Influence of Body Waves, Instrumentation Resonances, and Prior Assumptions on Rayleigh Wave Ellipticity Inversion for Shallow Structure at the InSight Landing Site

Based on an updated model of the regolith’s elastic properties, we simulate the ambient vibrations background wavefield recorded by InSight’s Seismic Experiment for Interior Structure (SEIS) on Mars to characterise the influence of the regolith and invert SEIS data for shallow subsurface structure. By approximately scaling the synthetics based on seismic signals of a terrestrial dust devil, we find that the high-frequency atmospheric background wavefield should be above the self-noise of SEIS’s SP sensors, even if the signals are not produced within 100–200 m of the station. We compare horizontal-to-vertical spectral ratios and Rayleigh wave ellipticity curves for a surface-wave based simulation on the one hand with synthetics explicitly considering body waves on the other hand and do not find any striking differences. Inverting the data, we find that the results are insensitive to assumptions on density. By contrast, assumptions on the velocity range in the upper-most layer have a strong influence on the results also at larger depth. Wrong assumptions can lead to results far from the true model in this case. Additional information on the general shape of the curve, i.e. single or dual peak, could help to mitigate this effect, even if it cannot directly be included into the inversion. We find that the ellipticity curves can provide stronger constraints on the minimum thickness and velocity of the second layer of the model than on the maximum values. We also consider the effect of instrumentation resonances caused by the lander flexible modes, solar panels, and the SEIS levelling system. Both the levelling system resonances and the lander flexible modes occur at significantly higher frequencies than the expected structural response, i.e. above 35 Hz and 20 Hz, respectively. While the lander and solar panel resonances might be too weak in amplitude to be recorded by SEIS, the levelling system resonances will show up clearly in horizontal spectra, the H/V and ellipticity curves. They are not removed by trying to extract only Rayleigh-wave dominated parts of the data. However, they can be distinguished from any subsurface response by their exceptionally low damping ratios of 1% or less as determined by random decrement analysis. The same applies to lander-generated signals observed in actual data from a Moon analogue experiment, so we expect this analysis will be useful in identifying instrumentation resonances in SEIS data

Estimation of the Seismic Moment Release Rate of Mars from InSight Seismic Data

Seismicity models for Mars usually estimate the long-term average annual seismic moment rate, and also the average annual event rate. This holds for estimations based on geological evidence (Golombek et al., 1992, Golombek, 2002, Taylor et al., 2013) as well as for models based on thermal evolution and cooling of the Martian interior (Phillips, 1991, Knapmeyer et al., 2006, Plesa et al., 2018). All studies are compatible with the conclusion based on the non-observation of any unambiguous event by Viking (Anderson et al., 1977, Goins & Lazarewicz, 1979) that Martian seismicity lies somewhere between that of the Moon and that of the Earth. We developed tools to derive reasonable estimations of the annual seismic moment rate from a number of events as small as one, provided that the observed events are beyond the global completeness threshold for observable events. Numerical tests as well as evaluation of terrestrial data shows the feasibility of the approach

Analysis of regolith properties using seismic signals generated by InSight’s HP3 Penetrator

International audienceInSight’s Seismic Experiment for Interior Structure (SEIS) provides a unique and unprecedented opportunity to conduct the first geotechnical survey of the Martian soil by taking advantage of the repeated seismic signals that will be generated by the mole of the Heat Flow and Physical Properties Package (HP3). Knowledge of the elastic properties of the Martian regolith have implications to material strength and can constrain models of water content, and provide context to geological processes and history that have acted on the landing site in western Elysium Planitia. Moreover, it will help to reduce travel-time errors introduced into the analysis of seismic data due to poor knowledge of the shallow subsurface. The challenge faced by the InSight team is to overcome the limited temporal resolution of the sharp hammer signals, which have significantly higher frequency content than the SEIS 100 Hz sampling rate. Fortunately, since the mole propagates at a rate of ∼1 mm per stroke down to 5 m depth, we anticipate thousands of seismic signals, which will vary very gradually as the mole travels.Using a combination of field measurements and modeling we simulate a seismic data set that mimics the InSight HP3-SEIS scenario, and the resolution of the InSight seismometer data. We demonstrate that the direct signal, and more importantly an anticipated reflected signal from the interface between the bottom of the regolith layer and an underlying lava flow, are likely to be observed both by Insight’s Very Broad Band (VBB) seismometer and Short Period (SP) seismometer. We have outlined several strategies to increase the signal temporal resolution using the multitude of hammer stroke and internal timing information to stack and interpolate multiple signals, and demonstrated that in spite of the low resolution, the key parameters—seismic velocities and regolith depth—can be retrieved with a high degree of confidence

A Numerical Model of the SEIS Leveling System Transfer Matrix and Resonances: Application to SEIS Rotational Seismology and Dynamic Ground Interaction

