Lessons learned from Europa Clipper Mission – challenges and needs for future landed missions to Europa
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McClure, Steve↗
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Europa Environmental Testing of Thermal Hardware for the Mapping Imaging Spectrometer for Europa (MISE) Instrument
No abstract provided
Maynard, K.S.↗
How Well Do We Know Europa’s Topography? An Evaluation of the Variability in Digital Terrain Models of Europa
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Michael T. Bland↗
An Examination of Issues Related to a Europa Subsurface Component for the JIMO Mission
The Galileo Europa data set served to revolutionize our view of Europa. In particular the strong evidence of a large, cold, salty Ocean beneath 5-30 km of ice has profoundly altered the significance of Europa in our thinking, especially of context of habitability in the solar system. While much remains to be learned from spacecraft observations of several sorts, there are significant questions answerable only by in-situ techniques; these relate to the formation of Europa, the nature of its ocean, and the prospects for life in its ocean, sediments, and ice. We feel that wide-ranging discussion of an in-situ subsurface mission to Europa, as part of JIMO, should proceed. The science objective of the mission is to characterize the icy shell of Europa to resolve its provenance, estimate the composition of brine of the Europa ocean, and search for evidence of Earth-like life. Probably anyone would agree that an in-situ mission to Europa would be of great value, but he or she would also immediately take the position that such a mission is utterly impractical. We take the position here of defining the least complex mission that can nonetheless justify its cost and to argue that such a mission is realistic enough that it should be seriously considered. Our mission thinking has been: 1) Soft landing. A soft lander is required on a site sufficiently flat to offer a stable platform; no further site selectivity is required. 2) Subsurface exploration. The Europa subsurface must be examined. Surficial processes on Europa arguably have exposed the upper 200 m of shell to chemical effects from the Jovian radiation belts as well as cometary infall, etc; to examine native ice we must descend below that point to, for discussion, 300 m. At that depth we argue that the ice is characteristic of ice at depth and possibly is effectively sea ice. 3) Science data. A few simple measurements at various depths and at 300 m constitute a scientifically successful mission. Measurements would include analysis of meltwater for a few inorganic ions and amino acids and an optical examination of the borehole wall. 4) Communication. Transmission of data to an orbiter is essential, but we will constrain the landed mission to a daily communication over a few days. 5) Subsurface access. Drilling to 300 m is a significant challenge; it can be addressed by several means: Thermal Probe (Cryobot) which permits water to refreeze above the vehicle. This is our tentative choice with plutonium as the fuel to generate thermal energy for drilling and electrical power for operations. Open Hole Drill, a thermal system in which the meltwater is removed for greater thermal efficiency. Meltwater removal on Europa is both a complexity and a risk, but analysis is improved. Mechanical Drilling in which cutting or grinding generates ice chips which are removed. This is too complex at Europa temperatures. The measurement objectives for the mission will be: Obj. 1: Determine the concentration of simple inorganic salts in the Europa Ice Shell and, by extrapolation, of the ocean. These data will also validate spaceborne sensors. Obj. 2: Determine the nature and abundance of amino acids in the ice such that cometary infall material in the upper ice can be compared to material at depth. Obj. 3: Optically examine the ice to resolve inclusion structure, particulate content, and stratification. Access to 300 m depth is a significant if not audacious plan; we are aware that this has not been done on any planetary body. Our approach is the use of a plutonium heat source; to overcome Europa's surface temperature and to melt ice a significant amount of plutonium is needed, and significant shielding and other protective steps will be required. The quantity of plutonium is a key concern. The mission will require subsurface collection and processing of samples for in situ analysis, calling for a miniature, high pressure micro-sampling system designed to meet needs of instruments that require low presses for operation. The inlet system itself collects a micro-sample in the external high pressure environment, then transfers it into a protected low pressure environment for analysis.
