Opportunity rover localization and topographic mapping at the landing site of Meridiani Planum, Mars

This paper presents the results of Mars topographic mapping and lander and rover localization for the Opportunity rover at Meridiani Planum during the Mars Exploration Rover (MER) 2003 mission. By Sol 458, the Opportunity rover traversed a distance of 5.20 km. We localized the lander using two-way Doppler radio positioning and cartographic triangulation of craters visible in both orbital and ground images. Additional high-resolution orbital images were taken to verify the determined lander position. Visual odometry and bundle adjustment techniques were applied to overcome wheel slippages, azimuthal angle drift, and other navigation errors (as large as 21% within Eagle crater). In addition, orbit-to-ground image-based adjustment was applied to correct rover location errors where bundle adjustment was not applicable. We generated timely topographic products, including orthoimages, digital terrain models (DTMs), three-dimensional (3-D) crater models, and rover traverse maps. In particular, detailed 3-D terrain models of major features, such as Endurance crater, have been generated using multisite panoramic stereo images based on bundle adjustment and wide baseline stereo technique

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

Crater gradation in Gusev crater and Meridiani Planum, Mars

The Mars Exploration Rovers investigated numerous craters in Gusev crater and Meridiani Planum during the first ∼400 sols of their missions. Craters vary in size and preservation state but are mostly due to secondary impacts at Gusev and primary impacts at Meridiani. Craters at both locations are modified primarily by eolian erosion and infilling and lack evidence for modification by aqueous processes. Effects of gradation on crater form are dependent on size, local lithology, slopes, and availability of mobile sediments. At Gusev, impacts into basaltic rubble create shallow craters and ejecta composed of resistant rocks. Ejecta initially experience eolian stripping, which becomes weathering-limited as lags develop on ejecta surfaces and sediments are trapped within craters. Subsequent eolian gradation depends on the slow production of fines by weathering and impacts and is accompanied by minor mass wasting. At Meridiani the sulfate-rich bedrock is more susceptible to eolian erosion, and exposed crater rims, walls, and ejecta are eroded, while lower interiors and low-relief surfaces are increasingly infilled and buried by mostly basaltic sediments. Eolian processes outpace early mass wasting, often produce meters of erosion, and mantle some surfaces. Some small craters were likely completely eroded/buried. Craters \u3e100 m in diameter on the Hesperian-aged floor of Gusev are generally more pristine than on the Amazonian-aged Meridiani plains. This conclusion contradicts interpretations from orbital views, which do not readily distinguish crater gradation state at Meridiani and reveal apparently subdued crater forms at Gusev that may suggest more gradation than has occurred

A Pre-Landing Assessment of Regolith Properties at the InSight Landing Site

This article discusses relevant physical properties of the regolith at the Mars InSight landing site as understood prior to landing of the spacecraft. InSight will land in the northern lowland plains of Mars, close to the equator, where the regolith is estimated to be ≥3--5 m thick. These investigations of physical properties have relied on data collected from Mars orbital measurements, previously collected lander and rover data, results of studies of data and samples from Apollo lunar missions, laboratory measurements on regolith simulants, and theoretical studies. The investigations include changes in properties with depth and temperature. Mechanical properties investigated include density, grain-size distribution, cohesion, and angle of internal friction. Thermophysical properties include thermal inertia, surface emissivity and albedo, thermal conductivity and diffusivity, and specific heat. Regolith elastic properties not only include parameters that control seismic wave velocities in the immediate vicinity of the Insight lander but also coupling of the lander and other potential noise sources to the InSight broadband seismometer. The related properties include Poisson’s ratio, P- and S-wave velocities, Young’s modulus, and seismic attenuation. Finally, mass diffusivity was investigated to estimate gas movements in the regolith driven by atmospheric pressure changes. Physical properties presented here are all to some degree speculative. However, they form a basis for interpretation of the early data to be returned from the InSight mission.Additional co-authors: Nick Teanby and Sharon Keda

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

Field Measurements of Terrestrial and Martian Dust Devils

Surface-based measurements of terrestrial and martian dust devils/convective vortices provided from mobile and stationary platforms are discussed. Imaging of terrestrial dust devils has quantified their rotational and vertical wind speeds, translation speeds, dimensions, dust load, and frequency of occurrence. Imaging of martian dust devils has provided translation speeds and constraints on dimensions, but only limited constraints on vertical motion within a vortex. The longer mission durations on Mars afforded by long operating robotic landers and rovers have provided statistical quantification of vortex occurrence (time-of-sol, and recently seasonal) that has until recently not been a primary outcome of more temporally limited terrestrial dust devil measurement campaigns. Terrestrial measurement campaigns have included a more extensive range of measured vortex parameters (pressure, wind, morphology, etc.) than have martian opportunities, with electric field and direct measure of dust abundance not yet obtained on Mars. No martian robotic mission has yet provided contemporaneous high frequency wind and pressure measurements. Comparison of measured terrestrial and martian dust devil characteristics suggests that martian dust devils are larger and possess faster maximum rotational wind speeds, that the absolute magnitude of the pressure deficit within a terrestrial dust devil is an order of magnitude greater than a martian dust devil, and that the time-of-day variation in vortex frequency is similar. Recent terrestrial investigations have demonstrated the presence of diagnostic dust devil signals within seismic and infrasound measurements; an upcoming Mars robotic mission will obtain similar measurement types

Initial results from the InSight mission on Mars

NASA’s InSight (Interior exploration using Seismic Investigations, Geodesy and Heat Transport) mission landed in Elysium Planitia on Mars on 26 November 2018. It aims to determine the interior structure, composition and thermal state of Mars, as well as constrain present-day seismicity and impact cratering rates. Such information is key to understanding the differentiation and subsequent thermal evolution of Mars, and thus the forces that shape the planet’s surface geology and volatile processes. Here we report an overview of the first ten months of geophysical observations by InSight. As of 30 September 2019, 174 seismic events have been recorded by the lander’s seismometer, including over 20 events of moment magnitude Mw = 3–4. The detections thus far are consistent with tectonic origins, with no impact-induced seismicity yet observed, and indi- cate a seismically active planet. An assessment of these detections suggests that the frequency of global seismic events below approximately Mw = 3 is similar to that of terrestrial intraplate seismic activity, but there are fewer larger quakes; no quakes exceeding Mw = 4 have been observed. The lander’s other instruments—two cameras, atmospheric pressure, temperature and wind sensors, a magnetometer and a radiometer—have yielded much more than the intended supporting data for seismometer noise characterization: magnetic field measurements indicate a local magnetic field that is ten-times stronger than orbital estimates and meteorological measurements reveal a more dynamic atmosphere than expected, hosting baroclinic and gravity waves and convective vortices. With the mission due to last for an entire Martian year or longer, these results will be built on by further measurements by the InSight lander

The investigation of the Mechanical Properties of the Martian soils at the InSight Mission Landing Site

International audienc