Abstract Both sensors of the SEIS instrument (VBBs and SPs) are mounted on the mechanical leveling system (LVL), which has to ensure a level placement on the Martian ground under currently unknown local conditions, and provide the mechanical coupling of the seismometers to the ground. We developed a simplified analytical model of the LVL structure in order to reproduce its mechanical behavior by predicting its resonances and transfer function. This model is implemented numerically and allows to estimate the effects of the LVL on the data recorded by the VBBs and SPs on Mars. The model is validated through comparison with the horizontal resonances (between 35 and 50 Hz) observed in laboratory measurements. These modes prove to be highly dependent of the ground horizontal stiffness and torque. For this reason, an inversion study is performed and the results are compared with some experimental measurements of the LVL feet’s penetration in a martian regolith analog. This comparison shows that the analytical model can be used to estimate the elastic ground properties of the InSight landing site. Another application consists in modeling the 6 sensors on the LVL at their real positions, also considering their sensitivity axes, to study the performances of the global SEIS instrument in translation and rotation. It is found that the high frequency ground rotation can be measured by SEIS and, when compared to the ground acceleration, can provide ways to estimate the phase velocity of the seismic surface waves at shallow depths. Finally, synthetic data from the active seismic experiment made during the HP3 penetration and SEIS rotation noise are compared and used for an inversion of the Rayleigh phase velocity. This confirms the perspectives for rotational seismology with SEIS which will be developed with the SEIS data acquired during the commissioning phase after landing

First Focal Mechanisms of Marsquakes

Since February 2019, NASA's InSight lander is recording seismic signals on the planet Mars, which, for the first time, allows to observe ongoing tectonic processes with geophysical methods. A number of Marsquakes have been located in the Cerberus Fossae graben system in Elysium Planitia and further west, in the Orcus Patera depression. We present a first study of the focal mechanisms of three well-recorded events (S0173a, S0183a, S0235b) to determine the processes dominating in the source region. We infer for all three events a predominantly extensional setting. Our method is adapted to the case of a single, multicomponent receiver and based on fitting waveforms of P and S waves against synthetic seismograms computed for the initial crustal velocity model derived by the InSight team. We explore the uncertainty due to the single-station limitation and find that even data recorded by one station constrains the mechanisms (reasonably) well. For the events in the Cerberus Fossae region (S0173a, S0235b) normal faulting with a relatively steep dipping fault plane is inferred, suggesting an extensional regime mainly oriented E-W to NE-SW. The fault regime in the Orcus Patera region is not determined uniquely because only the P wave can be used for the source inversion. However, we find that the P and weak S waves of the S0183a event show similar polarities to the event S0173, which indicates similar fault regimes

Seismic Constraints on the Thickness and Structure of the Martian Crust from InSight

NASA¿s InSight mission [1] has for the first time placed a very broad-band seismometer on the surface of Mars. The Seismic Experiment for Interior Structure (SEIS) [2] has been collecting continuous data since early February 2019. The main focus of InSight is to enhance our understanding of the internal structure and dynamics of Mars, which includes the goal to better constrain the crustal thickness of the planet [3]. Knowing the present-day crustal thickness of Mars has important implications for its thermal evolution [4] as well as for the partitioning of silicates and heat-producing elements between the different layers of Mars. Current estimates for the crustal thickness of Mars are based on modeling the relationship between topography and gravity [5,6], but these studies rely on different assumptions, e.g. on the density of the crust and upper mantle, or the bulk silicate composition of the planet and the crust. The resulting values for the average crustal thickness differ by more than 100%, from 30 km to more than 100 km [7]. New independent constraints from InSight will be based on seismically determining the crustal thickness at the landing site. This single firm measurement of crustal thickness at one point on the planet will allow to constrain both the average crustal thickness of Mars as well as thickness variations across the planet when combined with constraints from gravity and topography [8]. Here we describe the determination of the crustal structure and thickness at the InSight landing site based on seismic receiver functions for three marsquakes compared with autocorrelations of InSight data [9].We acknowledge NASA, CNES, partner agencies and institutions (UKSA, SSO,DLR, JPL, IPGP-CNRS, ETHZ, IC, MPS-MPG) and the operators of JPL, SISMOC, MSDS, IRIS-DMC and PDS for providing SEED SEIS data. InSight data is archived in the PDS, and a full list of archives in the Geosciences, Atmospheres, and Imaging nodes is at https://pds-geosciences.wustl.edu/missions/insight/. This work was partially carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. ©2021, California Institute of Technology. Government sponsorship acknowledge

