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NASA NTRS2022

Mars 2020 Entry, Descent, and Landing Software Implementation

On February 18th, 2021, the Mars 2020 project's Perseverance Rover successfully touched down on the Martian surface after nearly eight years of development. The Mars 2020 Entry, Descent, and Landing (EDL) System largely leveraged heritage from the Mars Science Laboratory (MSL) EDL System while employing targeted technological advancements. The landing process is autonomously directed by a software behavior implemented in the rover's primary flight computer called the EDL Timeline that assumes control of the vehicle six days before atmospheric entry. In addition to performing the critical function of landing the rover on the Martian surface, the EDL timeline behavior must co-exist in a non-partitioned software and system environment with other high-level functions that accomplish the goals for the rest of the mission. Due to the criticality of EDL, the potential for loss of mission, and a need for complete system autonomy, the standard for how the EDL Timeline interacts with other functions in the system is highly constrained. This paper first walks through the basics of the EDL Timeline mechanics and how the behavior is designed to account for internal system variations and environmental unknowns. It then summarizes the interactions between the EDL timeline and other high-level system behaviors like spacecraft mode transitions and system fault protection, focusing on the complications that arise when passing spacecraft control between executive functions. Although the MSL-inherited EDL System is reliable and capable, targeted updates and a thorough verification and validation program were required for Mars 2020. This paper discusses changes made to close vulnerabilities discovered during both MSL and Mars 2020 development cycles, landing system capability enhancements that were enabling for Mars 2020's mission, and how these updates were integrated with the heritage system. It then describes how both analysis and testing campaigns were utilized to verify and validate all aspects of EDL and system behaviors that run during the six days before landing, as well as the operational workarounds that were needed to address problems found during the development and commissioning process. Finally, this paper imparts lessons learned from Mars 2020 EDL development, implementation, and operations, emphasizing how systems designed to conduct time-critical mission events with low margin of error can be improved in the future.

Stehura, Aaron↗

NASA NTRS2022

Low Temperature Brazing: A Candidate Method for Preventing Interplanetary Contamination During the Mars Sample Return Mission

NASA and the European Space Agency are planning a joint Mars Sample Return campaign, scheduled to launch in 2026, with a very specific objective: return to Earth the rock and regolith samples that have been collected on Mars by NASA’s Perseverance rover. This is a very complex, multi-step process intended to culminate in the safe return of Mars samples to Earth. The term “safe return” implies use of a robust containment vessel designed to prevent any uncontained or unsterilized material from Mars from being returned to Earth. Hence, any technology chosen for sealing this vessel has to meet stringent contamination requirements, but also to withstand impact forces upon landing. This paper describes the development of a primary candidate for the sealing approach: brazing.

Schein, Mike↗

DOE OSTI2021

Software on Mars [Slides]

This community outreach presentation for high school students discusses instrumentation and software developed by Los Alamos National Laboratory for NASA's Perseverance rover that landed on Mars February 2021.

47 OTHER INSTRUMENTATION↗

NASA NTRS2022

Perseverance Rover’s Robotic Arm and Turret Mounted Instruments’ Surface Commissioning

The Robotic Arm (RA) on the Perseverance rover is an integral component of the Sampling and Caching System necessary for completing the science goals of the Mars 2020 mission. While the Perseverance rover was based on the Curiosity rover which landed in 2012, the Robotic Arm was redesigned to carry a much larger turret with a new suite of payloads. Shortly after Perseverance landed in Jezero Crater, a series of checkouts was completed with the RA during the first 100 sols of the mission in order to ensure proper functionality of the RA and the instruments mounted on the turret. This period of time in the mission was called Surface Operations Transition (SOX). The objective of SOX was to systematically execute checkout activities for all the basic functionality so that the RA and instruments, as well as other rover components, could be released for scientific exploration.RA activities during SOX can be divided into a few different categories: Mechanism Checkouts, Rover Visual Inspections, Performance Characterization, and Instrument Functional Checkouts. Many of these checkouts built off of each other such that each subsequent activity would verify incrementally complex functionality. Many of the defined activities were executed several times throughout the development of the rover and served as a check that the RA’s performance is consistent with testing on Earth. Other activities were developed uniquely for SOX to respond to challenges discovered during development. They were designed to be verifiable without the help of ground support equipment or previous executions on the flight hardware to compare against.This paper discusses the formulation and conception of the various RA SOX checkout activities, verification and testing required to certify them for flight, execution of the activities on Mars, issues encountered, and finally results and findings as the mission transitioned to nominal science operations. We will be presenting the results and analysis using downlinked imaging and data from the flight vehicle to show how we verified the performance of the Robotic Arm and the turret mounted instruments in order to transition to science operations with a clean bill of health.

