, is used as a basis for conjectures on the morphological, geological, mechanical, and compositional properties of the surface and subsurface that Deep Impact may find at 9P/Tempel 1. We adopt the following working values (circa December 2004) for the nucleus parameters of prime importance to Deep Impact as follows: mean effective radius = 3.25± 0.2 km, shape – irregular triaxial ellipsoid with a/b = 3.2± 0.4 and overall dimensions of ∼14.4 × 4.4 × 4.4 km, principal axis rotation with period = 41.85± 0.1 hr, pole directions (RA, Dec, J2000) = 46± 10, 73± 10 deg (Pole 1) or 287± 14, 16.5± 10 deg (Pole 2) (the two poles are photometrically, but not geometrically, equivalent), Kron-Cousins (V-R) color = 0.56± 0.02, V-band geometric albedo = 0.04± 0.01, R-band geometric albedo = 0.05± 0.01, R-band H(1,1,0) = 14.441± 0.067, and mass ∼7×10¹³ kg assuming a bulk density of 500 kg m⁻³. As these are working values, {i.e.}, based on preliminary analyses, it is expected that adjustments to their values may be made before encounter as improved estimates become available through further analysis of the large database being made available by the Deep Impact observing campaign. Given the parameters listed above the impact will occur in an environment where the local gravity is estimated at 0.027–0.04 cm s⁻² and the escape velocity between 1.4 and 2 m s⁻¹. For both of the rotation poles found here, the Deep Impact spacecraft on approach to encounter will find the rotation axis close to the plane of the sky (aspect angles 82.2 and 69.7 deg. for pole 1 and 2, respectively). However, until the rotation period estimate is substantially improved, it will remain uncertain whether the impactor will collide with the broadside or the ends of the nucleus.     

Comet Geology with Deep Impact Remote Sensing

The Deep Impact mission will provide the highest resolution images yet of a comet nucleus. Our knowledge of the makeup and structure of cometary nuclei, and the processes shaping their surfaces, is extremely limited, thus use of the Deep Impact data to show the geological context of the cratering experiment is crucial. This article briefly discusses some of the geological issues of cometary nuclei.     

An Overview of the Instrument Suite for the Deep Impact Mission

A suite of three optical instruments has been developed to observe Comet 9P/Tempel 1, the impact of a dedicated impactor spacecraft, and the resulting crater formation for the Deep Impact mission. The high-resolution instrument (HRI) consists of an f/35 telescope with 10.5 m focal length, and a combined filtered CCD camera and IR spectrometer. The medium-resolution instrument (MRI) consists of an f/17.5 telescope with a 2.1 m focal length feeding a filtered CCD camera. The HRI and MRI are mounted on an instrument platform on the flyby spacecraft, along with the spacecraft star trackers and inertial reference unit. The third instrument is a simple unfiltered CCD camera with the same telescope as MRI, mounted within the impactor spacecraft. All three instruments use a Fairchild split-frame-transfer CCD with 1,024× 1,024 active pixels. The IR spectrometer is a two-prism (CaF₂ and ZnSe) imaging spectrometer imaged on a Rockwell HAWAII-1R HgCdTe MWIR array. The CCDs and IR FPA are read out and digitized to 14 bits by a set of dedicated instrument electronics, one set per instrument. Each electronics box is controlled by a radiation-hard TSC695F microprocessor. Software running on the microprocessor executes imaging commands from a sequence engine on the spacecraft. Commands and telemetry are transmitted via a MIL-STD-1553 interface, while image data are transmitted to the spacecraft via a low-voltage differential signaling (LVDS) interface standard. The instruments are used as the science instruments and are used for the optical navigation of both spacecraft. This paper presents an overview of the instrument suite designs, functionality, calibration and operational considerations.     

Education and Public Outreach for Nasa’s Deep Impact Mission

The Deep Impact mission’s Education and Public Outreach (E/PO) program brings the principles of physics relating to the properties of matter, motions and forces and transfer of energy to school-aged and public audiences. Materials and information on the project web site convey the excitement of the mission, the principles of the process of scientific inquiry and science in a personal and social perspective. Members of the E/PO team and project scientists and engineers, share their experiences in public presentations and via interviews on the web. Programs and opportunities to observe the comet before, during and after impact contribute scientific data to the mission and engage audiences in the mission, which is truly an experiment.     