Planned Products of the Mars Structure Service for the InSight Mission to Mars

Abstract The InSight lander will deliver geophysical instruments to Mars in 2018, including seismometers installed directly on the surface (Seismic Experiment for Interior Structure, SEIS). Routine operations will be split into two services, the Mars Structure Service(MSS) and Marsquake Service (MQS), which will be responsible, respectively, for defining the structure models and seismicity catalogs from the mission. The MSS will deliver a series of products before the landing, during the operations, and finally to the Planetary Data System (PDS) archive. Prior to the mission, we assembled a suite of a priori models of Mars, based on estimates of bulk composition and thermal profiles. Initial models during the mission will rely on modeling surface waves and impact-generated body waves independent of prior knowledge of structure. Later modeling will include simultaneous inversion of seismic observations for source and structural parameters. We use Bayesian inversion techniques to obtain robust probability distribution functions of interior structure parameters. Shallow structure will be characterized using the hammering of the heatflow probe mole, as well as measurements of surface wave ellipticity. Crustal scale structure will be constrained by measurements of receiver function and broadband Rayleigh wave ellipticity measurements. Core interacting body wave phases should be observable above modeled martian noise levels, allowing us to constrain deep structure. Normal modes of Mars should also be observable and can be used to estimate the globally averaged 1D structure, while combination with results from the InSight radio science mission and orbital observations will allow for constraint of deeper structure

The interior of Mars as seen by InSight (Invited)

InSight is the first planetary mission dedicated to exploring the whole interior of a planet using geophysical methods, specifically seismology and geodesy. To this end, we observed seismic waves of distant marsquakes and inverted for interior models using differential travel times of phases reflected at the surface (PP, SS...) or the core mantle-boundary (ScS), as well as those converted at crustal interfaces. Compared to previous orbital observations1-3, the seismic data added decisive new insights with consequences for the formation of Mars: The global average crustal thickness of 24-75 km is at the low end of pre-mission estimates5. Together with the the thick lithosphere of 450-600 km5, this requires an enrichment of heat-producing elements in the crust by a factor of 13-20, compared to the primitive mantle. The iron-rich liquid core is 1790-1870 km in radius6, which rules out the existence of an insulating bridgmanite-dominated lower mantle on Mars. The large, and therefore low-density core needs a high amount of light elements. Given the geochemical boundary conditions, Sulfur alone cannot explain the estimated density of ~6 g/cm3 and volatile elements, such as oxygen, carbon or hydrogen are needed in significant amounts. This observation is difficult to reconcile with classical models of late formation from the same material as Earth. We also give an overview of open questions after three years of InSight operation on the surface of Mars, such as the potential existence of an inner core or compositional layers above the CM

Surface waves and crustal structure on Mars

We detected surface waves from two meteorite impacts on Mars. By measuring group velocity dispersion along the impact-lander path, we obtained a direct constraint on crustal structure away from the InSight lander. The crust north of the equatorial dichotomy had a shear wave velocity of approximately 3.2 kilometers per second in the 5- to 30-kilometer depth range, with little depth variation. This implies a higher crustal density than inferred beneath the lander, suggesting either compositional differences or reduced porosity in the volcanic areas traversed by the surface waves. The lower velocities and the crustal layering observed beneath the landing site down to a 10-kilometer depth are not a global feature. Structural variations revealed by surface waves hold implications for models of the formation and thickness of the martian crust.D.K., S.C., D.G., J.C., C.D., A. K., S.C.S., N.D., and G.Z. were supported by the ETH+ funding scheme (ETH+02 19-1: “Planet Mars”). Marsquake Service operations at ETH Zürich were supported by ETH Research grant ETH-06 17-02. N.C.S. and V.L. were supported by NASA PSP grant no. 80NSSC18K1628. Q.H. and E.B. are funded by NASA grant 80NSSC18K1680. C.B. and J.L. were supported by NASA InSight PSP grant no. 80NSSC18K1679. S.D.K. was supported by NASA InSight PSP grant no. 80NSSC18K1623. P.L., E.B., M.D., H.S., E.S., M.W., Z.X., T.W., M.P., R.F.G. were supported by CNES and the Agence Nationale de la Recherche (ANR-19-CE31-0008-08 MAGIS) for SEIS operation and SEIS Science analysis. A.H., C.C. and W.T.P. were supported by the UKSA under grant nos. ST/R002096/1, ST/ W002523/1 and ST/V00638X/1. Numerical computations of McMC Approach 2 were performed on the S-CAPAD/DANTE platform (IPGP, France) and using the HPC resources of IDRIS under the allocation A0110413017 made by GENCI. A.H. was supported by the UKSA under grant nos. ST/R002096/1 and ST/W002523/1. F.N. was supported by InSight PSP 80NSSC18K1627. I.J.D. was supported by NASA InSight PSP grant no. 80NSSC20K0971. L.V.P. was funded by NASANNN12AA01C with subcontract JPL-1515835. The research was carried out in part by W.B.B., M.G. and M.P.P. at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration (80NM0018D0004)Peer reviewe