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Mapping EngineeringConstraints from Orbit to
the SurfaceOr
How to Certify aLanding Site
Matt GolombekJet Propulsion Laboratory
How to Certify a Landing Site on Mars?• Selecting landing site critical decision
• If the spacecraft doesn’t land safely there is nothing to show for the effort (and money)– Mission success rests on safe site (including all science)
– Fate of a spacecraft (hundreds millions of dollars)
• Must learn everything possible about the site • It is one thing to write a science paper about some topic, it is something else entirely to risk an entire mission on the interpretation
• Engineering Constraints - Derive from s/c and EDL• Address Engineering Constraints with Remote Sensing Data – Mapping Engineering Constraints to Atmosphere and Surface - Better do this, better can select safe site
Outline
• PERSPECTIVE• MER EXAMPLES
–Possible Sites–Data Used to Evaluate Sites–How the Data was Used–How Site was Certified–Assessment of Landing Site Predictions
• EXPECTATIONS FOR MSL –Data Sets–Addition of MRO Data–Certification Process
VL1 MPF
Meridiani
VL2
Gusev
Landing Sites on Mars
Golombek’s Perspective• Viking - "The blind leading the blind"
– Predictions of the surface were incorrect, but the atmosphere was within specifications
– Most importantly they both landed successfully
• Pathfinder - "Take your best shot"– Little new data since Viking Mission, but much greater appreciation of how VL1 and 2 landing surfaces relate to Viking Orbital data
– Clear Earth analog near mouth of catastrophic outflow channel– Surface and atmospheric predictions were correct
• MER - "Never has so much data been acquired of and so much work done on 4 small spots on Mars"– An unprecedented explosion of information from MGS and Odyssey resulted in the best imaged, best studied 4 spots in the history of Mars exploration
– The major engineering concerns were addressed by data and scientific and engineering analyses suggested the sites were safe
– Data allowed detailed exposition of testable scientific hypotheses at the sites - became template for surface operations
– Surface and atmospheric predictions (wrt safety) were correct
Preliminary MER Engineering Constraints
• ATMOSPHERE - ELEVATION– Must be <-1.3 km [wrt MOLA geoid] for Parachute– Atmospheric Column Density, Low-Altitude Winds <20 m/s
• LATITUDE 5°N TO 15°S for MER-A and 15°N to 5°S for MER-B– Solar Power, Temperature, Sub-Solar Latitude; 37° Lander
Separation– Ellipse Size and Orientation, Lat. Dep. – Varied w/simulations
• SURFACE SLOPES <6° RMS (<15°)– Mesa Failure Scenario; Radar Spoof; Lander Bounce/Roll; Rover
Deploy; Power; Later <2° at 1 km; <5° at 100 m; <15° at 3-10 m
• ROCKS– <1% Area Covered by Rocks >0.5 m High for Landing– Athena Rover Trafficability - Total Rock Abundance of <20%– Athena Wants Rocks – It is a Rock Mission
• DUST– Must Have Radar Reflective Surface – Descent Altimeter– Load Bearing and Trafficable Surface– Reduce Lifetime, Coat Solar Panels, Rocks & Instruments
VL1 MPF
Meridiani Isidis
Elysium
VL2
Gusev
Landing Sites on Mars
15°N
15°S
Data Used to Evaluate Landing Sites
• Viking Images - 230 m/pixel MDIM (Base Map)• MOLA
– Definitive Elevation, geoid, atmospheric pressure wrt geopotential
– Definitive Slopes at 1 km Scale– Pulse Spread - RMS Relief at ~100 m Scale– 100 m Roughness & Slope from Relief 3 km to 300 m Extrapolated via Hurst Exponent (Self Affine)
– Shaded Relief Maps
