Overview of the Mars Exploration Rover Mission
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MER Mars Exploration Rover spacecraft Mars lander↗
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Introduction to the Mars Pathfinder Issue
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Mars Pathfinder rover spacecraft Mars planetary ge↗
Mars Pathfinder and Mars Global Surveyor Outreach Compilation
This videotape is a compilation of the best NASA JPL (Jet Propulsion Laboratory) videos of the Mars Pathfinder and Mars Global Surveyor missions. The mission is described using animation and narration as well as some actual footage of the entire sequence of mission events. Included within these animations are the spacecraft orbit insertion; descent to the Mars surface; deployment of the airbags and instruments; and exploration by Sojourner, the Mars rover. JPL activities at spacecraft control during significant mission events are also included at the end. The spacecraft cameras pan the surrounding Mars terrain and film Sojourner traversing the surface and inspecting rocks. A single, brief, processed image of the Cydonia region (Mars face) at an oblique angle from the Mars Global Surveyor is presented. A description of the Mars Pathfinder mission, instruments, landing and deployment process, Mars approach, spacecraft orbit insertion, rover operation are all described using computer animation. Actual color footage of Sojourner as well as a 360 deg pan of the Mars terrain surrounding the spacecraft is provided. Lower quality black and white photography depicting Sojourner traversing the Mars surface and inspecting Martian rocks also is included.
Source record↗
Mars Exploration Rovers orbit detemination system modeling
This paper will discuss the system modeling for two nearly identical spacecrafts, Mars Exploration Rovers; Spirit and Opportunity.
orbit determination↗
Mars 2020: Mission, Science Objectives and Build
If all goes according to plan, in February 2021, NASA will land the Mars 2020 Rover on the surface of Mars. Mars 2020 is the latest in a series of unmanned Martian robotic rover missions that are part of NASA’s Mars Exploration Program, a long-term effort of robotic exploration of the planet. The mission seeks to address high-priority goals for Mars exploration, including answering questions about the potential for past life on Mars. Mars 2020 will look for evidence of habitable conditions on Mars in the ancient past, as well as look for signs of past microbial life itself. The mission also seeks to understanding the geological history and evolution of the planet, and to prepare for future robotic and human exploration. The Mars 2020 spacecraft and rover borrow heavily from the Mars Science Laboratory (MSL) mission and Curiosity rover which landed on Mars in 2012. This reliance on proven technology helps reduce mission risk and cost. Mars 2020 does contain new technology, including a drill for coring samples from Martian rock and soil and a Sample Caching System for gathering, storing and preserving samples for possible future return to Earth. In this paper, we will review the primary goals of the Mars 2020 Mission and look at the reasons for choosing Jezero Crater as the landing site. We will discuss the design and build of the Mars 2020 Spacecraft system and its similarities and differences with Mars Science Laboratory and the Curiosity Rover. We will also review the Mars 2020 Scientific Instrument Suite and their goals. Finally, we will review the Return Sample Contamination Control requirements and the design choices that were made to facilitate meeting these requirements.
Soares, Carlos E.↗
JPL VLBI Analysis Center IVS Annual Report for 2003
This report describes the activities of the JPL VLBI Analysis Center for the year 2003. We continue to do celestial reference frame, terrestrial reference frame, and spacecraft navigation work using the VLBI technique. Tracking the two Mars Exploration Rover spacecraft was the highlight for the year. We continued improvements in the first sub-milliarcsecond global celestial reference frames at K-band (24 GHz) and Q-band (43 GHz). The K-band catalog more than doubled in size from 108 to 230 sources.
