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NASA NTRS2003

Selection of the Final Four Landing Sites for the Mars Exploration Rovers

Engineering constraints developed for the Mars Exploration Rovers (MER), their translation into ~185 potential landing sites and their downselection to 6 high priority science sites have been described [1, 2]. These 6 sites (Meridiani-previously referred to as Hematite, Gusev, Isidis, Melas, Eos, and Athabasca) were evaluated in detail as to their science potential and safety, relative to specific engineering constraints, at the 3rd MER Landing Site Workshop held March 26-28, 2002 in Pasadena, CA. This abstract describes: (1) the evaluation of these 6 sites, (2) the removal and reprioritization of sites following this workshop, (3) the identification of a low-wind site in Elysium, (4) the final 4 sites being considered for landing the 2 MER and (5) their evaluation at the 4th MER Landing Site Workshop held January 8-10, 2003 in Pasadena, CA [3].

Golombek, M.↗

NASA NTRS2016

Lunar Reconnaissance Orbiter Camera Observations Relating to Science and Landing Site Selection in South Pole-Aitken Basin for a Robotic Sample Return Mission

The Moon's South Pole-Aitken basin (SPA) is a high priority target for Solar System exploration, and sample return from SPA is a specific objective in NASA's New Frontiers program. Samples returned from SPA will improve our understanding of early lunar and Solar System events, mainly by placing firm timing constraints on SPA formation and the post-SPA late-heavy bombardment (LHB). Lunar Reconnaissance Orbiter Camera (LROC) images and topographic data, especially Narrow Angle Camera (NAC) scale (1-3 mpp) morphology and digital terrain model (DTM) data are critical for selecting landing sites and assessing landing hazards. Rock components in regolith at a given landing site should include (1) original SPA impact-melt rocks and breccia (to determine the age of the impact event and what materials were incorporated into the melt); (2) impact-melt rocks and breccia from large craters and basins (other than SPA) that represent the post-SPA LHB interval; (3) volcanic basalts derived from the sub-SPA mantle; and (4) older, "cryptomare" (ancient buried volcanics excavated by impact craters, to determine the volcanic history of SPA basin). All of these rock types are sought for sample return. The ancient SPA-derived impact-melt rocks and later-formed melt rocks are needed to determine chronology, and thus address questions of early Solar System dynamics, lunar history, and effects of giant impacts. Surface compositions from remote sensing are consistent with mixtures of SPA impactite and volcanic materials, and near infrared spectral data distinguish areas with variable volcanic contents vs. excavated SPA substrate. Estimating proportions of these rock types in the regolith requires knowledge of the surface deposits, evaluated via morphology, slopes, and terrain ruggedness. These data allow determination of mare-cryptomare-nonmare deposit interfaces in combination with compositional and mineralogical remote sensing to establish the types and relative proportions of materials expected at a given site. Remote sensing compositions, e.g., FeO, also constrain the relative abundances of components. Landing-site assessments use crater and boulder distributions, and slope and terrain rugge

Jolliff, B. L.↗

NASA NTRS2001

Potential MER Landing Site in Melas Chasma

We have selected one area in Valles Marineris as a potential landing site for the Mars Exploration Rover (MER) mission. After 30 years of analyses, the formation of the Valles Marineris system of troughs and its associated deposits still remains an enigma. Understanding all aspects of the Valles Marineris would significantly contribute to deciphering the internal and external history of Mars. A landing site within Melas Chasma could provide insight into both the formation of Valles Marineris and the composition and origin of the interior layered deposits (ILDs). The ILDs have been proposed as: (1) sedimentary deposits formed in lakes mass wasted material from the walls; (3) remnants of the wall rock; (4) carbonate deposits; (5) aeolian deposits; and (6) volcanic. More recently, Malin and Edgett suggest that the fine-scale, rhythmic layering seen in the interior deposits, as well as other layered deposits in craters, supports a sedimentary origin. Because an understanding of the formation of Valles Marineris and its interior deposits is so important to deciphering the history of Mars, we have proposed a landing site for the MER mission on an exposure of interior deposits in western Melas Chasma. Either MER-A and MER-B could land at this same location.