• Thermophysical Properties– IRTM Thermal Inertia, Fine Component, Rocks, Albedo [~1°]
– TES Thermal Inertia & Albedo [3 km], Surface Temperature
– Dust Cover Index - TES Thermal Inertia and Particle Size
– THEMIS - Thermal Images [100 m], Surface Temperature
• Rocks– Abundance from IRTM Spectral Differencing; % Rocks >0.1-0.15 m Diameter Covering Surface
– Model Size-Frequency Distributions; Potentially Hazardous Rocks; Comparison to Test Platform Rock Distributions
– Boulders Visible in MOC Images
• MOC and THEMIS Imaging Data– MOC Images at 1.5-6 m/pixel; Nadir MOLA Shots along image
– THEMIS Visible Images at 18 m/pixel
• Stereogrammetry & Photoclinometry– 10 m and 3 m DEMs (Digital Elevation Models); Slopes
• Radar Reflectivity and Roughness (RMS Slope)– X (3.5 cm)- and S (12.6 cm)-Band: Goldstone & Arecibo– Reflectivity– Specular and Diffuse Scattering
Data Used to Evaluate Landing Sites
GUSEV CRATER
Clear Morphologic Evidence for Water
High Preservation Potential of Environment in Deposited Sediments
GUSEV
GusevCrater LakeSedimentsCratered Surface - No Layers Obvious
Etched Terrain
Dark StreaksDusty
2 km
Meridiani Planum (Hematite) Site
(MER - B)
TERRA MERIDIANI
Smoothest, Flattest Place in Equatorial Mars
MERIDIANI
Meridiani
BrightDunes
DarkSurface Unit
Bright Underlying
Unit
Golombek et al., 2003
General Landing Site Predictions
•Broad predictions [Golombek et al., 2003]– Safe for Landing– Trafficable for Rover
•Meridiani– Completely Unlike other Landing Sites, Very Few Rocks, very little dust
– Dark Gray Plain of Sand and Granules with Discontinuous Outcrops of Bright Units that Surface from Beneath
•Gusev– Similar to VL Landing Sites, Less Rocky and Moderately Dusty
– Dust Devil Tracks in THEMIS Images (would be exception)
Predictions
Broadly Similar to VL SitesDusty, Moderately Rocky
Spirit Landing Site - Gusev Crater
How Well Did Remote Sensing Data Predict Surface?
• All Predictions Correct– Thermal Inertia, Rock Abundance, Albedo
– Elevation, Slope (1 km, 100 m, 5 m), Roughness
– Important Because•Use landing sites as “ground truth” for orbital data
•Essential for selecting & validating landing sites for future missions
•Correctly interpret surfaces, kinds of materials globally present on Mars
•Use Similar Method for MSL Landing SitesGolombek et al., 2005
THERMOPHYSICALPROPERTIES
Surface Characteristics
•Thermal Inertia -–Resistance of Surface Materials to Change in Temperature–Dependent on Particle Size or Cohesion
–Is the Surface Load Bearing/Competent?–How Much Dust/Rocks?–Surface Characteristics
TES Thermal Inertia
Putzig et al., 2005
Albedo Dust Cover Index
Ruff and Christensen, 2002
Putzig et al. 2005TES Global Albedo vs Thermal Inertia
Meridiani-BGusev-C
A - DustB - DarkC - Dusty, Crusty, Rocky 78% Mars
THERMAL INERTIA•Meridiani - Bulk Thermal Inertia (I) ~200 SI units
– Predicted to be Sand 0.2 mm
•Gusev ~300 Si Units•TES/THEMIS Observations Similar to MiniTES
Predicted to be Competent and Load Bearing
Cemented Soils/Duricrust, Sand and Granules
No Thick Deposits of Cohesionless Dust
No Special Risk to Landing or Roving
Golombek et al., 1997
THEMIS Thermal InertiaOver THEMIS Visible(18 m/pixel)
Landing Site in Low Inertia Plains - 285
Legacy Pan Partway up Ejecta - 290
Bonneville on Crater Rim - 330
Golombek et al., 2005Fergason et al., 2006
ROCKS
Surface Characteristics
•Thermal Inertia -–Rock Abundance–Size-Frequency Models–Probability Impact
•Boulder Fields -–Rock Abundance