Jacobs, Chris↗
Evolution of the Scope and Capabilities of Uplink Support Software for Mars Surface Operations
In January of 2004 both of the Mars Exploration Rover spacecraft landed safely, initiating daily surface operations at the Jet Propulsion Laboratory for what was anticipated to be approximately three months of mobile exploration. The longevity of this mission, still ongoing after ten years, has provided not only a tremendous return of scientific data but also the opportunity to refine and improve the methodology by which robotic Mars surface missions are commanded. Since the landing of the Mars Science Laboratory spacecraft in August of 2012, this methodology has been successfully applied to operate a Martian rover which is both similar to, and quite different from, its predecessors. For MER and MSL, daily uplink operations can be most broadly viewed as converting the combined interests of both the science and engineering teams into a spacecraft-safe set of transmittable command files. In order to accomplish these ends a discrete set of mission-critical software tools were developed which not only allowed for conformation to established JPL standards and practices but also enabled innovative technologies specific to each mission. Although these primary programs provided the requisite capabilities for meeting the high-level goals of each distinct phase of the uplink process, there was little in the way of secondary software to support the smooth flow of data from one phase to the next. In order to address this shortcoming a suite of small software tools was developed to aid in phase transitions, as well as to automate some of the more laborious and error-prone aspects of uplink operations. This paper describes the evolution of this software suite, from its initial attempts to merely shorten the duration of the operator's shift, to its current role as an indispensable tool enforcing workflow of the uplink operations process and agilely responding to the new and unexpected challenges of missions which can, and have, lasted many years longer than originally anticipated.
CoUGAR↗
Critical Spacecraft-to-Earth Communications for Mars Exploration Rover (MER) entry, descent and landing
For planetary lander missions, the most challenging phase of the spacecraft to ground communications is during the entry, descent, and landing (EDL). As each 2003 Mars Exploration Rover (MER) enters the Martian atmosphere, it slows dramatically. The extreme acceleration and jerk cause extreme Doppler dynamics on the X-band signal received on Earth. When the vehicle slows sufficiently, the parachute is deployed, causing almost a step in deceleration. After parachute deployment, the lander is lowered beneath the parachute on a bridle. The swinging motion of the lander imparts high Doppler dynamics on the signal and causes the received signal strength to vary widely, due to changing antenna pointing angles. All this time, the vehicle transmits important health and status information that is especially critical if the landing is not successful. Even using the largest Deep Space Network antennas, the weak signal and high dynamics render it impossible to conduct reliable phase coherent communications. Therefore, a specialized form of frequency-shift-keying will be used. This paper describes the EDL scenario, the signal conditions, the methods used to detect and frequency-track the carrier and to detect the data modulation, and the resulting performance estimates.
entry, descent, and landing communications↗
Mars 2020 Thermal Protection Systems Sizing and Development
The Mars 2020 spacecraft delivering the Perseverance Rover to Mars was planned to be a build-to-print repeat of the Mars Science Laboratory (MSL) spacecraft that delivered the Curiosity Rover to Mars in 2012. The 2020 mission would deliver a slightly higher mass at a lower entry velocity, so the mission designers were comfortable with the cost saving approach of using an already proven design. The approach used in sizing the thermal protection systems (TPS) for the various components of the MSL spacecraft included convective heating and shock layer radiation (a small contributor) on the heatshield and only convective heating on all of the aft body parts. At the time, it was assumed that the contribution of radiation from the shock layer and the wake was negligible on the aft body at Mars. In the time since the MSL spacecraft was designed, in light of new data and analysis, NASA realized the significance of radiative heating in the aftbody on vehicles entering Mars, beginning with the InSight entry. New analyses showed that the radiant heat fluxes on aft body components at Mars were of the same order or even larger than predicted convective heat fluxes. The Mars 2020 team was tasked with showing that the TPS thicknesses designed for MSL with only convective heating would survive the Mars 2020 convective plus radiative heat flux environments. Luckily, many of the MSL aft body components were sized using an extra conservative approach, often sizing for the worst environment at the lightest, thinnest structure, even though the environments and structures were not co-located. The Mars 2020 team had to more accurately evaluate the environments and structures to show that the design would close
Mars Entry↗
The Effects of Clock Drift on the Mars Exploration Rovers
All clocks drift by some amount, and the mission clock on the Mars Exploration Rovers (MER) is no exception. The mission clock on both MER rovers drifted significantly since the rovers were launched, and it is still drifting on the Opportunity rover. The drift rate is temperature dependent. Clock drift causes problems for onboard behaviors and spacecraft operations, such as attitude estimation, driving, operation of the robotic arm, pointing for imaging, power analysis, and telecom analysis. The MER operations team has techniques to deal with some of these problems. There are a few techniques for reducing and eliminating the clock drift, but each has drawbacks. This paper presents an explanation of what is meant by clock drift on the rovers, its relationship to temperature, how we measure it, what problems it causes, how we deal with those problems, and techniques for reducing the drift.
