The WISDOM GPR has been designed and selected for the ExoMars rover mission to investigate the near subsurface. It will help addressing important questions about the nature and history of the landing site and selecting location for drilling

CAIS, Ph.

CIARLETTI, Valérie

CLIFFORD, S.M.

HAMRAN, S.E.

HERIQUE, A.

KOFMAN, W.

PLETTEMEIER, D.

International audienceThe WISDOM GPR has been designed and selected for the ExoMars rover mission to investigate the near subsurface. It will help addressing important questions about the nature and history of the landing site and selecting location for drilling

Ciarletti, Valérie

Plettemeier, D.

Clifford, S.M.

Cais, Ph.

Herique, A.

Kofman, W.

Hamran, S.E.

HAL-INSU

WISDOM A GPR FOR THE EXOMARS ROVERMISSIONVale´rie Ciarletti, D. Plettemeier, S.M. Clifford, Ph. Cais, A. Herique, W.Kofman, S.E. HamranTo cite this version:Vale´rie Ciarletti, D. Plettemeier, S.M. Clifford, Ph. Cais, A. Herique, et al.. WISDOM AGPR FOR THE EXOMARS ROVER MISSION. International Workshop on Instrumentationfor Planetary Missions (IPM 2012), Oct 2012, Greenbelt, Maryland, United States. <hal-00808207>HAL Id: hal-00808207https://hal.archives-ouvertes.fr/hal-00808207Submitted on 5 Apr 2013HAL is a multi-disciplinary open accessarchive for the deposit and dissemination of sci-entific research documents, whether they are pub-lished or not. The documents may come fromteaching and research institutions in France orabroad, or from public or private research centers.L’archive ouverte pluridisciplinaire HAL, estdestine´e au de´poˆt et a` la diffusion de documentsscientifiques de niveau recherche, publie´s ou non,e´manant des e´tablissements d’enseignement et derecherche franc¸ais ou e´trangers, des laboratoirespublics ou prive´s.WISDOM A GPR FOR THE EXOMARS ROVER MISSION V.Ciarletti1, D. Plettemeier2, S. M. Clifford3, P. Cais4, A. Herique5, W. Kofman5, S.E. Hamran6 and the WISDOM team 1LATMOS-IPSL,UVSQ,CNRS/INSU, Guyancourt, France(valerie.ciarletti@latmos.ipsl.fr), 2Technische Universität Dresden, Germany, 3 LPI, Houston, USA, 4 LAB, Floirac, France, 5IPAG, Nantes, France,6FFI, Oslo, norway   Introduction:  Low frequency orbital Ground Pene-trating Radars MARSIS and SHARAD have been used for years to reveal the structure and the nature of the Martian subsurface. They have provided impressive global results mainly on the polar caps on a large spa-tial scale with a few tenths of meters of vertical resolu-tion. Missions involving a rover provide the opportuni-ty for a local but much more detailed characterization of the subsurface by an onboard dedicated GPR. This insight on the environment third dimension should logically complement the information provided by the URYHU¶Vcamera on the sites visited by the rover. The WISDOM (Water Ice Subsurface Deposit Ob-servation on Mars) GPR has been designed and select-ed for the ExoMars rover mission. Its scope is to inves-tigate the Martian near subsurface down to a depth of a few meters (commensurate with the capacity of the PLVVLRQ¶V GULOO) with a vertical resolution of a few centimeters. A prototype representative of the flight model (form/fit/ function) but with non qualified com-ponents is available for tests and validation. We give a description of the WISDOM instrument with a particu-lar emphasis on the design that has been chosen to meet the challenging technical objectives and take into account the constraints of a space mission to Mars. Results obtained in natural environments illustrate some of the instrument performance  Scientific objectives:  The most fundamental and basic aspect of the geologic characterization of any environment is understanding its stratigraphy and structure ± which provides invaluable insights into its origin, the processes and events by which it evolved, and (through the examination of superpositional and cross-cutting relationships) their relative timing.  The WISDOM GPR is operated from the surface accom-modated on a Rover and can provide an understanding of the 3D geological structure and electromagnetic nature of the subsurface units. In this way, WISDOM will address some of the most important science ques-tions about the nature of the landing site, such as its depositional and erosional history, deformational and structural development, and the potential role (and distribution) of liquid water and ice in the hydrologic and periglacial evolution of the local landscape.  In addition to these objectives, the ExoMars mission will benefit from WISDOM ability to help identifying the most promising locations for drilling that combine targets of high scientific interest with minimum envi-ronmental risk to the drill. The instrument:  WISDOM has the ability to in-vestigate and characterize the nature of the subsurface remotely, providing high-resolution (several cm-scale) data on subsurface stratigraphy, structure, and the magnitude and scale of spatial heterogeneity. To reach such a high spatial resolution, a broad frequency bandwidth is needed and, as a consequence, the in-strument must operate at a central frequency which is approximately 100 times higher than the one used by the SHARAD radar (i.e. from 0.3 to 3 GHz). The downside of these higher frequencies is the limited penetration that can be achieved into the subsurface. Nevertheless, measurements performed with WISDOM in natural environements have shown pene-tration down to 3 meters in pyroclatic deposits and in excess of 20 m in very favorable environnements such as ice and snow.  