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NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003, and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) -2 days were +/-0.12 deg(3 sigma) for Spirit and +/-0.14 deg(3 sigma) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was 0.028 deg(3 sigma) for Spirit and 0.035 deg(3 sigma) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
NASA NTRS2004

Mars Exploration Rovers navigation results

The twin Mars Exploration Rovers, Spirit and Opportunity, were launched on June 10, 2003(dagger), and July 8, 2003, from Cape Canaveral, Florida. Spirit and Opportunity were targeted for landings at Gusev Crater (arrival on January 4, 2004) and Meridiani Planum (arrival on January 25, 2004). The primary navigation challenge was to deliver each spacecraft to the desired atmospheric entry interface point with sufficient accuracy such that each lander would touch down within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. In order to achieve landing within the target ellipse, precise control of the inertial entry flight path angle (FPA) at atmospheric entry was required. The maximum allowable errors in FPA following TCM-5 (trajectory correction maneuver #5) at Entry (E) - 2 days were +/-0.12(deg) (3(sigma)) for Spirit and +/-0.14(deg) (3(sigma)) for Opportunity. Achieving these entry delivery accuracies necessitated significant improvements to the interplanetary avigation system used for MER. These improvements included new processes and software for orbit determination, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly exceeded the requirements. At the navigation data cutoff for the TCM-5 final design, the orbit determination FPA knowledge error was +/-0.028(deg) (3(sigma) ) for Spirit and +/-0.035(deg) (3(sigma)) for Opportunity. Because of exceptionally accurate navigation performance, TCM-5 (E - 2 days) and TCM-6 (E - 4 hours) were canceled for both Spirit and Opportunity. The actual landing locations (determined from in-situ Doppler tracking between the MER rovers and the Mars Odyssey orbiter) differed from the target landing points by 10.1 km (downtrack) for Spirit and 24.6 km (downtrack) for Opportunity. The majority of the landing position offsets for both landers was primarily caused by variations in atmosphere and spacecraft aerodynamic modeling from what was predicted. The amount of the landing position offset caused by navigation-only errors was only 3.3 km (uptrack) for Spirit and 9.7 km (downtrack) for Opportunity.

Mars Exploration Rover (MER)↗
NASA NTRS2005

An overview of the Mars Exploration Rovers flight software

The Mars Exploration Rovers (MER) Flight Software (FSW) is possibly the most complex software implmentation to be deployed on another planet. This paper provides an overview of the function and structure of the MER flight software.

software↗
NASA NTRS2005

Operational modification of the Mars Exploration Rovers flight software

The Mars Exploration Rovers (MER)Flight Software (FSW) was designed from the outset to be modified during operations. This paper discusses the content of the uplink products that are sent to the Rover, the planning of the Patch and Load activities, the testing of the products and prcedures, and the actual operations themselves.

patch↗
NASA NTRS2006

The Incredible Diversity of Fe-bearing Phases at Gusev Crater, Mars, According to the Mars Exploration Rover Moessbauer Spectrometer

The Mars Exploration Rover (MER) Spirit landed on the plains of Gusev Crater on 4 January 2004. One primary scientific objective for the mission is to characterize the mineralogical and elemental composition of surface materials, searching for evidence of water and clues for assessing past and current climates and their suitability for life [1]. The role of the Moessbauer (MB) spectrometer on Spirit is to provide quantitative information about the distribution of Fe among its oxidation and coordination states, identification of Fe-bearing phases, and relative distribution of Fe among those phases. The speciation and distribution of Fe in Martian rock and soil constrains the primary rock types, redox conditions under which primary minerals crystallized, the extent of alteration and weathering, the type of alteration and weathering products, and the processes and environmental conditions for alteration and weathering. In this abstract, we discuss the incredible diversity of Fe-bearing phases detected by Spirit s MB instrument during its first 540 sols of exploration at Gusev crater [2,3].

Morris, R. V.↗
NASA NTRS2016

Ground Truthing Orbital Clay Mineral Observations with the APXS Onboard Mars Exploration Rover Opportunity

NASA's Mars Exploration Rover Opportunity has been exploring approximately 22 km diameter Endeavour crater since 2011. Its rim segments predate the Hesperian-age Burns formation and expose Noachian-age material, which is associated with orbital Fe3+-Mg-rich clay mineral observations [1,2]. Moving to an orders of magnitude smaller instrumental field of view on the ground, the clay minerals were challenging to pinpoint on the basis of geochemical data because they appear to be the result of near-isochemical weathering of the local bedrock [3,4]. However, the APXS revealed a more complex mineral story as fracture fills and so-called red zones appear to contain more Al-rich clay minerals [5,6], which had not been observed from orbit. These observations are important to constrain clay mineral formation processes. More detail will be added as Opportunity is heading into her 10th extended mission, during which she will investigate Noachian bedrock that predates Endeavour crater, study sedimentary rocks inside Endeavour crater, and explore a fluid-carved gully. ESA's ExoMars rover will land on Noachian-age Oxia Planum where abundant Fe3+-Mg-rich clay minerals have been observed from orbit, but the story will undoubtedly become more complex once seen from the ground.