•Comparison to Test Surfaces -–Airbag Capabilities
Rock Abundance on Mars
0
0.2
0.4
0.6
0.8
1
0 0.1 0.2 0.3
Total Rock Coverage
Relative probability of total rock coverage
Cumulative fraction of Mars surface
IRTM Thermal Differencing1° x 1° PixelsMode is 8%N. Plains Are Rocky
Christensen, 1986
Rock Abundance• Rocks - IRTM Orbit (±5%)
– Gusev 7-8% ellipse, 7% pixel
– Meridiani 5% ellipse, Few% pixel
• Measured at Surface– Spirit 4% at Land Site
•>0.1 m Diameter– 5% & 30% Towards Rim Bonneville
– Size-Frequency Distribution Similar to Model D>0.1 m
– Meridiani Outcrops are Rocks
– Consistent Few % Surface Coverage
– Now Sampled Full Spectrum of Rock Abundance Surfaces on Mars
• Safe for Landing• Benign for Roving
Golombek et al., 2005
Bulk I Versus Rock Abundance
100
200
300
400
500
600
700
800
0 0.1 0.2 0.3 0.4 0.5
Bu
lk In
ert
ia (
SI u
nit
s)
Rock Abundance
MPF
VL1
VL2GusH
em
Is
EP80BEP78B
For Lines of Constant Fine Component I for Effective I Rock of 2100 (dashed lines) & 1300 (solid lines) - 20% Possible Rock Abundance Change Golombek et al. [2003]
For Bulk Inertia and Derived Effective Inertia of the Rock Population Can Derive Fine Component Thermal Inertia
Golombek et al., 2003
Gusev Boulder Fields
MOC image ID E0300012Resolution (m) 2.86Incidence Angle 49.31°Emmission Angle 0.32°
100 m
Golombek et al., 2003
Identified Gusev Boulder Fields
GUSEV ELLIPSE
Boulder Fields
Outside Ellipse
Inside Ellipse
Boulder Field Size
Boulder Size-Frequency Distributions
• Boulder Fields Rare– ~0.1% of MOC Image– Low Sun >38°
• Plotted Max Subareas– Ave, Min 2-10 x Lower
• Extreme Distributions– Steep Slope, Exponential Decay
– Similar to Model Dist.• ~1% Surface Covered by
3-10 m Diameter Boulders
• Can’t See Boulders at 3 Landing Sites, 20%– If Can’t See, <20% Rock Abundance
• Formal Probability Analysis– 0.2-2% Chance Impacting Boulder in Boulder Field
0.0001
0.001
0.01
0.1
0.1 1 10
VL1VL2MPFCrater RimOly MonsGraben FloorGraben FloorGusev S2Gusev Q2
Cu
mu
lativ
e F
ract
ion
al A
rea
Diameter (m)
Golombek et al., 2003
Airbag Drop Test Platform
60° Dipping Platform at Plum BrookLargest Vacuum Chamber in World
Fully Inflated Airbags Around Full Scale LanderBungee Chord Pulls Lander to Impact VelocitiesAirbags Impact First at Edge Between Tetrahedrons & Then Rotates to Face
ELEVATION• MOLA Topography & Geoid Excellent for Landing Site Evaluation
• Spirit located at 14.5692°S, 175.4729°E at -1940 m• Tracking Results, 14.5718921°S, 175.47848°E; Radial
Elevation 3392.2997±0.001742 km• Geoid of Closest MOLA point -14.56903°S 175.47075°E,
3394.2367 km, minus elevation, 3392.2967 km, Difference of 3 m, within uncertainty
• Opportunity located at 1.9462°S, 354.4734°E at –1385 m• Tracking Results 1.9482823S, 354.47417°E; Radial
Elevation 3394.1482±0.0004683 km• Geoid of Closest MOLA point -1.94539°S, 354.48697°E,
3395.5351 km minus elevation is 3394.14816 km, which is within 0.04 m
• Actually do not know exactly where any particular MOLA elevation shot is to ±300 m, so uncertainties in map tie and ability to read elevation from map overwhelm comparison
Atmosphere Models
Limb Profiles
Binned Nadir Profiles
Limb Mean Profile
Nadir Mean Profile
Baseline Profile
•Surface T, P and wind time series–VL1, VL2, MPL)
•Remote soundings of T profiles–TES
·Almost 3 Mars years
·~10 km vertical resolution
·Inaccurate near the surface
–Viking IRTM
–Radio Occultations
–Mariner 9 IRIS
Kass et al., 2003
Meridiani Planum~ 1pm LTSTEast-West cross sectionvertical wind