Edgett, Kenneth↗

NASA NTRS2022

Mars 2020 Lander Vision System Flight Performance 1

The Mars 2020 Entry Descent and Landing (EDL) system delivered the Perseverance rover to the surface of Mars on February 18th, 2021. A large fraction of the Jezero Crater landing site was covered with landing hazards including cliffs, inescapable dune fields and rocks. These hazards were identified or inferred using orbital imagery before launch so that they could be avoided using Terrain Relative Navigation (TRN) which was composed of two parts: the Lander Vision System (LVS) and Safe Target Selection (STS). During EDL, the LVS successfully estimated map relative position by fusing landmarks matched between descent imagery and a map of the landing site with Inertial Measurement Unit (IMU) data. This position estimate was used by STS to identify the safest target for landing that was also reachable given fuel and other constraints. The EDL system then used the powered descent phase to retarget to this location and land safely. The overall error between the targeted location and actual landing location was 5m which was an order of magnitude less than the 60m touchdown error requirement. This paper will describe the final tests of the LVS before launch, the checkout of the LVS during operations and the LVS performance during EDL.

Zheng, Jason↗

NASA NTRS2021

Mars 2020 Perseverance trajectory reconstruction and performance from launch through landing

The Mars 2020 (M2020) Mission carrying Perseverance, the most advanced rover ever sent to Mars, successfully launched on an Atlas V 541 (AV-088) launch vehicle from the Eastern Test Range (ETR) at Cape Canaveral Air Force Station (CCAFS) in Florida at 11:50:00 UTC (T-Zero time) on July 30, 2020. After some station reconfiguration, carrier/telemetry were locked at both Deep Space Network (DSN) Canberra and Goldstone stations. Perseverance entered the Martian atmosphere at 20:36:50 Spacecraft Event Time (SCET) UTC, and landed inside Jezero Crater at 20:43:49 SCET UTC on February 18, 2021. Confirmation of nominal landing was received at the DSN Goldstone and Madrid tracking stations via the Mars Reconnaissance Orbiter at 20:55:11 Earth Received Time (ERT) UTC. This paper summarizes in detail the actual vs. predicted performance in terms of launch vehicle events, launch vehicle injection performance, actual DSN spacecraft lockup, trajectory correction maneuver performance, Entry, Descent, and Landing events, and overall trajectory and geometric characteristics.

Abilleira, Fernando↗

NASA NTRS2021

Mars 2020 Perseverance Trajectory Reconstruction and Performance from Launch through Landing

Wong, Mau↗

NASA NTRS2022

Scientific Value of Including an Atmospheric Sample as Part of Mars Sample Return (MSR)

The Perseverance rover is meant to collect samples of the martian surface for eventual return to Earth. The headspace gas present over the solid samples within the sample tubes will be of significant scientific interest for what it reveals about the interactions of the solid samples with the trapped atmosphere and for what it will reveal about the martian atmosphere itself. However, establishing the composition of the martian atmosphere will require other dedicated samples. The headspace gas as the sole atmospheric sample is problematic for many reasons. The quantity of gas present within the sample tube volume is insufficient for many investigations, and there will be exchange between solid samples, headspace gas, and tube walls. Importantly, the sample tube materials and preparation were not designed for optimal Mars atmospheric gas collection and storage as they were not sent to Mars in a degassed evacuated state and have been exposed to both Earth's and Mars' atmospheres. Additionally, there is a risk of unconstrained seal leakage in transit back to Earth, which would allow fractionation of the sample (leak-out) and contamination (leak-in). The science return can be improved significantly (and, in some cases, dramatically) by adding one or more of several strategies listed here in increasing order of effectiveness and difficulty of implementation: (1) Having Perseverance collect a gas sample in an empty sample tube, (2) Collecting gas in a newly-designed, valved, sample-tube-sized vessel that is flown on either the Sample Fetch Rover (SFR) or the Sample Retrieval Lander (SRL), (3) Adding a larger (50-100 cc) dedicated gas sampling volume to the Orbiting Sample container (OS), (4) Adding a larger (50-100 cc) dedicated gas sampling volume to the OS that can be filled with compressed martian atmosphere.