Carsey, F. D.↗
A Pragmatic Path to Investigating Europa's Habitability
Assessment of Europa's habitability, as an overarching science goal, will progress via a comprehensive investigation of Europa's subsurface ocean, chemical composition, and internal dynamical processes, The National Research Council's Planetary Decadal Survey placed an extremely high priority on Europa science but noted that the budget profile for the Jupiter Europa Orbiter (1EO) mission concept is incompatible with NASA's projected planetary science budget Thus, NASA enlisted a small Europa Science Definition Team (ESDT) to consider more pragmatic Europa mission options, In its preliminary findings (May, 2011), the ESDT embraces a science scope and instrument complement comparable to the science "floor" for JEO, but with a radically different mission implementation. The ESDT is studying a two-element mission architecture, in which two relatively low-cost spacecraft would fulfill the Europa science objectives, An envisioned Europa orbital element would carry only a very small geophysics payload, addressing those investigations that are best carried out from Europa orbit An envisioned separate multiple Europa flyby element (in orbit about Jupiter) would emphasize remote sensing, This mission architecture would provide for a subset of radiation-shielded instruments (all relatively low mass, power, and data rate) to be delivered into Europa orbit by a modest spacecraft, saving on propellant and other spacecraft resources, More resource-intensive remote sensing instruments would achieve their science objectives through a conservative multiple-flyby approach, that is better situated to handle larger masses and higher data volumes, and which aims to limit radiation exposure, Separation of the payload into two spacecraft elements, phased in time, would permit costs to be spread more uniformly over mUltiple years, avoiding an excessively high peak in the funding profile, Implementation of each spacecraft would be greatly simplified compared to previous Europa mission concepts, minimizing new development while achieving the key Europa science objectives. We will report on the status of this evolving concept, and will solicit community feedback, as we pursue an innovative and low-cost ways to explore Europa and investigate its habitability.
Pappalardo↗
Plasma IMS Composition Measurements for Europa and the Other Galilean Moons
NASA and ESA are planning the joint Europa Jupiter System Mission (EJSM) to the Jupiter system with specific emphasis to Europa and Ganymede, respectively. The Japanese Space Agency is also planning an orbiter mission to explore Jupiter's magnetosphere and the Galilean satellites. For NASA's Jupiter Europa Orbiter (JEO) we are developing the 3D Ion Mass Spectrometer (IMS) with two main goals which can also be applied to the other Galilean moons, 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the 4 pi surface composition to trace elemental and significant isotopic levels. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second gives information about transfer of material between the Galilean moons, and between the moon surfaces and subsurface layers putatively including oceans. The measurement of the interactions for all the Galilean moons can be used to trace the in situ ion measurements of pickup ions back to either Europa's or Ganymede's surface from the respectively orbiting spacecraft. The IMS instrument, being developed under NASA's Astrobiology Instrument Development Program, would maximally achieve plasma measurement requirements for JEO and EJSM while moving forward our knowledge of Jupiter system composition and source processes to far higher levels than previously envisaged. The composition of the global surfaces of Europa and Ganymede can be inferred from the measurement of ejected neutrals and pick-up ions using at minimum an in situ payload including MAG and IMS also fully capable of meeting Level 1 mission requirements for ocean detection and survey. Elemental and isotopic analysis of potentially extruded oceanic materials at the moon surfaces would further support the ocean objectives. These measurements should be made from a polar orbiting spacecraft about Europa or Ganymede at height 100 km. The ejecta produced by sputtering of the surfaces of Europa and Ganymede has been shown to be representative of the surface composition. Level 2 science on surface geology and composition can then be further enhanced by addition of the following: 3D Ion Neutral Mass Spectrometer (INNS), 3D plasma electron spectrometer (ELS), and hot plasma energetic particle instrument. The measurement approach is to alternate between times measuring pickup ions and times measuring plasma and magnetic field parameters along the spacecraft trajectory. By measuring the pickup ion energy, arrival direction and mass-per-charge, the ion can be traced back along the ejection trajectory to the approximate area of origin if the 3-D electric field and magnetic field are known. In situ observations of plasma flow velocities and vector magnetic fields can be used to determine the local convective electric field (E = -VXB) along the spacecraft trajectory. By combining this information with models of the magnetospheric interaction with Europa, one can generate 3D maps of the electric and magnetic field and compute the trajectories of the pickup ions back to the surface or exospheric points of origin. In the case of Ganymede there is the additional complexity of its own internal dipole magnetic field, while Io's volcanic activity introduces the complexity of a highly structured denser atmosphere. Callisto with its less globally extended exosphere will have a simpler interaction than for Europa (i.e., more like our moon). We will discuss these differences in light of the above proposed technique. Finally, the INNS observations and neutral exosphere models are needed to estimate production rates of pickup ions. The hot plasma measurements are needed to correct for sputtering rates which can be time dependent and electron plasma observations for electron impact ionization rates. Instrument characteristics, field-of-view requirements, modes of operation and effects of radiation on instrument functionality will be discussed.