rovers↗
Jet Propulsion Laboratory: Annual Report 2002
The year 2002 brought advances on many fronts in our space exploration ventures. A new orbiter settled in at Mars and delivered tantalizing science results suggesting a vast store of water ice under the planet's surface, a discovery that may have profound consequences for exploring Mars. A long-lived spacecraft made its final fly-bys of Jupiter's moons, while another started its final approach toward Saturn and yet another flew by an asteroid on its way to a comet. A new ocean satellite began science observations, joined in Earth orbit by a pair of spacecraft measuring our home planets gravity field, as well as JPL instruments on NASA and Japanese satellites. A major new infrared observatory and a pair of Mars rovers were readied for launch. All told, JPL is now communicating with 14 spacecraft cast like gems across the velvet expanses of the solar system. It is a far cry from the early 1960's, when JPL engineers made prodigious efforts to get the first planetary explorers off the ground and into space - an achievement of which we were especially mindful this year, as 2002 marked the 40th anniversary of the first successful planetary mission, Mariner 2, which barely reached our closest planetary neighbor, Venus. Added to this anniversary were celebrations surrounding the 25th anniversaries of the launches of Voyagers 1 and 2, two remarkable spacecraft that are still flying and are actively probing the outer realms of the solar system. These events of the past and present provide an occasion for reflection on the remarkable era of exploration that we at the Jet Propulsion Laboratory are privileged to be a part of. As 2002 neared its end, the Laboratory had yet another reason for celebration, as a new five-year management contract between NASA and the California Institute of Technology was signed that calls for a closer working relationship with NASA and other NASA centers as a member of the 'One NASA' team. There is a strong emphasis on cost control and management, areas in which we can improve, enabling us to become more competitive. This new agreement again confirms NASA's trust and faith in Caltech and JPL, in which we should all take great pride. If the history of JPL were a book, we are on the verge of turning the page to one that promises to be one of the most exciting and busiest chapters in JPL's history. In 2003 and 2004, we will launch 11 spacecraft or major payloads. We will land two rovers on Mars; put a spacecraft in orbit around Saturn, deliver a probe to the surface of its largest moon, Titan, and map Titan's surface withimaging radar; send a spacecraft past a comet collecting samples from its tail, while another one is launched toward a comet impact; bring a capsule back to Earth with the first samples ever collected beyond the orbit of the Moon; map the skies in the ultraviolet as well as the infrared spectrum to unprecedented accuracy; and continue the mapping of ocean topography and winds on our home planet, Earth.
National Aeronautics and Space Administration (NAS↗
Spacecraft navigation at Mars using earth-based and in situ radio tracking techniques
A survey of earth-based and in situ radiometric data types and results from a number of studies investigating potential radio navigation performance for spacecraft approaching/orbiting Mars and for landed spacecraft and rovers on the surface of Mars are presented. The performance of Doppler, ranging and interferometry earth-based data types involving single or multiple spacecraft is addressed. This evaluation is conducted with that of in situ data types, such as Doppler and ranging measurements between two spacecraft near Mars, or between a spacecraft and one or more surface radio beacons.
