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.     

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.     

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.     

Communication system and operation for lunar probes under lunarsurface

In the Japanese LUNAR-A mission, penetrators will be deployed to the Moon for global seismic measurement. The unique communication system between the subsurface probes under the lunar surface and the lunar orbiter is described. Radiowave propagation through a crater which is formed at the penetration is investigated by means of scaled measurements in a simulating environment. Acquisition and tracking sequence is optimized within limited power capacity of the probe to maximize contact time between the probe and the spacecraft     

Comparative study of lunar mission requirements and onboard propulsion system performance

In recent years, the lunar explorer programs, suspended for a long time, have resumed again with the rapid development of low cost and high-level technologies. As a result, several nations have made a success of lunar exploration programs with their own orbiters. Unlike a satellite orbiting the earth, the optimal design of an onboard propulsion system of a lunar orbiter is a major issue because it is not simple to make the orbiter arrive accurately at another planet far from the earth. Hence, a close attention is required to select and develop an appropriate type of the onboard propulsion system based on given mission requirements of a lunar orbiter. To do this, this study first surveys several lunar orbiters launched since 1990 and their major mission requirements. Then, it summarizes the technical trends of the onboard propulsion systems of the recent lunar orbiters and their key design and performance specifications through trade-off studies. By comparing these features, the present study investigates which lunar mission requirements are critically important, and how they can effect on the overall performance of an onboard propulsion system. Based on these investigations the major objective of the present study intends ultimately to set up a fundamental baseline in selecting and developing an appropriate type of onboard propulsion system of a lunar orbiter.     

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.     

The Juno Gravity Science Instrument

The Juno mission’s primary science objectives include the investigation of Jupiter interior structure via the determination of its gravitational field. Juno will provide more accurate determination of Jupiter’s gravity harmonics that will provide new constraints on interior structure models. Juno will also measure the gravitational response from tides raised on Jupiter by Galilean satellites. This is accomplished by utilizing Gravity Science instrumentation to support measurements of the Doppler shift of the Juno radio signal by NASA’s Deep Space Network at two radio frequencies. The Doppler data measure the changes in the spacecraft velocity in the direction to Earth caused by the Jupiter gravity field. Doppler measurements at X-band (\(\sim 8\) GHz) are supported by the spacecraft telecommunications subsystem for command and telemetry and are used for spacecraft navigation as well as Gravity Science. The spacecraft also includes a Ka-band (\(\sim 32\) GHz) translator and amplifier specifically for the Gravity Science investigation contributed by the Italian Space Agency. The use of two radio frequencies allows for improved accuracy by removal of noise due to charged particles along the radio signal path.     

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.     

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.     

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.     

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.     

月球重力场模型误差对CE-5T1探测器定轨的影响

利用嫦娥五号再入返回飞行试验拓展任务期间获取的探测器(CE-5T1)实测数据,采用内符合方法比较了3种重力场模型的实测数据定轨结果,发现采用GRAIL(Gravity Recovery And Interior Laboratory,重力恢复与内部实验室)重力场模型进行定轨的结果最优。相比于之前的嫦娥系列探测器定轨常用的LP(Lunar Prospector,月球勘探者)重力场模型,采用GRAIL重力场模型定轨后测距数据的残差降低了1个量级。进一步采用不同重力场模型进行轨道外推,定量分析重力场模型对不同类型轨道的影响,结果表明,对于倾角为90°的环月极轨道,不同重力场模型的轨道外推结果差异较小;而对于倾角为20°和40°的环月轨道,不同重力场模型的外推星历的偏差均方根可达到2km,大于当前环月探测器的定轨精度。为此,建议在后续探月任务中使用GRAIL重力场模型进行轨道确定。     

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.     

10. The surface and interior of venus

Present ideas about the surface and interior of Venus are based on data obtained from (1) Earth-based radio and radar: temperature, rotation, shape, and topography; (2) fly-by and orbiting spacecraft: gravity and magnetic fields; and (3) landers: winds, local structure, gamma radiation. Surface features, including large basins, crater-like depressions, and a linear valley, have been recognized from recent ground-based radar images. Pictures of the surface acquired by the USSR's Venera 9 and 10 show abundant boulders and apparent wind erosion.On the Pioneer Venus 1978 Orbiter mission, the radar mapper experiment will determine surface heights, dielectric constant values and small-scale slope values along the sub-orbital track between 50°S and 75°N. This experiment will also estimate the global shape and provide coarse radar images (40–80 km identification resolution) of part of the surface. Gravity data will be obtained by radio tracking. Maps combining radar altimetry with spacecraft and ground-based images will be made. A fluxgate magnetometer will measure the magnetic fields around Venus.The radar and gravity data will provide clues to the level of crustal differentiation and tectonic activity. The magnetometer will determine the field variations accurately. Data from the combined experiments may constrain the dynamo mechanism; if so, a deeper understanding of both Venus and Earth will be gained.     

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.     