Strong convection narrow upwellings broad downwellings hexagonal pattern
Extends ~ 5 km vertically
Modest horizontal winds ~4 m/s average random directions
Peak upward velocity~ 6.5 m/s
Peak downward velocity~3.5 m/s
Rafkin et al., 2003
Mesoscale Wind Model Results
3-D dynamical atmospheric models
Model meteorological phenomena at the 2 to 200 km scale
Track pressure, temperature, and wind vectors
Kass et al., 2003
Atmospheric Profile & Winds• Atmospheric Model VL1 (adj. elev.), TES T
Profiles & MGCM Weather (D. Kass)• Density Derived from Deceleration Profile & Aeroshell Properties
• Derived Temperature Profile– Within 5K Spirit, warm below 15 km, cool above– Within 15K Opportunity
• Profile within 1 standard deviation (low) bounds of atmospheric model– Overestimated mean density by 8% uncertainties below 5 km
• Winds Appear within Expectations based on Mesoscale Models– Gusev Greater Horizontal Winds– Both Experienced Updrafts
Golombek et al., 2005
TES Albedo Versus Thermal Inertia
Adjusted Meridiani Ellipse to Minimize Cold Nighttime Temperatures
SLOPES
Surface Characteristics
•1 km Slopes -<2° To Reduce Continuous Role
•100 m Slopes -<5° To Prevent Radar Spoofing
•5 m Slopes -<15° To Reduce Airbag Bounce & Spinup
MERIDIANIBidirectional
Anderson et al., 2003
Elysium 1.2 km Slope
Bidirectional Slope
Anderson et al., 2003
Meridiani 100 m Slope
100 m Slope Derived from Allen Variation/Hurst ExponentHaldemann et al.
MOLA Pulse Spread150 m Scale RoughnessGarvin
Anderson et al., 2003
1 km and 100 m Statistics
Site Meridiani
Gusev Elysium Isidis VL1 VL2 MPF
1.2 km Bi-Dir.Slope°,Mean±s.d., RMS, n
0.15±0.180.26680
0.20±0.440.49679
0.48±0.550.73934
0.19±0.240.30782
0.27±1.02
0.28±0.28
0.30±1.07
1.2 km A-Dir.Slope°,Mean±s.d., RMS, n
0.24±0.470.53208
0.19±0.290.34277
0.41±0.290.51361
0.14±0.100.17315
0.32±1.01
0.27±0.19
0.25±0.68
Pulse Width, m[G]slopecor Mean±s.d., RMS, n
0.75±0.240.81152
1.42±0.441.51340
1.10±0.41.11366
1.10±0.351.21140
Pulse Width, mnot slopecor[N] Mean±s.d., n
0.8±0.9531
1.5±1.3101
1.9±2.8478
5.1±1.88
2.1±3.73640
1.1±0.4921
2.0±3.62742
Pulse Width, m[N] Mean±s.d., n
0.8±0.8544
1.1±1.0296
1.5±1.75879
1.8±2.87078
1.7±2.9535
1.1±0.4921
2.0±4.11755
Self affine 100 mAllen dev, mRMS slope°
3.41.9
5.83.3
4.02.3
2.61.5
1.81.0
5.02.9
Golombek et al., 2003
Gusev 10 m DEM
Kirk et al., 2003
5 m SlopesSite Meridi
aniGusev Elysiu
mIsidis VL1 VL2 MPF
MOC Stereo orPC RMS Adirectional slope°
2-4 4-17 3-5 3-9 5
• Meridiani Smoothest– RMS Slopes Very Low
• Elysium Next Smoothest– RMS Slopes Comparable to MPF
• Isidis Slightly Rougher– Has Rougher Terrains in Ellipse
• Gusev is the Roughest– Has Roughest Terrains in Ellipse
MOC Stereo - 10 m, PC-Photoclinometry generally ~3 m;Corrected to 5 m Kirk et al., 2003
SLOPE• 1.2 km Scale Slopes Lowest at Meridiani [0.15°& 0.24°; 0.3°] and Lower at Gusev [0.2° and 0.19°; 0.5°] than at VL or MPF 100 m
• 100 m Slope Lowest at Meridiani [1.9°; 0.7°] and Lower at Gusev [3.3°; 1.4°] than at VL1 (comparable to VL2) or MPF
• 5 m RMS Slope (MOC DEM) Lowest at Meridiani and Lower at Gusev than at MPF [2° & 4°]; 1.4° & 2.5°
• Consistent with Extraordinarily Smooth and Flat Surface at Meridiani (smoothest, flattest place investigated) and Reasonably Smooth & Flat Surface at Gusev
• RMS Slopes from Rover Traverse Telemetry
RADAR
Surface Characteristics
• Is the Surface Radar Reflective? Reflectivity >0.02– Will the Descent Radar Altimeter Function Correctly?