Schroeder, C.↗
NASA NTRS2004

Mars exploration: follow the water

Over the centuries, the red planet Mars has been a subject of imagination as well as intense scientific interest. As the overwhelming success of two Mars Exploration Rovers unfolds before us, this article provides an overview of and rationale for NASA's Mars exploration program.

MER↗
NASA NTRS2010

Relay Telecommunications for the Coming Decade of Mars Exploration

Over the past decade, an evolving network of relay-equipped orbiters has advanced our capabilities for Mars exploration. NASA's Mars Global Surveyor, 2001 Mars Odyssey, and Mars Reconnaissance Orbiter (MRO), as well as ESA's Mars Express Orbiter, have provided telecommunications relay services to the 2003 Mars Exploration Rovers, Spirit and Opportunity, and to the 2007 Phoenix Lander. Based on these successes, a roadmap for continued Mars relay services is in place for the coming decade. MRO and Odyssey will provide key relay support to the 2011 Mars Science Laboratory (MSL) mission, including capture of critical event telemetry during entry, descent, and landing, as well as support for command and telemetry during surface operations, utilizing new capabilities of the Electra relay payload on MRO and the Electra-Lite payload on MSL to allow significant increase in data return relative to earlier missions. Over the remainder of the decade a number of additional orbiter and lander missions are planned, representing new orbital relay service providers and new landed relay users. In this paper we will outline this Mars relay roadmap, quantifying relay performance over time, illustrating planned support scenarios, and identifying key challenges and technology infusion opportunities.

Edwards, C.↗
NASA NTRS2019

Marsbee - Swarm of Flapping Wing Flyers for Enhanced Mars Exploration: NASA Innovative Advanced Concepts (NIAC) - Phase I: Final Report

Mars exploration has received significant interest from academia, industry, government, and the general public. Despite continued interest, flying on Mars remains challenging, mainly due to the ultra-thin Martian atmospheric density. Although the gravitational acceleration on Mars is 38 percent of Earth's 9.8 meters per second squared, the Martian atmospheric density is only 1.3 percent of the air density on Earth. The aerodynamic forces are proportional to the ambient fluid density. Therefore, flying near the surface of Mars has been considered nearly impossible. The proposed mission architecture (Fig. 1) consists of a Mars rover (already existing) that serves as a mobile base for Marsbees - a deployable swarm of small bio-inspired flapping wing vehicles. In one ConOps scenario, each Marsbee would carry an integrated stereographic video camera and the swarm could construct a 3D topographic map of the local surface for rover path planning. These flying scouts would provide a "third-dimension" to the rover capabilities. In other scenarios, each part of the swarm of Marsbees could carry pressure and temperature sensors for atmospheric sampling, or small spectral analyzers for identification of mineral outcroppings. In each scenario, the rover acts as a recharging and deployment/return station and data and communication hub. Human exploration of Mars is one of the major objectives of NASA and commercial entities such as SpaceX and Boeing. The identified innovations unique to the bio-inspired flapping Marsbee provide viable multi-mode flying mobility for Martian atmospheric and terrain exploration. A swarm of Marsbees provides an enhanced reconfigurable Mars exploration system that is resilient to individual component failures. These Marsbees can carry sensors and wireless communication devices in combination with a Mars rover and helicopters. These enhanced sensing and information gathering abilities can contribute to the following NASA Mars mission objectives: i) "Determine the habitability of an environment", ii) "Obtain surface weather measurements to validate global atmospheric models", and iii) "Prepare for human exploration on Mars." Various commercial entities, e.g. SpaceX and Boeing, are investing in technologies to transport humans to Mars.

Kang, Chang-kwon↗
NASA NTRS1999

Mars Exploration Architecture

The architecture of NASA's program of robotic Mars exploration missions received an intense scrutiny during the summer months of 1998. We present here the results of that scrutiny, and describe a list of Mars exploration missions which are now being proposed by the nation's space agency.

Mars↗
NASA NTRS2000

Mars Exploration Architecture

The architecture of NASA's program of robotic Mars exploration missions received an intense scrutiny during the summer months of 1998. We present here the results of that scrutiny, and describe a list of Mars exploration missions which are now being proposed by the nation's space agency. The heart of the new program architecture consists of missions which will return samples of Martian rocks and soil back to Earth for analysis. A primary scientific goal for these missions is to understand Mars as a possible abode of past or present life. The current level of sophistication for detecting markers of biological processes and fossil or extant life forms is much higher in Earth-based laboratories than possible with remotely deployed instrumentation, and will remain so for at least the next decade. Hence, bringing Martian samples back to Earth is considered the best way to search for the desired evidence. A Mars sample return mission takes approximately three years to complete. Transit from Earth to Mars requires almost a single year. After a lapse of time of almost a year at Mars, during which orbital and surface operations can take place, and the correct return launch energy constraints are met, a Mars-to-Earth return flight can be initiated. This return leg also takes approximately one year. Opportunities to launch these 3-year sample return missions occur about every 2 years. The figure depicts schedules for flights to and from Mars for Earth launches in 2003, 2005, 2007 and 2009. Transits for less than 180 deg flight angle, measured from the sun, and more than 180 deg are both shown.