Weitz, C. M.↗

NASA NTRS1990

The relationship between orbital, earth-based, and sample data for lunar landing sites

Results are reported of a detailed examination of data available for the Apollo lunar landing sites, including the Apollo orbital measurements of six major elements derived from XRF and gamma-ray instruments and geochemical parameters derived from earth-based spectral reflectivity data. Wherever orbital coverage for Apollo landing sites exist, the remote data were correlated with geochemical data derived from the soil sample averages for major geological units and the major rock components associated with these units. Discrepancies were observed between the remote and the soil-anlysis elemental concentration data, which were apparently due to the differences in the extent of exposure of geological units, and, hence, major rock eomponents, in the area sampled. Differences were observed in signal depths between various orbital experiments, which may provide a mechanism for explaining differences between the XRF and other landing-site data.

Clark, P. E.↗

NASA NTRS1992

The geology of the Venera/Vega landing sites

We have performed a photogeological analysis of the Venera Vega landing sites using Magellan radar images. These seven sites are the only places on Venus where geochemistry measurements were taken. In this study, the updated coordinates of the landing sites are used and the landing circle has a radius with an admissible error of about 150 km.

Basilevsky, A. T.↗

NASA NTRS2022

Landing Site Selection with a Variable-Resolution SLAM-Refined Map

In many scenarios it is desirable for planetary landers to select or modify their landing sites autonomously during descent. We present a landing site selection algorithm which is optimized to work in conjunction with a Simultaneous Localization and Mapping system. Our algorithm selects landing sites based on site slope, roughness, and operator-defined interest. In addition, we generate guidance commands and approximate fuel consumption for the highest ranked sites. We validate our algorithm with LiDAR and inertial data gathered by a vertical take-off and landing vehicle.

Chen, Po-Ting↗

NASA NTRS2018

Mars 2020 Surface Mission Modeling Landing Site Thermal Environments

This paper presents work done by the Mars 2020 Mission Planning Team to characterize landing site thermal environments. A process was developed to take in ground temperature simulation data for each landing site and efficiently discretize it into six thermal environment bins. The Mars 2020 Thermal Team then performed detailed heater and energy modeling in each of those environments. The heater modeling results were implemented into a Monte Carlo based surface mission model to understand mission performance impacts. The Mars 2020 Instrument Teams used the results to inform their design and to better understand how the thermal conditions at each landing site affected their instruments.

Lange, Robert D.↗

NASA NTRS2018

Mars 2020 Surface Mission Modeling Landing Site Thermal Environments

Lange, Robert D.↗

NASA NTRS2018

Mars 2020 Surface Mission Modeling: Landing Site Thermal Environments

This paper presents work done by the Mars 2020 Mission Planning Team to characterize landing site thermal environments. A process was developed to take in ground temperature simulation data for each landing site and efficiently discretize it into a handful of thermal bin environments. The Mars 2020 Thermal Team then performed detailed heater and energy modeling in each of those environments. The heater modeling results were implemented into a Monte Carlo based surface mission model to understand mission performance impacts. The Mars 2020 Instrument Teams used the results to inform their design and to better understand how the thermal conditions at each landing site affected their instruments.

Lange, Robert D.↗

NASA NTRS1998

Useful Radar Data for Mars 2001 Landing Site Selection

Radar data, of both Doppler-only and delay-Doppler varieties, played a useful role in the landing site certification process for Mars Pathfinder. Radar provides information on the elevation of the planetary surface, on its radar reflectivity and on the surface roughness. The elevation is important for proper entry, descent and landing, as is the reflectivity if a radar altimeter is to be used on the lander. Both the reflectivity and the surface roughness can measure the rockiness of the surface, important for a safe landing, as well as for rover trafficability. The spatial resolution of this Earth-based remote sensing technique is around 10 km in longitude by some 150 km in latitude. In the case of Pathfinder the regionally averaged properties were confirmed by ground truth at the landing site in Ares Vallis. The landing site assessment for Pathfinder relied principally on data from the 1995 Mars opposition when sub-Earth latitudes on Mars ranged from 16 to 22 degrees north. Data from earlier oppositions (1992-93, 1990, 1988-89) are available and cover latitudes from 25 south to 25 north at various longitudes. The available data will be presented at the symposium. The data are of varying quality, although ranging data is available for about 20 radar tracks per opposition, reflectivity and roughness analyses may not always be possible. Some older data are also available (1982, 1980) with range-only information.