Timothy D. Swindle↗

NASA NTRS2022

Camera Simulation for the Perseverance Rover’s Lander Vision System

On February 18, 2021, the Perseverance Rover safely landed on Mars at Jezero Crater. Part of the successful landing was due to the Lander Vision System (LVS), which takes descent images from the LVS Camera (LCAM) and IMU measurements and estimates the lander position relative to a map of the Jezero landing site. The LVS Simulation LCAM (LVSS LCAM) model is an image rendering program developed to test the LVS in a variety of scenarios to ensure performance amid uncertainty. The LVSS LCAM model includes a pointing misalignment model, an exposure timing model, shadowing, a terrain reflectance model, atmospheric attenuation from dust, and sensor effects. This model was used for performance analysis, verification, and validation of the LVS algorithms in a Mars-like simulation prior to landing. This paper describes the LVSS LCAM rendering algorithm and compares flight images from LVS operation during the Perseverance landing with their rendered counterparts.

Zheng, Jason↗

NASA NTRS2024

Key Perseverance Sampling Locations for the Ancient Martian Crust and Implications for Mars Science

Since Feb 2021, the Perseverance rover has collected samples in the Jezero crater. The plan baselined at the 2018 landing site selection, subsequently further developed by the Mars-2020 team, and presented to the Decadal Survey included the exploration and sampling of the Jezero crater rim and the Nili Planum area, a rock record that is important to preserving the science return of the endeavor. Specifically, the science team identified the following prioritized science objectives aligned with community objectives that are not covered by the current sample cache: 1) Investigate the habitable environments with potential biosignatures from a more ancient time interval and from a diverse set of geological environments (incl. exposed subsurface) than the Jezero crater sedimentary deposits (Fig. 2). (2) Determine radioisotopic ages for well-defined craterretaining surfaces and/or the Isidis basin impact event. (3) Characterize ancient aqueous environments to study climate, environmental transitions, and habitability on ancient Mars. (4) Investigate planetary accretion, crustal evolution, and dynamo activity through analysis and sampling of igneous lithologies. (5) Study the geology of basin-forming impacts. In addition, for the Jezero rim and any Jezero ejecta: (6) Analyze Jezero impactites for potentially habitable hydrothermal environments and radioisotopic dating of the Jezero crater formation. From 2018 to now, we used a combination of High Resolution Imaging Experiment (HiRISE) and Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) data to further characterize Jezero rim and Nili Planum, culminating in our prioritized sample location recommendations: (1) Monument Valley and (2) Northwest Jezero rim.

Mars sample return↗

NASA NTRSDate not supplied

Mars 2020 – Landing a 1-ton rover and helicopter in an ancient Martian Lake

The Mars 2020 spacecraft launched in July 2020 and landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. Mars 2020 is the first stage of the Mars Sample Return campaign that will bring back the first samples from another planet to Earth. The entry, descent, and landing (EDL) sequence of the Mars 2020 spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission from 2012. Mars 2020 retained most of the EDL sequences of MSL, including active maneuvering during hypersonic flight to accurately target the landing site and use of the Skycrane descent stage that slowly lowered the rover while hovering above the ground. But Mars 2020 also added Terrain Relative Navigation, a machine vision-based system that allowed the spacecraft to navigate using an on-board camera that mapped ground landmarks to an on-board map, allowing the spacecraft to safely land in locations that were too hazardous for any previous Martian mission. Come hear about the “Seven Minutes of Terror” and the eight years of effort that went into the engineering behind the spacecraft.