The Geology of Mercury: The View Prior to the MESSENGER Mission

Mariner 10 and Earth-based observations have revealed Mercury, the innermost of the terrestrial planetary bodies, to be an exciting laboratory for the study of Solar System geological processes. Mercury is characterized by a lunar-like surface, a global magnetic field, and an interior dominated by an iron core having a radius at least three-quarters of the radius of the planet. The 45% of the surface imaged by Mariner 10 reveals some distinctive differences from the Moon, however, with major contractional fault scarps and huge expanses of moderate-albedo Cayley-like smooth plains of uncertain origin. Our current image coverage of Mercury is comparable to that of telescopic photographs of the Earth’s Moon prior to the launch of Sputnik in 1957. We have no photographic images of one-half of the surface, the resolution of the images we do have is generally poor (∼1 km), and as with many lunar telescopic photographs, much of the available surface of Mercury is distorted by foreshortening due to viewing geometry, or poorly suited for geological analysis and impact-crater counting for age determinations because of high-Sun illumination conditions. Currently available topographic information is also very limited. Nonetheless, Mercury is a geological laboratory that represents (1) a planet where the presence of a huge iron core may be due to impact stripping of the crust and upper mantle, or alternatively, where formation of a huge core may have resulted in a residual mantle and crust of potentially unusual composition and structure; (2) a planet with an internal chemical and mechanical structure that provides new insights into planetary thermal history and the relative roles of conduction and convection in planetary heat loss; (3) a one-tectonic-plate planet where constraints on major interior processes can be deduced from the geology of the global tectonic system; (4) a planet where volcanic resurfacing may not have played a significant role in planetary history and internally generated volcanic resurfacing may have ceased at ∼3.8 Ga; (5) a planet where impact craters can be used to disentangle the fundamental roles of gravity and mean impactor velocity in determining impact crater morphology and morphometry; (6) an environment where global impact crater counts can test fundamental concepts of the distribution of impactor populations in space and time; (7) an extreme environment in which highly radar-reflective polar deposits, much more extensive than those on the Moon, can be better understood; (8) an extreme environment in which the basic processes of space weathering can be further deduced; and (9) a potential end-member in terrestrial planetary body geological evolution in which the relationships of internal and surface evolution can be clearly assessed from both a tectonic and volcanic point of view. In the half-century since the launch of Sputnik, more than 30 spacecraft have been sent to the Moon, yet only now is a second spacecraft en route to Mercury. The MESSENGER mission will address key questions about the geologic evolution of Mercury; the depth and breadth of the MESSENGER data will permit the confident reconstruction of the geological history and thermal evolution of Mercury using new imaging, topography, chemistry, mineralogy, gravity, magnetic, and environmental data.     

Crustal Magnetic Fields of Terrestrial Planets

Magnetic field measurements are very valuable, as they provide constraints on the interior of the telluric planets and Moon. The Earth possesses a planetary scale magnetic field, generated in the conductive and convective outer core. This global magnetic field is superimposed on the magnetic field generated by the rocks of the crust, of induced (i.e. aligned on the current main field) or remanent (i.e. aligned on the past magnetic field). The crustal magnetic field on the Earth is very small scale, reflecting the processes (internal or external) that shaped the Earth. At spacecraft altitude, it reaches an amplitude of about 20 nT. Mars, on the contrary, lacks today a magnetic field of core origin. Instead, there is only a remanent magnetic field, which is one to two orders of magnitude larger than the terrestrial one at spacecraft altitude. The heterogeneous distribution of the Martian magnetic anomalies reflects the processes that built the Martian crust, dominated by igneous and cratering processes. These latter processes seem to be the driving ones in building the lunar magnetic field. As Mars, the Moon has no core-generated magnetic field. Crustal magnetic features are very weak, reaching only 30 nT at 30-km altitude. Their distribution is heterogeneous too, but the most intense anomalies are located at the antipodes of the largest impact basins. The picture is completed with Mercury, which seems to possess an Earth-like, global magnetic field, which however is weaker than expected. Magnetic exploration of Mercury is underway, and will possibly allow the Hermean crustal field to be characterized. This paper presents recent advances in our understanding and interpretation of the crustal magnetic field of the telluric planets and Moon.     

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.     

First Results from ARTEMIS, a New Two-Spacecraft Lunar Mission: Counter-Streaming Plasma Populations in the Lunar Wake

We present observations from the first passage through the lunar plasma wake by one of two spacecraft comprising ARTEMIS (Acceleration, Reconnection, Turbulence, and Electrodynamics of the Moon??s Interaction with the Sun), a new lunar mission that re-tasks two of five probes from the THEMIS magnetospheric mission. On Feb 13, 2010, ARTEMIS probe P1 passed through the wake at ??3.5 lunar radii downstream from the Moon, in a region between those explored by Wind and the Lunar Prospector, Kaguya, Chandrayaan, and Chang??E missions. ARTEMIS observed interpenetrating proton, alpha particle, and electron populations refilling the wake along magnetic field lines from both flanks. The characteristics of these distributions match expectations from self-similar models of plasma expansion into vacuum, with an asymmetric character likely driven by a combination of a tilted interplanetary magnetic field and an anisotropic incident solar wind electron population. On this flyby, ARTEMIS provided unprecedented measurements of the interpenetrating beams of both electrons and ions naturally produced by the filtration and acceleration effects of electric fields set up during the refilling process. ARTEMIS also measured electrostatic oscillations closely correlated with counter-streaming electron beams in the wake, as previously hypothesized but never before directly measured. These observations demonstrate the capability of the comprehensively instrumented ARTEMIS spacecraft and the potential for new lunar science from this unique two spacecraft constellation.