Haldemann, A. F. C.↗

NASA NTRS1998

Potential Mars Surveyor 2001 Landing Sites: Low-Elevation Cratered "Highlands" in Central and Eastern Sinus Meridiani and Near Amenthes Fossae

The main scientific goal for the Mars Surveyor Program 2001 (MSP 01) landed mission is to collect and characterize 91 rock and 13 soil core samples using an integrated instrument suite onboard the Athena Rover. If possible, these samples will be retrieved and returned to Earth via a MSP 05 or MSP 07 mission. Preliminary engineering constraints for the MSP 01 landing site call for a location that lies between 15 S and 30 N, and below about 2 km elevation (based on Viking-era topography). Desirable landing sites for MSP 01 are to be located "in the ancient highlands where the environmental conditions may have been favorable to the preservation of evidence of possible prebiotic or biotic processes including the emergence (and, potentially, the persistence) of life". We interpret this to mean that the desirable sites include those that have evidence of aqueous sediments that might have been deposited during the Noachian and/or Hesperian Epochs of Mars' history. In addition to the search for subaqueous sedimentary deposits, we took into consideration the fact that the rover, Athena, will need to be able to access these materials. Thus, a site where aeolian deflation has occurred might be desirable because it might expose, in situ, layered sedimentary deposits. Deflated areas, of course, might include potential landing hazards in the form of meterscale buttes and mesas (e.g., Christmas Lake Valley, OR), thus careful study of such sites with high resolution images will be required before a decision is made to land. We have been examining three regions that have potential to be considered for MSP 01 landing sites. This work is based on Viking (VIS, IRTM) and Phobos 2 (Termoskan) observations and should be regarded as preliminary because we believe that the final site selection should also be based upon analysis of Mars Global Surveyor observations that help constrain mineralogy (TES) and local geomorphology (MOC, MOLA). (1) Eastern Sinus Meridiani Region (proposed by K. S. Edgett) Sinus Meridiani is a persistent low-albedo (< 0. 16) region on the martian equator that has been recognized for about 400 years. All of Sinus Meridiani is below the 2 km elevation constraint for MSP 01. The region includes cratered highlands, valley networks, aeolian dunes, and possible aqueous sedimentary deposits. The landing site study region is located in the eastern portion of Sinus Meridiani. It is bounded by latitudes 10 S to 2 N, longitudes 355 W to 345 W, and the elevations are mostly 1-2 km. The center of this area contains a medium-albedo (0.19-0.21), relatively smooth-surfaced deposit that was suggested by Rice to be a lacustrine deposit. Several potential landing areas can be suggested within this region. Based on Viking and Phobos 2 data, the favored sites so far are centered at 7.6 S, 346.9 W and 0.8 S, 349 W. Thermal inertias are 3.2-7.0 x 10(exp -3) cal /sq cm s(exp -0.5)/K; and rock abundances are around 2-6%. The site at 7.6 S, 346.9 W is at the southern end of the smooth, medium-albedo unit that might have a lacustrine origin. At this location, numerous channels appear to have drained toward the smooth unit. Viking images from orbit 747A show this area at about 15 m/pixel ground resolution. The images reveal that aeolian deflation has occurred along the deposit's margins. Bright (i.e., albedo >= 0.21) aeolian dunes are present on the channel floors and in some of the depressions on the smooth unit. The bright, apparently active dunes might consist of material (perhaps lakedeposited sands) that has been eroded from the smooth unit. The site at approximately 0.8 S, 349 W is selected because it offers an opportunity to solve a long-standing puzzle about Mars remote sensing. There are three main "color" units on Mars: "dark red, dark gray, and bright red". This landing site would allow the Athena rover an opportunity to investigate all three materials within close proximity (the best place on Mars to do so). There are no high resolution (better than 100 m/pixel) Viking or Mariner images of this site. (2) Central Sinus Meridiani Region (proposed by K. S. Edgett and T. J. Parker) Central Sinus Meridiani is characterized by two types of surfaces [4]. One is like typical martian cratered highlands elsewhere- there are old valley networks and old impact craters. The other is relatively smooth and flat. These two units are in contact around 3.1 S between 5 W and 4 E longitudes. Valley networks- including one at 6'S, 358 W that rivals the Grand Canyon of Arizona- once drained toward the smooth unit. Edgett and Parker [4] proposed that the smooth unit might consist of sediments laid down in a large Noachian-aged sea/ocean that would have covered much of the northern hemisphere. Schultz and Lutz [I I I suggested that it is a paleopolar layered deposit. Regardless, the smooth unit where it contacts the cratered terrain would make an excellent site for Athena rover to investigate. The site is best seen in Viking high resolution images from orbits 408B (about 30 m/pixel) and 746A (about 12 m/pixel). These images suggest that aeolian deflation has occurred along the margin of the smooth unit, and this deflation has exposed horizontal larrs of material. The elevation is about 0.5 km; thermal inertias are 6.5-8.0 x 10(exp -3) cal /sq cm s(exp -0.5) / K; rock abundances are 2-4%; and the surface is probably sandy with dark drifts and ripples but almost no actual dunes. We suggest a landing around 3.2 S, 3.0 W would test the aqueous sediment hypothesis and provide a potentially smooth surface on which to land. (3) Amenthes Fossae Region (proposed by S. N. Huntwork and K. S. Edgett) The Amenthes Fossae are a series of graben/fissures that are circumferential to the southeast side of Isidis Planitia. These fissures cross a variety of ancient, heavily cratered Noachian terrain and younger, Hesperian and Amazonian terrain. We focused our search on a region 0-15 N, 250 - 270 W. Elevations are -0.5 to 2 km. Depending upon whether Isidis Planitia was ever a water-rich environment, this region might have been influenced by aqueous sedimentation. Valley networks are common, and they drained toward the north and northwest. We focused our work on a set of Viking orbiter high-resolution images, 719A 1-48. These have resolutions 16-24 rri/pixel. We examined images 20-23, centered at 2 N, 258 W. This site, on the plains just southwest of a 42 km-diameter crater, includes a valley network channel, a relatively young crater ejecta deposit, a few buttes composed of presumably ancient, Noachian bedrock, and a "plains" unit. The plains might make an ideal landing surface, except for the presence of some fine-scale ridges (oriented approximately N-S). The ridges are probably yardangs, thus this site offers a place where aeolian deflation has probably exposed some of the layered rock units that comprise the "plains". Thermal inertias are 7.9-8.3 x 10(exp -3) cal/sq cm s(exp -0.5) /K and rock abundances are 10-15%. A rover traverse might include the opportunity to go down to the floor (and sample along the walls) of the valley network channel at 2 N 258.1 W.