Soumyo Dutta↗

NASA NTRSDate not supplied

Autonomous Detection and Classification of Lunar Minerals Using a Convolutional Neural Network Based Framework for the SUCR DALI Project

NASA’s long-term goal is to deploy humans to the Moon and, from there, advance human exploration to Mars, with Artemis missions as pivotal milestones. Raman spectroscopy can uniquely identify minerals, compounds, water states, and other materials, providing distinctive fingerprints for classification. A Raman instrument has been successfully deployed and utilized on the Mars surface via the Perseverance rover, but has not yet been utilized at the lunar surface The SUCR DALI project is working towards developing a Raman spectroscopy instrument to be applied in various lunar mission concepts, including within the Artemis program. The objective of my research is to assist in the maturation of the proposed SUCR DALI lunar Raman instrument through the development of an autonomous detection and classification model capable of identifying minerals and water states on the Moon’s surface.

Convolutional Neural Networks↗

NASA NTRS2022

Planning for a Martian Road Trip – The Mars2020 Mobility Systems Design

The Perseverance rover landed in Jezero Crateron Mars on February 18, 2021, marking the beginning of anepic road trip across Mars. The guiding principle of thePerseverance rover design was to replicate Curiosity, exceptfor when the new mission objectives mandated a change.The scientific objectives require that Perseverance drivemore quickly and more efficiently through more complexterrain than its predecessors. The mobility system forPerseverance exemplifies this, in that key portions areidentical, yet others have had major upgrades. Key upgradesinclude more tractive and more robust tires, newengineering cameras, a new computer dedicated for imageprocessing, and a more efficient AutoNav software suite.This paper will follow how the scientific objectives led tothe key and driving mobility requirements and how theserequirements were decomposed at the different subsystems.

Stragier, Michael M.↗

NASA NTRSDate not supplied

Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing

The Mars 2020 spacecraft landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. The entry, descent, and landing (EDL) sequence of the spacecraft largely leveraged the previous Mars Science Laboratory (MSL) mission. The atmospheric modeling approach for Mars 2020 was also borrowed from MSL, and consisted of utilizing two mesoscale atmospheric models of the landing site during the Martian season of landing, and using that data to create a statistical model of the pressure, density, temperature, and winds that Mars 2020 could have expected to encounter. Additionally, Mars 2020 contained an optical sensor - Landing Vision System (LVS) - that relied on taking pictures of the terrain, and was sensitive to the dust opacity of the atmosphere. This paper will briefly describe the pre-flight atmospheric models used for Mars 2020, but will focus on post-flight assessment of these models by comparing them to near-landing day orbiter sounder data and onboard atmospheric measurements. Suggestions for potential model changes will be also discussed.

Soumyo Dutta↗

NASA NTRSDate not supplied

Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing

Soumyo Dutta↗

NASA NTRS2022

Post-flight Analysis of Atmospheric Properties from Mars 2020 Entry, Descent, and Landing

The Mars 2020 spacecraft landed the Perseverance rover and Ingenuity helicopter successfully in Jezero crater on Feb. 18, 2021. The entry, descent, and landing (EDL) sequence of the spacecraft largely leveraged the previous 2012 Mars Science Laboratory (MSL) mission. The atmospheric modeling approach for Mars 2020 was also borrowed from MSL. It consisted of two mesoscale atmospheric models of the target site during the Martian season of landing, and a statistical model of the pressure, density, temperature, and winds based on the mesoscale model data. This paper briefly describes the pre-flight atmospheric models used for Mars 2020, but focuses on the post-flight assessment of these models and comparison to near-landing day orbiter sounder and other onboard atmospheric measurements. Observations from post-flight analysis showed that density was under-predicted in the upper atmosphere, but within the altitudes covered by the mesoscale models, the pre-flight modeling matched post-flight results, including for quantities like wind velocities. Potential improvements to address the upper atmosphere and other deficiencies of the Mars 2020 pre-flight model are also discussed.