Sittler, Edward↗
Tour Design Techniques for the Europa Clipper Mission
Europa is one of the most scientifically interesting targets of the solar system, as it may possess the three necessary ingredients for life: an extensive ocean of liquid water, an energy source from tidal heating, and a suite of biogenic elements. To explore the habitability of Europa, NASA is developing the Europa Clipper mission, currently scheduled to be launched in 2022. Europa resides deep inside the gravity well of Jupiter, in a region of the magnetosphere with many trapped ionized particles that get accelerated to near relativistic speeds; a Europa orbiter mission would require a large amount of ∆V for an orbit insertion maneuver, and would only return limited science data before being critically exposed to radiation. To mitigate these issues, Europa Clipper instead only utilizes Europa flybys, connected by Europa-resonant and non-resonant orbits. Science data is collected during high-radiation passes, and returned to Earth during the rest of the Jovian orbits, at a much lower radiation dose exposure. This paper will present several tour tools techniques developed for the design of the Europa Clipper flyby trajectory. In particular, the paper will describe different ways to perform fast line-of-apsides rotations; a new approach to improve the coverage of Europa’s trailing and leading edges, with the lighting conditions considerations; parametric studies of the expected radiation dose and time-of-flight as function of the Europa resonance; and a quick way to estimate the radiation dose for Jovian tours. Other techniques, that were already presented in previous papers, will be reviewed for completeness. We then implement some of the new approaches in the 18F17 tour.
Pellegrini, Etienne↗
Oceans, Ice Shells, and Life on Europa
The four large satellites of Jupiter are famous for their planet-like diversity and complexity, but none more so than ice-covered Europa. Since the provocative Voyager images of Europa in 1979, evidence has been mounting that a vast liquid water ocean may lurk beneath the moon's icy surface. Europa has since been the target of increasing and sometimes reckless speculation regarding the possibility that giant squid and other creatures may be swimming its purported cold, dark ocean. No wonder Europa tops everyone's list for future exploration in the outer solar system (after the very first reconnaissance of Pluto and the Kuiper belt, of course). Europa may be the smallest of the Galilean moons (so-called because they were discovered by Galileo Galilei in the early 17th century) but more than makes up for its diminutive size with a crazed, alien landscape. The surface is covered with ridges hundreds of meters high, domes tens of kilometers across, and large areas of broken and disrupted crust called chaos. Some of the geologic features seen on Europa resemble ice rafts floating in polar seas here on Earth-reinforcing the idea that an ice shell is floating over an ocean on this Moon-size satellite. However, such features do not prove that an ocean exists or ever did. Warm ice is unusually soft and will flow under its own weight. If the ice shell is thick enough, the warm bottom of the shell will flow, as do terrestrial glaciers. This could produce all the observed surface features on Europa through a variety of processes, the most important of which is convection. (Convection is the vertical overturn of a layer due to heating or density differences-think of porridge or sauce boiling on the stove.) Rising blobs from the base of the crust would then create the oval domes dotting Europa's surface. The strongest evidence for a hidden ocean beneath Europa's surface comes from the Galileo spacecraft's onboard magnetometer, which detected fluctuations in Jupiter's magnetic field consistent with a conductor inside Europa. The most likely conductor: a somewhat salty ocean.