Edgett, K. S.↗

NASA NTRS2021

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.

Brockers, Roland↗

NASA NTRS1995

Mars Pathfinder Landing Site Workshop 2: Characteristics of the Ares Vallis Region and Field Trips in the Channeled Scabland, Washington

Mars Pathfinder will place a single lander on the surface of Mars on July 4, 1997, following a December 1996 launch. As a result of the very successful first Mars Pathfinder Landing Site Workshop, the project has selected the Ares Vallis outflow channel in Chryse Planitia as the landing site. This location is where a large catastrophic outflow channel debouches into the northern lowlands. A second workshop and series of field trips, entitled Mars Pathfinder Landing Site Workshop 2: Characteristics of the Ares Vallis Region and Field Trips in the Channeled Scabland, Washington, were held in Spokane and Moses Lake, Washington. The purpose of the workshop was to provide a focus for learning as much as possible about the Ares Vallis region on Mars before landing there. The rationale is that the more that can be learned about the general area prior to landing, the better scientists will be able interpret the observations made by the lander and rover and place them in the proper geologic context. The field trip included overflights and surface investigations of the Channeled Scabland (an Earth analog for the martian catastrophic outflow channels), focusing on areas particularly analogous to Ares Vallis and the landing site. The overflights were essential for placing the enormous erosional and depositional features of the Channeled Scabland into proper three-dimensional context. The field trips were a joint educational outreach activity involving K-12 science educators, Mars Pathfinder scientists and engineers, and interested scientists from the Mars scientific community. Part 1 of the technical report on this workshop includes a description of the Mars Pathfinder mission, abstracts accepted for presentation at the workshop, an introduction to the Channeled Scabland, and field trip guides for the overflight and two field trips. This part, Part 2, includes the program for the workshop, summaries of the workshop technical sessions, a summary of the field trips and ensuing discussions, late abstracts of workshop presentations, reports on the education and public outreach activities carried out by the educators, and a list of the workshop and field trip participants.

Golombek, M. P.↗

NASA NTRS1999

Constraints, Approach and Present Status for Selecting the Mars Surveyor 2001 Landing Site

There are many similarities between the Mars Surveyor '01 (MS '01) landing site selection process and that of Mars Pathfinder. The selection process includes two parallel activities in which engineers define and refine the capabilities of the spacecraft through design, testing and modeling and scientists define a set of landing site constraints based on the spacecraft design and landing scenario. As for Pathfinder, the safety of the site is without question the single most important factor, for the simple reason that failure to land safely yields no science and exposes the mission and program to considerable risk. The selection process must be thorough, defensible and capable of surviving multiple withering reviews similar to the Pathfinder decision. On Pathfinder, this was accomplished by attempting to understand the surface properties of sites using available remote sensing data sets and models based on them. Science objectives are factored into the selection process only after the safety of the site is validated. Finally, as for Pathfinder, the selection process is being done in an open environment with multiple opportunities for community involvement including open workshops, with education and outreach opportunities.