Villar, Gregorio↗

NASA NTRSDate not supplied

MARS 2020 Backshell Radiative Heating Measurement and Shock Tube Verification

In February 2021, the Perseverance rover was brought to the surface of Mars by the Mars 2020 mission. A feature of the Mars 2020 capsule was instrumentation to measure its entry, descent and landing (EDL) with the so-called Mars EDL Instrumentation 2 (MEDLI2) [1]. The MEDLI2 introduced, among other things, backshell instrumentation, including a broadband radiometer. The radiometer was mounted on the leeside of the vehicle next to thermocouple plugs and a heat flux gauge. The data returned by the leeside MEDLI2 heat flux gauge is largely analogous to that measured by the COMARS gauge flown on the ExoMars Schiaparelli [2] entry in that it is measuring heat flux in an area that is entirely dominated by radiative heating. The COMARS measurement provided excellent validation of backshell radiative heating models for Mars entry, albeit at a limited number of points [3]. The MEDLI2 heat flux gauge measurement effectively confirmed the quality of the prediction, extended over the full trajectory, as will be presented in this paper. The MEDLI2 radiometer,however, was blocked by ablation products and suffered a loss of half of its signal. The second backshell heat flux gauge installed on the windside of the vehicle was also well predicted, although the heating had both radiative and convective contributions. It was desired to reproduce the conditions of the Mars 2020 entry via ground testing in the Electric Arc Shock Tube (EAST) at NASA Ames. Tests to verify stagnation line heating were previously reported in EAST, confirming the presence of shock layer radiation as the major discrepancy in heatshield temperature modelling [4]. Therefore, tests for stagnation line heating were not repeated. Instead, the shock tube informed bias method [5, 6] was used to identify test conditions that may produce similarity to streamlines that pass around the backside of the vehicle and are responsible for the radiation observed at the two heat flux gauge locations. This method was used to identify a range of velocities and densities in the shock tube that are relevant for confirming the radiative environment encountered. This paper reports the results obtained in the 10 cm diameter EAST shock tube, corresponding to later trajectory points at ambient pressures of 1.1-2.0 Torr and velocities from 1.2-3.5 km/s. The test series employed two primary diagnostics: emission spectroscopy and tunable diode laser absorption spectroscopy (TDLAS). The emission spectroscopy performed broadband measurements of the radiative emission of the 4.3 and 2.7 m bands of CO2 at flight similar conditions, obtaining both spectral and spatial data corresponding to the relaxation behind the shock front. The TDLAS measured the absorption of several lines of CO and CO2 and obtains species number densities and temperatures as a function of time behind the shock front. This paper will review highlights of this test series and analyses of the emission and absorption data. While the datasets generally show good agreement with predictions, a few discrepancies and items for additional investigation are identified and will be discussed

Brett A Cruden↗

NASA NTRSDate not supplied

NASA Capture, Containment, and Return System: Bringing Mars Samples to Earth

The Capture, Containment, and Return System (CCRS) project is NASA’s last step in bringing back Mars samples. CCRS will close a decades-long multi-mission and multi-agency effort to bring Mars surface samples back to Earth for scientific studies. CCRS will launch in 2027 on the European Earth Return Orbiter (ERO) spacecraft, which will provide communications relay for the Mars Sample Return ground missions, Perseverance rover and the Sample Retrieval Lander (SRL) (to be launched in 2028). The main mission for CCRS begins when the first-ever orbital planetary capture operation occurs with CCRS catching and securing the Orbiting Sample (OS)in low Mars orbit. From this point, the system will perform additional "firsts": it will autonomously contain the OS with heat-shrink-fit, sterilize the outside surface, and assemble the Earth entry capsule, named Earth Entry System (EES), in orbit around Mars using a gantry mechanism. At approximately 2.8 Lunar distances from Earth, or 3-days from entry into Earth’s atmosphere, CCRS will open its micrometeoroid shield and release the EES on a ballistic trajectory to Earth. The EES is designed to be a fully passive system that will enter the atmosphere and land without parachute at the Utah Test and Training Range (UTTR).

Mars mission, Sample return, Mission design↗