Schenk, Paul↗
Europa: Prospects for an ocean and exobiological implications
As far as we know, Earth is the only planet in our solar system that supports life. It is natural, therefore, that our understanding of life as a planetary phenomenon is based upon Earth-like planets. There are environments in the solar system where liquid water, commonly believed to be a prerequisite for biological activity, may exist in a distinctly non-Earth-like environment. One such location is Europa, one of the Galilean satellites of Jupiter. The possibility that liquid water exists on Europa presents us with some interesting exobiological implications concerning the potential of the satellite to support life. Topics include the following: an ocean on Europa; thermal evolution of Europa; Europa's three models; exobiological implications; early conditions of Europa; low-temperature abiotic chemistry; possibility of the emergence of life on Europa; prerequisites for the habitability of Europa; energy sources for biosynthesis and metabolic activity; habitability of Europa by anaerobic life; and habitability by aerobic life.
Oro, John↗
The Plasma Wave Environment of Europa
The Galileo spacecraft has executed nine close flybys of Jupiter's moon Europa for which plasma wave observations were obtained. This paper presents an analysis of the observations from these flybys taking into consideration the variable geometry of the trajectories in an attempt to characterize the general plasma-wave environment associated with the interaction of the Jovian magnetosphere with the moon. A wide variety of plasma-wave phenomena are found to be associated with this interaction. While there are apparently temporal variations which complicate the analysis, a crude model of the distribution of these phenomena around Europa is derived. Primarily on the upstream side of Europa, and working inward to the moon, electron-cyclotron harmonics are first observed, followed by a region within about two Europa radii of the moon with whistler-mode hiss or chorus, and culminating in a region closest to the moon where a band at the upper hybrid resonance frequency is sometimes enhanced over its ambient intensity. The wake region is approximately two Europa radii across and comprises a broadband, highly variable, and bursty electrostatic phenomenon. Upon closer inspection, these bursty emissions appear as solitary structures similar to those in Earth's auroral zone and plasma sheet boundary layer. In addition to the survey of wave phenomena in the vicinity of Europa, we provide density profiles derived primarily from the upper hybrid resonance frequency which is readily apparent throughout most of each of the flybys. Finally, we suggest that the whistler mode, electron cyclotron harmonic, and upper hybrid resonance emissions are driven by some combination of factors including variations in the magnetic field near Europa and the loss and production of plasma at Europa as a result of the interaction of the Jovian magnetosphere with the moon. By analogy with studies of the ion and electron holes and broadband electrostatic noise at Earth and Jupiter, we argue that the electrostatic solitary structures in the wake are associated with currents and beams coupling Europa to Jupiter's ionosphere.