WISDOM is a step frequency radar operating over a wide frequency band between 0.5 and 3 GHz. Partic-ular attention was paid to the design of the antenna system. The very broad frequency bandwidth neces-sary to achieve the expected vertical resolution was really challenging for the antennas design, especially given the constraints mentioned above. Decision was made to have a fully polarimetric antenna system nec-essary to study depolarization effects. The EMC re-quirements, as well as pattern deformation due to radi-ation coupling effects with the Rover structure, led to an antenna design based on a Vivaldi element [3]. The instrument has been designed to comply with the stringent constraints of a mission to Mars in terms of mass, volume, power consumption allocation and planetary protection requirements.    Figure 1 : WISDOM prototype : electronic unit on the left side and the two identical polarimetric (trans-mitting and receiving) antennas systems on the right side 1126.pdfInternational Workshop on Instrumentation for Planetary Missions (2012)The mass allocation for the whole instrument elec-tronics unit (DC/DC converters included), the antenna system and harnesses is less than 1.4 kg. The volume allocation for each polarimetric antenna system has been limited to approximately. 20cmX20cmX20cm. (see Figure 1) The fact that the instrument is designed to be mounted on a mars rover calls for antennas accommo-dated a few tens of centimeters above the surface (see figure 2) which is usually not the case for a GPR oper-ated from the surface.    Figure 2 : The WISDOM prototype accommodated on the MAGNA rover of the Polish Mars Society dur-ing the Dachstein Mars simulation organized by the Austrian Space Forum(April-May 2012, Austria).   Instrument performances:  Initial field tests have shown that the obtained in-strument performance is in agreement with the ex-pected ones. The vertical resolution achieved is as expected a few centimeters depending on the actual subsurface properties.   Figure 3 : Example of fine resolution obtained on Mount Etna. The profile shows some superimposed layers of pyroclastic deposits  When the soundings are performed according to a regular grid pattern, it is possible to eventually recon-struct a 3D subsurface structure. Figure 4 shows an example of 3D reconstruction of the very shallow layers detected on the CNES Mars yard in Toulouse [3]. For each profile, the soundings were performed every 10 cm and the profiles were 1 meter apart. The red interfaces correspond to interfaces where the deep-er medium has a higher permittivity than the up-per one value while the blue interfaces correspond to the reverse situation.   Figure 4 : Example of 3D reconstruction IARES for operational tests performed in the frame of ESTEC-CNES Remote Experiment #2 for ExoMars (Toulouse November 2011) [3].  Preliminary test measurements aiming at assessing the performances of the polarimetric capacities have been performed in an anechoic chamber at the Univer-sity of Dresden, Germany. The results obtained indi-cate that polarimetric measurements allow the retrieval of the orientation of cracks inside the soil. Moreover, co-polar measurements performed on targets show that the comparison between the two co-polar soundings induced by the shape of the radiation pattern provides an indication of the location of off track reflectors.   Conclusion : A prototype of a radar to perform polarimetric high resolution soundings of the shallow subsurface of Mars has been developed for the ExoMars mission. This radar can easily be accommodated on any rover to be sent on Mars. WISDOM is versatile enough that it can adapt to slightly different situations (accommodation, the frequency band width can be slightly modified toward the low frequency to get deeper penetration provided that the volume allocated for the antenna is VOLJKWO\LQFUHDVHGIRUH[DPSOH«   References:  [1] Ciarletti V. et al., (2010), PIEEE, 0023-SIP-2010-PIEEE,  [2] Plettemeier D. et al., (2009) Radar Antennas System Electronics Unit Laptop 1126.pdfInternational Workshop on Instrumentation for Planetary Missions (2012)Conference, Pasadena 4-8 May 2009,  [3]  Joudrier L. et al, (2012) International Symposium on Artificial Intelligence, Robotics and Automation in Space.  Acknowledgment:  WISDOM development and this research were funded by the French space agency CNES and by the German space agency DLR.     1126.pdfInternational Workshop on Instrumentation for Planetary Missions (2012)

WISDOM A GPR FOR THE EXOMARS ROVER MISSION

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