Golombek, M.↗

NASA NTRS1999

Constraints and Approach for Selecting the Mars Surveyor '01 Landing Site

There are many similarities between the Mars Surveyor '01 (MS '01) landing site selection process and that of Mars Pathfinder. The selection process includes two parallel activities in which engineers define and refine the capabilities of the spacecraft through design, testing and modeling and scientists define a set of landing site constraints based on the spacecraft design and landing scenario. As for Pathfinder, the safety of the site is without question the single most important factor, for the simple reason that failure to land safely yields no science and exposes the mission and program to considerable risk. The selection process must be thorough and defensible and capable of surviving multiple withering reviews similar to the Pathfinder decision. On Pathfinder, this was accomplished by attempting to understand the surface properties of sites using available remote sensing data sets and models based on them. Science objectives are factored into the selection process only after the safety of the site is validated. Finally, as for Pathfinder, the selection process is being done in an open environment with multiple opportunities for community involvement including open workshops, with education and outreach opportunities.

Golombek, M.↗

NASA NTRS2007

Candidate Landing Site for the Mars Science Laboratory: Vernal Crater, S.W. ARabia Terra

In the fall of 2009, the Mars Science Laboratory (MSL) will be launched to Mars. The purpose of this mission is to assess biologic potential and geology and to investigate planetary processes of relevance to past habitability. MSL will be able to provide visual, chemical, radiation, and environmental data with its suite of instruments [1]. In order to be selected for the MSL landing site, certain engineering requirements must be met [1] and the area should contain geologic features suggestive of past habitability, so that the overriding science goal of the mission will be attained. There are a total of 33 proposed landing sites as of the first MSL Landing Site Workshop held in Pasadena, CA from May 31st to June 2nd, 2006 [1]. There will be an opportunity to gather high resolution visual and hyperspectral data on all proposed landing sites from the now-orbiting Mars Reconnaissance Orbiter (MRO) which entered martian orbit and began its main science phase in November of 2006 [2]. The data being gathered are from: the high resolution imaging science experiment (HiRISE), the context (CTX) camera and the compact reconnaissance imaging spectrometer (CRISM) onboard the spacecraft. The footprints of these instruments are centered on a single point, and each proposer must submit these coordinates, along with the coordinates of the proposed landing ellipse. Data from these instruments, along with new MOC images and THEMIS mosaics, will be used to enhance our understanding of the geologic and engineering parameters of each site.

Paris, K. N.↗

NASA NTRS2003

Near-surface temperatures at proposed Mars Exploration Rover land sites

Minimum nighttime temperature at the Mars Exploration Rover (MER) landing sites may limit power available for science activities and thus mission lifetime. Here, 1 m air temperature at the end of the nominal 90 sol primary mission are derived for the four primary and three previously considered MER landing sites based on Mars Global Surveyor Thermal Emmision Spectrometer thermal inertia and albedo, estimated opacity, and predictions of air temperature from a one-dimensional atmospheric model.

Mars atmosphere Mars Exploration Rover (MER) surfa↗

NASA NTRS1994

Scientific rationale for selecting northwest Isidis Planitia (14 deg - 17 deg N latitude, 278 deg - 281 deg longitude) as a potential Mars Pathfinder landing site

The northwest Isidis Basin offers a unique opportunity to land near a fretted terrain lowland/upland boundary that meets both the latitudinal and elevation requirements imposed on the spacecraft. The landing site lies east of erosional scarps and among remnant massif inselbergs of the Syrtis Major volcanic plains. The plains surface throughout Isidis exhibits abundant, low-relief mounds that are the local expression of the 'thumbprint terrain' that is common within a few hundred kilometers of the lowland/upland boundary. The massif inselbergs are not as numerous nor as massive as those fretted terrains to the northwest, so local slopes are not expected to be steep. Neither feature should pose a serious threat to the lander. Landing on or adjacent to one of these features would enhance the science return and would help to pinpoint the landing site in Viking and subsequent orbiter images by offering views of landmarks beyond the local horizon.

Parker, Tim J.↗