Kurth, W. S.↗
The Contribution of Io-Raised Tides to Europa's Diurnally-Varying Surface Stresses
Europa's icy surface records a rich history of geologic activity, Several features appear to be tectonic in origin and may have formed in response to Europa's daily-varying tidal stress [I]. Strike-slip faults and arcuate features called cycloids have both been linked to the patterns of stress change caused by eccentricity and obliquity [2J[3]. In fact, as Europa's obliquity has not been directly measured, observed tectonic patterns arc currently the best indicators of a theoretically supported [4] non-negligible obliquity. The diurnal tidal stress due to eccentricity is calculated by subtracting the average (or static) tidal shape of Europa generated by Jupiter's gravitational field from the instantaneous shape, which varies as Europa moves through its eccentric orbit [5]. In other words, it is the change of shape away from average that generates tidal stress. One might expect tidal contributions from the other large moons of Jupiter to be negligible given their size and the height of the tides they raise on Europa versus Jupiter's mass and the height of the tide it raises on Europa, However, what matters for tidally-induced stress is not how large the lo-raised bulge is compared to the Jupiter-raised bulge but rather the differences bet\Veen the instantaneous and static bulges in each case. For example, when Europa is at apocenter, Jupiter raises a tide 30m lower than its static tide. At the same time, 10 raises a tide about 0.5m higher than its static tide. Hence, the change in Io's tidal distortion is about 2% of the change in the Jovian distortion when Europa is at apocenter
Rhoden, Alyssa Rose↗
Plasma IMS Composition Measurements for Europa, Ganymede, and the Jovian System
NASA and ESA are now planning a reduced version of the joint Europa Jupiter System Mission (EJSM), potentially including a radically descoped Jupiter Europa Orbiter (JEO) but still with magnetometer and plasma instruments. Similar field and plasma instrumentation would also reside on ESA's Jupiter Ganymede Orbiter (JGO), which conceivably could carry out multiple flybys of Europa before entering orbit at Ganymede. We are developing the 3D Ion Mass Spectrometer (IMS) designed to measure both major and minor ion species within the high radiation environment of Jupiter's magnetosphere and the icy Galilean moons. The IMS covers the energy range from 10 eV to 30 keY, wide field-of-view (FOV) capability and 10-60 sec time resolution for major ions. This instrument has two main goals: 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the global surface composition to trace elemental and significant isotopic levels; these goals are also applicable for in-situ measurements at Ganymede and Callisto, and remotely everywhere via the iogenic plasma for 10. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second goal gives information about transfer of material between the Galilean moons, e.g. mainly from 10 to the other moons, and further allows detection of oceanic materials emergent to the moon surfaces from subsurface layers putatively including salt water oceans. Outgassed exospheric materials are probed by the IMS by measuring pickup ions accelerated up to spacecraft altitudes of approximately 100-200 km in electric fields extending through the local magnetospheric environment and moon exosphere to the surface. Our 3D hybrid kinetic model of the moon-magnetosphere interaction is used to construct a global model of electric and magnetic fields for tracing of pickup ion trajectories back to the sources at approximate surface resolution of 100 km. We show that Europa's exospheric ionosphere is dominated by pickup ions with energies of 100-1000 eV. We also expect field aligned polar ion outflows driven by ionospheric electrons via the polarization electric field at Europa; the IMS will observe such outflows and thus sample the ionosphere below spacecraft orbit altitude approximately 100 km. Based on previous Ganymede studies, we also comment on IMS applications to a Ganymede orbiter. The IMS and the Europa interaction model are respectively being developed with support from NASA's Astrobiology Instrument Development (ASTID) and Outer Planets Research (OPR) programs.
Sittler, E. C., Jr.↗
Plasma IMS Composition Measurements for Europa, Ganymede, and the Jovian Systems
NASA and ESA are now planning a reduced version of the joint Europa Jupiter System Mission (EJSM), potentially including a radically descoped Jupiter Europa Orbiter (JEO) but still with magnetometer and plasma instruments. Similar field and plasma instrumentation would also reside on ESA's Jupiter Ganymede Orbiter (JGO), which conceivably could carry out multiple flybys of Europa before entering orbit at Ganymede. We are developing the 3D Ion Mass Spectrometer (IMS) designed to measure both major and minor ion species within the high radiation environment of Jupiter s magnetosphere and the icy Galilean moons. The IMS covers the energy range from 10 eV to 30 keV, wide field-ofview (FOV) capability and 10-60 sec time resolution for major ions. This instrument has two main goals: 1) measure the plasma interaction between Europa and Jupiter s magnetosphere and 2) infer the global surface composition to trace elemental and significant isotopic levels; these goals are also applicable for in-situ measurements at Ganymede and Callisto, and remotely everywhere via the iogenic plasma for Io. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second goal gives information about transfer of material between the Galilean moons, e.g. mainly from Io to the other moons, and further allows detection of oceanic materials emergent to the moon surfaces from subsurface layers putatively including salt water oceans. Outgassed exospheric materials are probed by the IMS by measuring pickup ions accelerated up to spacecraft altitudes of approximately 100-200 km in electric fields extending through the local magnetospheric environment and moon exosphere to the surface. Our 3D hybrid kinetic model of the moon-magnetosphere interaction is used to construct a global model of electric and magnetic fields for tracing of pickup ion trajectories back to the sources at approximate surface resolution of 100 km. We show that Europa's exospheric ionosphere is dominated by pickup ions with energies of 100-1000 eV. We also expect field aligned polar ion outflows driven by ionospheric electrons via the polarization electric field at Europa; the IMS will observe such outflows and thus sample the ionosphere below spacecraft orbit altitude approximately 100 km. Based on previous Ganymede studies, we also comment on IMS applications to a Ganymede orbiter. The IMS and the Europa interaction model are respectively being developed with support from NASA's Astrobiology Instrument Development (ASTID) and Outer Planets Research (OPR) programs.