• Does the Surface Have a Reasonable Bulk Density?– Is the Surface Load Bearing? Safe for Landing & Roving
• Surface Roughness– RMS Slope <6°
Landing Site Radar PropertiesLanding Site
Wavelength Reflectivity1
, 0
rms slope1, rms
Source
Meridiani 3.5 cm 0.050.01 1.30.4 GSSR track: 1.83S, May 3, 2001.
3.5 cm 0.050.01 1.20.4 GSSR track: 1.82S, May 5, 2001.
Gusev 12.6 cm 0.0250.015 1.40.2 GSSR track: 14.59S, Sep. 10,1971
3.5 cm 0.040.02 4.71.6 Average GSSR data unit Hch2.
Isidis 3.5 cm 0.020.01 3.80.7 GSSR track: 5.11N, Jan. 21, 1993.
3.5 cm 0.030.01 3.30.5 GSSR track: 4.86N, Jan. 23, 1993.
3.5 cm 0.030.01 4.01.0 GSSR track: 3.60N, Jun. 17, 2001.
Elysium 3.5 cm 0.050.03 3.01.1 Average GSSR data unit Hr2.1 Quasi-specular scattering reflectivity, 0, as derived from a Hagfors scattering model fit, is the square of the Fresnel normal reflection coefficient, while the Hagfors-derived rms slope, rms, is considered to apply to a length-scale in the range from 10x to 100x the wavelength. 2 Unit Hch is ‘Older channel material’, and unit Hr is ‘Ridged plains material’, as mapped by Greeley and Guest [1997]. Haldemann et al.
Radar Reflectivity
• Engineering Constraint Reflectivity >0.02
• Implies Bulk Density >700kg/m3
• Meridiani (0.05)– ~1500 kg/m3
• Gusev (0.04) ~1200 kg/m3
• Similar to Bulk Densities of Soils Traversed by Pathfinder Rover
• Should Pose No Problems to Landing or RovingGolombek et al., 1997
Radar RMS Slope
• RMS Slopes Low at Meridiani; Higher at Gusev• Compare Favorably w/Rover Traverse 1.4° & 2.5° at 5 m• RMS Slopes No Rougher than VL1 & MPF, both 3° at 3 m
– Gusev smoother at 12.6 cm
• No Unusual Diffuse Scattering• Radar Consistent with MOC DEMs
– Meridiani Smoothest, Followed by and Gusev• Safe for Landing & Roving
Site Meridiani
Gusev Elysium
Isidis VL1 VL2 MPF
MOC Stereo/PC 5 m RMS slope°
2-4 4-17 3-5 3-9 5
3.5 cm Radar RMS slope°12.6 cm Radar
1.3±0.4
4.7±1.6
1.4±0.2
3.0±1.1
3.3±0.5
4.7±1.8
2.0±0.3
4.5±1.8
Meridiani RMS Slope versus Baseline
Kirk et al., 2003
* MOLA 1.2 Bi *
*
* Allan 100 m
* Radar RMS
**
Gusev RMS Slope versus Baseline
* MOLA 1.2 Bi
* Allan 100 m
* Radar RMS
*
***
Kirk et al., 2003
Example Hazard Map: Gusev
Etched TerrainHeavily Cratered TerrainCratered PlainsGolombek et al., 2003
Digital Terrains Derived from MOC images
Terrains developed by Randy Kirk
Cratered Plains Heavily Cratered Terrain
Etched Terrain
Landing Simulation Model
• 3 Stage Monte Carlo Simulation–Most Sophisticated Landing Simulation Known–500-2000 Trails/Site
• 6 DOF Entry to Parachute–Entry, Ballistic Descent, Atmosphere Variations
• 18 DOF Parachute to First Bounce–Multibody Sim, Parachute, Winds, Retrorockets
• 3 DOF Bouncing to Roll Stop–Hazard Terrain Unit (DEM), Rocks–Extrapolated from DEM to Ellipse via Hazard Map
