Candidate Landing Research Articles

This month's covers ...

The safety of potential landing sites is without question the single-most important factor in NASA landed exploration missions, for the simple reason that there will be no science return if the spacecraft does not land safely. The current practice for safe landing site selection on Mars is based on the human visual examination of prior aerial images of candidate landing sites obtained by orbiters. For example, in the Mars Exploration Rover (MIER) mission, the landing site selection process was driven by science return and safety constraints.

Geomorphologic and mineralogic characterization of the northern plains of Mars at the Phoenix Mission candidate landing sites

A suite of remote sensing data is used to evaluate both geomorphology and mineralogy of the candidate landing sites for the 2007 Phoenix Mission. Three candidate landing site boxes are situated in the northern plains of Mars on the distal flank of Alba Patera in the region from 67°N to 72°N and from ∼230°E to 260°E. Geomorphology is mapped at subkilometer spatial scales using Thermal Emission Imaging System (THEMIS) visible and Mars Orbiter Laser Altimeter (MOLA) topographic data, supplemented by images from the High‐Resolution Imaging Science Experiment (HiRISE) and Context Imager (CTX). Mineralogy and spectral properties are examined using Compact Reconnaissance Imaging Spectrometer for Mars (CRISM) visible and near‐infrared multispectral mapping and targeted hyperspectral data at ∼200 and ∼20 m/pixel, respectively. Geomorphic mapping supports the idea that terrains along the boundary between the Amazonian Scandia region and Vastitas Borealis marginal geologic units have undergone extensive modification. Intercrater plains are disrupted to form mesas and interlocking blocks, while irregular depressions and knobby terrain are consistent with erosion/subsidence and local deposition. Despite the varied morphology, the present‐day surface is nearly homogeneous with spectral signatures dominated by nanophase iron oxides and basaltic sand and rocks, similar to that of the Gusev crater plains at the Mars Exploration Rover (MER) landing site. The compilation of geomorphic and spectral information for the candidate Phoenix landing sites provides a framework for the mission's in situ observations to be extrapolated to the northern plains as a whole.

Ultrahigh resolution topographic mapping of Mars with MRO HiRISE stereo images: Meter‐scale slopes of candidate Phoenix landing sites

The objectives of this paper are twofold: first, to report our estimates of the meter‐to‐decameter‐scale topography and slopes of candidate landing sites for the Phoenix mission, based on analysis of Mars Global Surveyor (MGS) Mars Orbiter Camera (MOC) images with a typical pixel scale of 3 m and Mars Reconnaissance Orbiter (MRO) High Resolution Imaging Science Experiment (HiRISE) images at 0.3 m pixel−1 and, second, to document in detail the geometric calibration, software, and procedures on which the photogrammetric analysis of HiRISE data is based. A combination of optical design modeling, laboratory observations, star images, and Mars images form the basis for software in the U.S. Geological Survey Integrated Software for Imagers and Spectrometers (ISIS) 3 system that corrects the images for a variety of distortions with single‐pixel or subpixel accuracy. Corrected images are analyzed in the commercial photogrammetric software SOCET SET (® BAE Systems), yielding digital topographic models (DTMs) with a grid spacing of 1 m (3–4 pixels) that require minimal interactive editing. Photoclinometry yields DTMs with single‐pixel grid spacing. Slopes from MOC and HiRISE are comparable throughout the latitude zone of interest and compare favorably with those where past missions have landed successfully; only the Mars Exploration Rover (MER) B site in Meridiani Planum is smoother. MOC results at multiple locations have root‐mean‐square (RMS) bidirectional slopes of 0.8–4.5° at baselines of 3–10 m. HiRISE stereopairs (one per final candidate site and one in the former site) yield 1.8–2.8° slopes at 1‐m baseline. Slopes at 1 m from photoclinometry are also in the range 2–3° after correction for image blur. Slopes exceeding the 16° Phoenix safety limit are extremely rare.