Sittler, E.↗
Trajectory Design for the Europa Clipper Mission Concept
Europa is one of the most scientifically intriguing targets in planetary science due to its potential suitability for extant life. As such, NASA has funded the California Institute of Technology Jet Propulsion Laboratory and the Johns Hopkins University Applied Physics Laboratory to jointly determine and develop the best mission concept to explore Europa in the near future. The result of nearly 4 years of work--the Europa Clipper mission concept--is a multiple Europa flyby mission that could efficiently execute a number of high caliber science investigations to meet Europa science priorities specified in the 2011 NRC Decadal Survey, and is capable of providing reconnaissance data to maximize the probability of both a safe landing and access to surface material of high scientific value for a future Europa lander. This paper will focus on the major enabling component for this mission concept--the trajectory. A representative trajectory, referred to as 13F7-A21, would obtain global-regional coverage of Europa via a complex network of 45 flybys over the course of 3.5 years while also mitigating the effects of the harsh Jovian radiation environment. In addition, 5 Ganymede and 9 Callisto flybys would be used to manipulate the trajectory relative to Europa. The tour would reach a maximum Jovicentric inclination of 20.1 deg. have a deterministic (Delta)V of 164 m/s (post periapsis raise maneuver), and a total ionizing dose of 2.8 Mrad (Si).
orbital mechanics↗
Evolution of Trajectory Design Requirement of NASA's Planned Europa Clipper Mission
Europa is one of the most scientifically intriguing targets in planetary science due to its potential suitability for extant life. As such, NASA has funded the California Institute of Technology Jet Propulsion Laboratory and the Johns Hopkins University Applied Physics Laboratory to jointly develop the planned Europa Clipper mission—a multiple Europa flyby mission architecture aimed to thoroughly investigate the habitability of Europa and provide reconnaissance data to determine a landing site that maximizes the probability of both a safe landing and high scientific value for a potential future Europa lander. The trajectory design—a major enabling component for this Europa Clipper mission concept—was developed to maximize science from a set of eight model payload instruments determined by a NASA-appointed Europa Science Definition Team (SDT) between 2011-2015. On May 26, 2015, NASA officially selected 10 instruments from 6 different U.S. research facilities and universities. With the selection of instruments have come the development of new science measurement requirements, as well as a rich set of requirements stemming from project policies, planetary protection, and the evolved capability and characteristics of the flight system and mission operations system. This paper will focus on the evolution of requirements levied on the trajectory design, discuss strategies and solutions to the multidimensional optimization problem of designing high fidelity end-to-end trajectories that maximize Europa science while mitigating mission risk, complexity and cost, and last, verification of candidate trajectories to meet the requirements on the trajectory design.