Thurman, S. W.↗
Mars Science Laboratory Interplanetary Navigation Performance
The Mars Science Laboratory spacecraft, carrying the Curiosity rover to Mars, hit the top of the Martian atmosphere just 200 meters from where it had been predicted more than six days earlier, and 2.6 million kilometers away. This un-expected level of accuracy was achieved by a combination of factors including: spacecraft performance, tracking data processing, dynamical modeling choices, and navigation filter setup. This paper will describe our best understanding of what were the factors that contributed to this excellent interplanetary trajectory prediction performance. The accurate interplanetary navigation contributed to the very precise landing performance, and to the overall success of the mission.
Martin-Mur, Tomas J.↗
NASA/ASEE Summer Faculty Fellowship Program, 1990, volume 2
The 1990 Johnson Space Center (JSC) National Aeronautics and Space Administration (NASA)/American Society for Engineering Education (ASEE) Summer Faculty Fellowship Program was conducted by the University of Houston-University Park and Johnson Space Centers (JSC). A compilation of the final reports on the research projects is presented. The following topics are covered: the Space Shuttle; the Space Station; lunar exploration; mars exploration; spacecraft power supplies; mars rover vehicle; mission planning for the Space Exploration Initiative; instrument calibration standards; a lunar oxygen production plant; optical filters for a hybrid vision system; dynamic structural analysis; lunar bases; pharmacodynamics of scopolamine; planetary spacecraft cost modeling; and others.
Bannerot, Richard B.↗
Environmental Test Program for the Mars Exploration Rover Project
On June 10 and July 7, 2003 the National Aeronautics and Space Administration (NASA) launched two spacecraft from Cape Canaveral, Florida for a six (6) months flight to the Red Planet, Mars. The two Mars Exploration Rover spacecraft landed safely on the planet in January 2004. Prior to the successful launch, both of the spacecraft were involved in a comprehensive test campaign that included development, qualification, and protoflight test programs. Testing was performed to simulate the environments associated with launch, inter-planetary cruise, landing on the planet and Mars surface operations. Unique test requirements included operating the spacecraft while the chamber pressure was controlled to simulate the decent to the planet from deep space, high impact landing loads and rover operations on the surface of the planet at 8 Torr and -130 C. This paper will present an overview of the test program that included vibration, pyro-shock, landing loads, acoustic noise, thermal vacuum and solar simulation testing at the Jet Propulsion Laboratory (JPL) Environmental Test Laboratory facilities in Pasadena, California.
Fisher, Terry C.↗
Dynamic testing and simulation of the Mars Exploration Rover
In January of 2004, NASA landed two mobile robotic spacecraft on the surface of Mars as part of the Mars Exploration Rover (MER) project. The results and lessons learned of the test and dynamic simulation of the MER vehicles is provided in this paper.
rovers↗
Meridiani Planum Hematite Deposit: Potential for Preservation of Microfossils
Christensen et al., using data from the Mars Global Surveyor Thermal Emission Spectrometer (TES), have identified gray crystalline hematite in a 350 km by 750 km region near Meridiani Planum. The deposit corresponds closely to the low-albedo highlands unit sm, mapped as a wind-eroded, ancient, subaqueous sedimentary deposit. Christensen et al. interpreted the Meridiani Planum deposit to be an in-place, rock-stratigraphic sedimentary unit characterized by smooth, friable layers composed primarily of basaltic sediments with approximately 10 to 15% crystalline gray hematite. The Meridiani Planum hematite deposit has recently been designated as the prime landing site for one of the two Mars Exploration Rover (MER) spacecraft. The MER landings are scheduled for January, 2004. Christensen et al. discussed five possible mechanisms for the formation of this deposit: direct precipitation from standing, oxygenated, Fe-rich water; precipitation from Fe-rich hydrothermal fluids; low-temperature dissolution and precipitation through mobile groundwater leaching; surface weathering and coatings; thermal oxidation of magnetite-rich lavas. Four of these mechanisms involve the interactions of rock with water, and thus have implications in the search for evidence of microbial life.
C C Allen↗