Landing on Venus: Past and future

We briefly describe the history of landings on Venus, the acquired geochemical data and their potential petrologic interpretations. We suggest a new approach to Venus landing site selection that would avoid the potential contamination by ejecta from upwind impact craters. We also describe candidate units to be sampled in both in situ measurement and sample return missions. For the in situ measurements, the “true” tessera terrain (tt) material is considered as the highest priority goal with the second priority given to transitional tessera terrain (ttt), shield plains (psh) and lobate plains (pl) materials. For the sample return mission, the material of regional plains with wrinkle ridges (pwr) is considered as the highest priority goal with the second priority given to tessera terrain (tt) material. Combining the desire to study materials of specific geologic units with the problem of avoiding potential contamination by ejecta from upwind impact craters, we have suggested several candidate landing sites for each of the geologic units. Although spacecraft ballistics and other constraints of specific mission profiles (VEP or others) may lead to the selection of different candidate sites, we believe that the approaches outlined in this paper can be helpful approach in optimizing mission science return.

Investigating habitat value to inform contaminant remediation options: Approach

Habitat valuation methods are most often developed and used to prioritize candidate lands for conservation. In this study the intent of habitat valuation was to inform the decision-making process for remediation of chemical contaminants on specific lands or surface water bodies. Methods were developed to summarize dimensions of habitat value for six representative aquatic and terrestrial contaminated sites at the East Tennessee Technology Park (ETTP) on the US Department of Energy Oak Ridge Reservation in Oak Ridge, TN, USA. Several general valuation metrics were developed for three broad categories: site use by groups of organisms, site rarity, and use value added from spatial context. Examples of use value metrics are taxa richness, a direct measure of number of species that inhabit an area, complexity of habitat structure, an indirect measure of potential number of species that may use the area, and land use designation, a measure of the length of time that the area will be available for use. Measures of rarity included presence of rare species or communities. Examples of metrics for habitat use value added from spatial context included similarity or complementarity of neighboring habitat patches and presence of habitat corridors. More specific metrics were developed for groups of organisms in contaminated streams, ponds, and terrestrial ecosystems. For each of these metrics, cutoff values for high, medium, and low habitat value were suggested, based on available information on distributions of organisms and landscape features, as well as habitat use information. A companion paper describes the implementation of these habitat valuation metrics and scoring criteria in the remedial investigation for ETTP.

Context Camera Investigation on board the Mars Reconnaissance Orbiter

The Context Camera (CTX) on the Mars Reconnaissance Orbiter (MRO) is a Facility Instrument (i.e., government‐furnished equipment operated by a science team not responsible for design and fabrication) designed, built, and operated by Malin Space Science Systems and the MRO Mars Color Imager team (MARCI). CTX will (1) provide context images for data acquired by other MRO instruments, (2) observe features of interest to NASA's Mars Exploration Program (e.g., candidate landing sites), and (3) conduct a scientific investigation, led by the MARCI team, of geologic, geomorphic, and meteorological processes on Mars. CTX consists of a digital electronics assembly; a 350 mm f/3.25 Schmidt‐type telescope of catadioptric optical design with a 5.7° field of view, providing a ∼30‐km‐wide swath from ∼290 km altitude; and a 5000‐element CCD with a band pass of 500–700 nm and 7 μm pixels, giving ∼6 m/pixel spatial resolution from MRO's nearly circular, nearly polar mapping orbit. Raw data are transferred to the MRO spacecraft flight computer for processing (e.g., data compression) before transmission to Earth. The ground data system and operations are based on 9 years of Mars Global Surveyor Mars Orbiter Camera on‐orbit experience. CTX has been allocated 12% of the total MRO data return, or about ≥3 terabits for the nominal mission. This data volume would cover ∼9% of Mars at 6 m/pixel, but overlapping images (for stereo, mosaics, and observation of changes and meteorological events) will reduce this area. CTX acquired its first (instrument checkout) images of Mars on 24 March 2006.