Buffington, Brent↗
Improved Determination of Europa's Long-Wavelength Topography Using Stellar Occultations
Europa Clipper will arrive at Jupiter at the end of this decade and will explore Europa through a series of flybys. One of its many goals is to characterize Europa's topography and global shape using the Europa Imaging System and Radar for Europa Assessment and Sounding: Ocean to Near-surface (REASON) instruments. In addition, Europa Clipper's UV Spectrograph will observe stars pass behind (be occulted by) Europa. The spectrograph has sufficiently precise timing, corresponding to a topographic precision of order meters, that these occultations can also serve as altimetric measurements. Because of gaps in the REASON radar altimeter coverage imposed by the flyby geometries, the addition of ∼100 occultations results in a substantial improvement in the recovery of Europa's long-wavelength shape. Typically, five extra spherical harmonic degrees of topography can be recovered by combining occultations with radar altimetry.
Jacob N. H. Abrahams↗
Landing on Europa: Challenges, Technologies, and a Strategy
Jupiter’s moon Europa is of intense scientific interest because of the vast quantities of salty liquid water which likely lay beneath its thin icy crust and the tantalizing prospect of finding life elsewhere in the solar system. The planned Europa Mission, which would perform remote science through multiple flybys of Europa, is under development and promises to yield unprecedented insight into this intriguing body. However, there remains a strong desire in the scientific community to perform in situ Europa science through a landed mission. Europa presents unique challenges to a landing mission because of its hostile radiation environment and the lack of information about its terrain. As a complement to the flyby mission, a bold concept to land on Europa and perform in situ science is being studied. Such a mission requires significant technology development to overcome the inherent landing challenges. This paper provides a brief overview of the Europa Lander mission concept and its notional objectives. It then describes the significant challenges associated with landing on Europa, the technologies required to overcome those challenges, and a strategy for Deorbit, Descent, and Landing.
Frick, Andreas↗
LiDAR-Based Map Relative Localization Performance Analysis for Landing on Europa
This paper presents preliminary simulations andanalyses done to assess the feasibility of performing Map RelativeLocalization (MRL) with the Europa Lander LiDAR beingdeveloped for the Europa Lander Pre-Phase A concept. MapRelative Localization is the process of determining the horizontalposition of a lander with respect to an onboard, a-priori map,by comparing the map to sensor observations of the terrain duringdeorbit, descent, and landing (DDL). Although kilometerscaleposition knowledge is commonly available during DDL,landing in hazard-rich environments requires position errors of100 m or less. Prior knowledge in the case of Europa Landerwill be visual and topographic maps collected by the upcomingEuropa Clipper mission. The Mars 2020 Lander Vision System(LVS) uses images from a camera to localize with respect tovisual maps. This technology, as well as a 3D imaging LiDAR indevelopment for hazard detection, is currently baselined for theEuropa Lander Pre-Phase A concept. This paper investigatesthe potential use of the hazard detection LiDAR to performMRL with respect to a 3D digital elevation model (DEM)provided by the Europa Clipper mission, as an alternative orbackup solution to passive optical MRL. Compared to passiveoptical MRL, one advantage of LiDAR-based localization isthat it is insensitive to lighting conditions, potentially relaxingrequirements on synchronizing map acquisition and landingtime of day. To analyze LiDAR based MRL performance,six representative terrains are synthetically up-sampled fromGalileo-derived maps of Europa to a resolution of 0.5 m/pxand covering an area of 4 km by 4 km. These maps are usedas ground-truth to generate simulated noisy a-priori onboardtopographic maps expected from Europa Clipper as well assimulated LiDAR DEMs generated at an altitude of 5 km duringEuropa Lander DDL. The simulated LiDAR DEM is matchedagainst the simulated map via 2D normalized cross-correlation,exploiting the accurately known spacecraft attitude to avoidthe need for more computationally intensive algorithms such asIterative Closest Point (ICP). Two sources of measurement errorare identified for analysis: 1) additive Gaussian noise in therange measurements from the Europa Lander LiDAR and theEuropa Clipper derived maps and 2) errors in the LiDAR DEMinduced by errors in the Europa Lander state estimate which isused to de-warp the LiDAR scan data into a DEM format. Weassess the effect of each of these types of errors independently onmatching performance as well as the overall performance whenall types of error are introduced. Additionally, we present theresult of a sensitivity study to terrain frequency content.
Trawny, Nikolas↗