Reservoirs for Comets: Compositional Differences Based on Infrared Observations

Tracing measured compositions of comets to their origins continues to be of keen interest to cometary scientists and to dynamical modelers of Solar System formation and evolution. This requires building a taxonomy of comets from both present-day dynamical reservoirs: the Kuiper Belt (hereafter KB), sampled through observation of ecliptic comets (primarily Jupiter Family comets, or JFCs), and the Oort cloud (OC), represented observationally by the long-period comets and by Halley Family comets (HFCs). Because of their short orbital periods, JFCs are subjected to more frequent exposure to solar radiation compared with OC comets. The recent apparitions of the JFCs 9P/Tempel 1 and 73P/Schwassmann-Wachmann 3 permitted detailed observations of material issuing from below their surfaces—these comets added significantly to the compositional database on this dynamical class, which is under-represented in studies of cometary parent volatiles. This chapter reviews the latest techniques developed for analysis of high-resolution spectral observations from ～2–5 μm, and compares measured abundances of native ices among comets. While no clear compositional delineation can be drawn along dynamical lines, interesting comparisons can be made. The sub-surface composition of comet 9P, as revealed by the Deep Impact ejecta, was similar to the majority of OC comets studied. Meanwhile, 73P was depleted in all native ices except HCN, similar to the disintegrated OC comet C/1999 S4 (LINEAR). These results suggest that 73P may have formed in the inner giant planets’ region while 9P formed farther out or, alternatively, that both JFCs formed farther from the Sun but with 73P forming later in time.     

Alice: The rosetta Ultraviolet Imaging Spectrograph

We describe the design, performance and scientific objectives of the NASA-funded ALICE instrument aboard the ESA Rosetta asteroid flyby/comet rendezvous mission. ALICE is a lightweight, low-power, and low-cost imaging spectrograph optimized for cometary far-ultraviolet (FUV) spectroscopy. It will be the first UV spectrograph to study a comet at close range. It is designed to obtain spatially-resolved spectra of Rosetta mission targets in the 700–2050 Å spectral band with a spectral resolution between 8 Å and 12 Å for extended sources that fill its ～0.05^ × 6.0^ field-of-view. ALICE employs an off-axis telescope feeding a 0.15-m normal incidence Rowland circle spectrograph with a toroidal concave holographic reflection grating. The microchannel plate detector utilizes dual solar-blind opaque photocathodes (KBr and CsI) and employs a two-dimensional delay-line readout array. The instrument is controlled by an internal microprocessor. During the prime Rosetta mission, ALICE will characterize comet 67P/Churyumov-Gerasimenko's coma, its nucleus, and nucleus/coma coupling; during cruise to the comet, ALICE will make observations of the mission's two asteroid flyby targets and of Mars, its moons, and of Earth's moon. ALICE has already successfully completed the in-flight commissioning phase and is operating well in flight. It has been characterized in flight with stellar flux calibrations, observations of the Moon during the first Earth fly-by, and observations of comet C/2002 T7 (LINEAR) in 2004 and comet 9P/Tempel 1 during the 2005 Deep Impact comet-collision observing campaign.     

The Grain Impact Analyser and Dust Accumulator (GIADA) Experiment for the Rosetta Mission: Design, Performances and First Results

The Grain Impact Analyser and Dust Accumulator (GIADA) onboard the ROSETTA mission to comet 67P/Churyumov–Gerasimenko is devoted to study the cometary dust environment. Thanks to the rendezvous configuration of the mission, GIADA will be plunged in the dust environment of the coma and will be able to explore dust flux evolution and grain dynamic properties with position and time. This will represent a unique opportunity to perform measurements on key parameters that no ground-based observation or fly-by mission is able to obtain and that no tail or coma model elaborated so far has been able to properly simulate. The coma and nucleus properties shall be, then, clarified with consequent improvement of models describing inner and outer coma evolution, but also of models about nucleus emission during different phases of its evolution. GIADA shall be capable to measure mass/size of single particles larger than about 15 μm together with momentum in the range 6.5 × 10⁻¹⁰ ÷ 4.0 × 10⁻⁴ kg m s⁻¹ for velocities up to about 300 m s⁻¹. For micron/submicron particles the cumulative mass shall be detected with sensitivity 10⁻¹⁰ g. These performances are suitable to provide a statistically relevant set of data about dust physical and dynamic properties in the dust environment expected for the target comet 67P/Churyumov–Gerasimenko. Pre-flight measurements and post-launch checkouts demonstrate that GIADA is behaving as expected according to the design specifications. The International GIADA Consortium (I, E, UK, F, D, USA).     

Mupus – A Thermal and Mechanical Properties Probe for the Rosetta Lander Philae

MUPUS, the multi purpose sensor package onboard the Rosetta lander Philae, will measure the energy balance and the physical parameters in the near-surface layers – up to about 30 cm depth- of the nucleus of Rosetta’s target comet Churyumov-Gerasimenko. Moreover it will monitor changes in these parameters over time as the comet approaches the sun. Among the parameters studied are the density, the porosity, cohesion, the thermal diffusivity and conductivity, and temperature. The data should increase our knowledge of how comets work, and how the coma gases form. The data may also be used to constrain the microstructure of the nucleus material. Changes with time of physical properties will reveal timescales and possibly the nature of processes that modify the material close to the surface. Thereby, the data will indicate how pristine cometary matter sampled and analysed by other experiments on Philae really is.