Validation of Mars Global Reference Atmospheric Model (Mars-GRAM 2001) and planned new features

For altitudes below 80 km, Mars Global Reference Atmospheric Model (Mars-GRAM 2001) is based on output climatology from NASA Ames Mars General Circulation Model (MGCM). At COSPAR 2002, results were presented of validation tests of Mars-GRAM versus data from Mars Global Surveyor Thermal Emission Spectrometer (TES) and Radio Science (RS) experiment. Further validation tests are presented comparing Mars-GRAM densities with those from the European Mars Climate Database (MCD), and comparing densities from both Mars-GRAM and MCD against TES observations. Throughout most of the height and latitude range of TES data (0–40 km and 70S to 70N), good agreement is found between atmospheric densities from Mars-GRAM and MCD. However, at the season and latitude zone for Mars Phoenix arrival and landing ( L s = 65°–80° and latitude 65N to 75N), Mars-GRAM densities are about 30%–45% higher than MCD densities near 40 km altitude. Further evaluation is warranted concerning potential impact of these model differences on planning for Phoenix entry and descent. Three planned features for Mars-GRAM update are also discussed: (1) new MGCM and Thermospheric General Circulation Model data sets to be used as a revised basis for Mars-GRAM mean atmosphere, (2) a new feature to represent planetary-scale traveling waves for upper altitude density variations (such as found during Mars Odyssey aerobraking), and (3) a new model for effects of high resolution topographic slope on winds near the surface (0–4.5 km above Mars Orbiter Laser Altimeter topography level). Mars-GRAM slope winds will be computed from a diagnostic (algebraic) relationship based on Ye et al. [Ye, Z.J., Segal, M., Pielke, R.A., A comparative study of daytime thermally induced upslope flow on Mars and Earth, J. Atmos. Sci. 47(5), 612–628, 1990]. This approach differs from mesoscale models (such as Mars Regional Atmospheric Modeling System and Mars Mesoscale Model Version 5), which use prognostic, full-physics solutions of the time- and space-dependent differential equations of motion. As such, slope winds in Mars-GRAM will be consistent with its “engineering-level” approach, and will be extremely fast and easy to evaluate, compared with mesoscale model solutions. Mars-GRAM slope winds are not being suggested as a replacement for sophisticated, full-physics Mars mesoscale models, but may have value, particularly for preliminary screening of large numbers of candidate landing sites for future Mars missions, such as Phoenix and Mars Science Laboratory. Test output is presented from Mars-GRAM slope winds in the area of Gusev Crater and Valles Marineris.

Mars Exploration Rover candidate landing sites as viewed by THEMIS

The analysis of six landing sites that were candidates for the two NASA Mars Exploration Rovers (MER) benefited from recently available image data from the Thermal Emission Imaging Spectrometer (THEMIS) onboard the 2001 Mars Odyssey spacecraft. The combination of daytime and nighttime thermal infrared images from THEMIS supplemented by additional data sets has lead to new or expanded insights into the nature of each landing site. In Meridiani Planum, a layer of lighter-toned, higher thermal inertia material is observable just below the hematite-bearing layer. Gusev Crater displays a more complex stratigraphy than previously observed, including an upper layer with lobate margins. The highest inertia unit of southern Isidis Planitia is confined to topographic lows in the rim/basin margin and does not appear to be due to highland material transported onto the basin floor. The enigmatic, ovoid, blocky terrain on the floor of Melas Chasma displays higher thermal inertia than its surroundings, an indication that it contains coarser or more indurated material than the adjacent aeolian bedforms. The myriad channels of Athabasca Valles display distinctive thermal signatures despite the presence of a bright layer of dust covering the region. The presence of alluvial fans produced from spur-and-gulley erosion of the walls of Eos Chasma demonstrates that mass movements have occurred following the canyon scouring floods.