Jordan, James F.↗
NASA NTRS2004

Mars Exploration Rover - a new standard for interplanetary navigation

The twin Mars Exploration Rovers, Spirit and Opportunity, arrived at Mars for landings respectively at Gusev Crater (on January 4, 2004) and Meridiani Planum (on January 25, 2004). During the development of the mission, the capability of the navigation system to deliver the landers within a particular accuracy played a major role in landing site selection. This process ultimately resulted in commitments to deliver each lander within a specified landing ellipse (about 70 km x 5 km) determined to be safe for landing and also judged to be scientifically interesting. Achieving atmospheric entry delivery accuracies consistent with this landing requirement necessitated significant improvements to the interplanetary navigation system used for MER. These improvements included new processes and software for orbit determination, aggressive, mission-critical use of interferometric ADOR tracking data, propulsive maneuver design, and entry, descent, and landing (EDL) trajectory simulation. Because these advances pressed the state -of -the art, innovative methods to verify the assumptions in the pre-launch covariance analyses were also developed. The actual achieved atmospheric entry accuracies for Spirit and Opportunity significantly bettered the requirements.

navigation↗
NASA NTRS1989

The SP-100 space reactor as a power source for Mars exploration missions

This paper argues that many of the power requirements of complex, relatively long-duration space missions such as the exploration of Mars may best be met through the use of power systems which use nuclear reactors as a thermal energy source. The development of such a power system, the SP-100, and its application in Mars mission scenarios is described. The missions addressed include a freighter mission and a mission involving exploration of the Martian surface.

Isenberg, Lon↗
NASA NTRS2002

Robosphere1: Building A Self-Sustaining Robotic Ecology for Mars Exploration

Robotic exploration of Mars has been a "one shot" approach where each surface mission is planned typically with a rover that will perform a series of experiments for a few weeks or months, until the robot becomes unable to operate in the harsh Mars conditions and simply "dies". It would clearly be desirable to have robots on Mars that can last for much longer periods of time, I propose that there is an approach to sustained robotic exploration that can also pave the way to future human presence. The idea is to continue building a robotic infrastructure with every mission we send. The approach is to built a team of modular robots that could repair individual members when they break down. We could "seed" areas of interest with sturdy power stations (solar, chemical) that teams of robots could use to recharge themselves. We could also seed parts and modules the robots could access for self-repair. No mission could really "fail" if we simply keep adding to and maintaining the existing infrastructure. Simply landing a package of parts will be a success. In time we create a loose infrastructure that can be controlled and augmented from earth on a continuing basis, and which could eventually pave the way for human exploration. I propose that we could begin to build this infrastructure from relatively simple modular robots. Imagine 2 "spider-like" robots built out of small modular snap-in pieces, a bin of these pieces and a bin of snap-in end effectors. One of the spiders breaks down, i.e. one of its modules needs to be replaced. The second spider comes to the rescue and helps the first one replace the broken module. Assuming the input of fresh modules, this process can continue indefinetly. Now start separating robotic explorers from robotic "mechanics", start adding, a category of mechanics that are able to fix at least some of the broken modules (and which in turn can be fixed by the original mechanics), The need for a fresh influx of modules is thus reduced. I submit that we could bootstrap a robotic ecology until it needs very little material from earth and can rely mostly on in-situ resources., We can experiment with this concept in an earthbound facility that can also simulate Mars conditions. I propose that we call this facility Robosphere1.

Colombano, Silvano P.↗
NASA NTRS2003

Mars Exploration Strategy 2009-2020: white paper

This document describes the planning processes used to achieve, and the outcome of, the synthesis that culminate in a strategy for the intensified scientific exploration of Mars in the time period from 2009 to 2020.

life climate geology human exploration↗
NASA NTRS2003

Mars Exploration Rover Six-Degree-Of-Freedom Entry Trajectory Analysis

The Mars Exploration Rover mission will be the next opportunity for surface exploration of Mars in January 2004. Two rovers will be delivered to the surface of Mars using the same entry, descent, and landing scenario that was developed and successfully implemented by Mars Pathfinder. This investigation describes the trajectory analysis that was performed for the hypersonic portion of the MER entry. In this analysis, a six-degree-of-freedom trajectory simulation of the entry is performed to determine the entry characteristics of the capsules. In addition, a Monte Carlo analysis is also performed to statistically assess the robustness of the entry design to off-nominal conditions to assure that all entry requirements are satisfied. The results show that the attitude at peak heating and parachute deployment are well within entry limits. In addition, the parachute deployment dynamics pressure and Mach number are also well within the design requirements.

Desai, Prasun N.↗