• 3 Most Important Factors-Combined–Low-Altitude Horizontal Winds - Add Horizontal Velocity
–Lander Scale Slopes - Airbag Bounce, Spinup–Rocks - Airbag Rip, Abrasion, Stroke Out
Meridinai - Smooth, Flat Plain
Backshell450 m Away; 1 m HighDust and Rock Free
Dark Surface-Dust Free Granule Lag Surface Ripples Low Albedo ~0.1
Relatively Dust Free; Albedo 0.195Very Low Relief at 1 km, 100 m, Moderate at 10 m
Spirit Landing Site - Gusev Crater
Dust Devil TracksAlbedo Difference between Bright (0.26) and Dark Areas (0.19)Pancam Albedo Matches Orbital Albedo
Mars Pathfinder Landing Site
Relatively Dusty, Albedo 0.22
Relatively High Relief at 1 km, 100 m, 10 m
Relatively Dusty, Albedo 0.23Low Relief at 1 km, 100 m, 10 m
Viking Lander 2
Viking Lander 1
Relatively Dusty, Albedo 0.25
Relatively Higher Relief at 1 km, 100 m, 10 m
Viking Lander 1
Relatively Dusty - Note Drift Material
Relatively Higher Relief at 1 km, 100 m, 10 m
MER Results• Accurately Predicted Important Safety Characteristics of Both Landing Sites
– Ambiguity in Science of Landing Site• Major Engineering Constraints Addressed by Data and EDL Tested Against Parameters Indicating Sites Safe
• Now Have 5 “Ground Truth” Sites to Compare with Remote Sensing Data – Span Many Important Likely Safe Surfaces *
• Future Efforts to Select Safe Landing Sites are Likely to be Successful
Putzig et al. 2005 TES Global Albedo vs Thermal Inertia
Meridiani-BGusev-C
A - DustB - DarkC - Dusty, Crusty, Rocky 78% Mars
Expectations for MSL
• Avalanche of New MRO Data• Extensive Data Since MER: Odyssey MEx
• PP is a “Feature” of Site Selection• Extensive Investigation of Sites• Thorough Evaluation of Engineering Constraints - Extensive Testing
• Comprehensive Simulations to Assess Risk and Safety of Sites
• Selection will Balance Science and Safety
Odyssey and Mars Express Data to Evaluate Landing Sites
• THEMIS Thermal Inertia–Calibrated Global I –Variations 100 m scale
• HRSC Stereo 10 m/pixel–Improved Slopes at 100 m scale–HRSC High Resolution ~2 m/pixel
• Omega Multispectral Data–Composition and Mineralogy
MRO Data of Landing Sites
• HiRISE - 30 cm/pixel, 6 km wide– Repeat Coverage Stereo - Slopes at m scale– Boulders/Rocks/Outcrops
• CTX - 6 m/pixel, 30 km wide– Repeat Coverage Stereo - Slopes at 10 m scale– Morphology at Intermediate Scale
• CRISM - 20 m/pixel, 11 km wide– Repeat Coverage Stereo - Slopes at 100 m scale– Mineralogy, Compositional Information; 512 bands 0.4-4 m
• All Images Co-Located or Nested– Multiple Resolution Same Location and Lighting– New Data Sets Take Time to Calibrate/Interpret
• MARCI - Global Weather Maps• MCS - Mars Climate Sounder
– Thermal Temperature Sounder-Profiles/5 km– Daily Global Weather
• Challenge is Assimilate New Data and Extract Useful Science and Safety Information on Landing Sites in Timely Manner