Photogrammetric Analysis of the Mars Global Surveyor Mapping Data

This paper studies the photogrammetric mapping properties and capabilities of the Mars Global Surveyor (MGS) mapping data. Starting from the raw MGS data, we decompress the MOC narrow angle images, extract, and calculate their exterior orientation from the SPICE kernels, and calculate the 3D coordinates of MOLA footprints from MOLA PEDR files. A new approach is proposed that registers a MOLA profile to stereo MOC images over the same area with robust and faster convergence. Intersection is conducted to determine the 3D positions of image points measured on MOC stereo pairs. It is shown that there is a nearly constant uncertainty of one MOLA ground spacing distance (approximately 325 m) along the flight direction in MOC and MOLA registration. This is caused by the uncertainties in SPICE kernels, MOLA points, and the determination of time tags for MOC scan lines, which possibly constitutes the dominant error source for the registration. Intersection calculation reaches an optimal balance by distributing the uncertainty evenly in the two images of a stereo pair. As for the photogrammetric mapping capabilities, an uncertainty of 180.8 m in planimetric distance and 30.8 m in elevation difference is estimated. A number of numerical and graphic results over three of the selected candidate landing sites for the Mars Exploration Rover mission are presented for analysis and illustration.

High‐resolution topomapping of candidate MER landing sites with Mars Orbiter Camera narrow‐angle images

We analyzed narrow‐angle Mars Orbiter Camera (MOC‐NA) images to produce high‐resolution digital elevation models (DEMs) in order to provide topographic and slope information needed to assess the safety of candidate landing sites for the Mars Exploration Rovers (MER) and to assess the accuracy of our results by a variety of tests. The mapping techniques developed also support geoscientific studies and can be used with all present and planned Mars‐orbiting scanner cameras. Photogrammetric analysis of MOC stereopairs yields DEMs with 3‐pixel (typically 10 m) horizontal resolution, vertical precision consistent with ∼0.22 pixel matching errors (typically a few meters), and slope errors of 1–3°. These DEMs are controlled to the Mars Orbiter Laser Altimeter (MOLA) global data set and consistent with it at the limits of resolution. Photoclinometry yields DEMs with single‐pixel (typically ∼3 m) horizontal resolution and submeter vertical precision. Where the surface albedo is uniform, the dominant error is 10–20% relative uncertainty in the amplitude of topography and slopes after “calibrating” photoclinometry against a stereo DEM to account for the influence of atmospheric haze. We mapped portions of seven candidate MER sites and the Mars Pathfinder site. Safety of the final four sites (Elysium, Gusev, Isidis, and Meridiani) was assessed by mission engineers by simulating landings on our DEMs of “hazard units” mapped in the sites, with results weighted by the probability of landing on those units; summary slope statistics show that most hazard units are smooth, with only small areas of etched terrain in Gusev crater posing a slope hazard.

Meter‐scale slopes of candidate MER landing sites from point photoclinometry

Photoclinometry was used to analyze the small‐scale roughness of areas that fall within the proposed Mars Exploration Rover (MER) 2003 landing ellipses. The landing ellipses presented in this study were those in Athabasca Valles, Elysium Planitia, Eos Chasma, Gusev Crater, Isidis Planitia, Melas Chasma, and Meridiani Planum. We were able to constrain surface slopes on length scales comparable to the image resolution (1.5 to 12 m/pixel). The MER 2003 mission has various engineering constraints that each candidate landing ellipse must satisfy. These constraints indicate that the statistical slope values at 5 m baselines are an important criterion. We used our technique to constrain maximum surface slopes across large swaths of each image, and built up slope statistics for the images in each landing ellipse. We are confident that all MER 2003 landing site ellipses in this study, with the exception of the Melas Chasma ellipse, are within the small‐scale roughness constraints. Our results have provided input into the landing hazard assessment process. In addition to evaluating the safety of the landing sites, our mapping of small‐scale roughnesses can also be used to better define and map morphologic units. The morphology of a surface is characterized by the slope distribution and magnitude of slopes. In looking at how slopes are distributed, we can better define landforms and determine the boundaries of morphologic units.

Geology of the MER 2003 “Elysium” candidate landing site in southeastern Utopia Planitia, Mars

The NASA Mars Exploration Rover (MER) Project has been considering a landing‐site ellipse designated EP78B2 in southeastern Utopia Planitia, southwest of Elysium Mons. The site appears to be relatively safe for a MER landing site because of its predicted low wind velocities in mesoscale atmospheric circulation models and its low surface roughness at various scales as indicated by topographic and imaging data sets. Previously, the site's surface rocks have been interpreted to be marine sediments or lava flows. In addition, we suggest that Late Noachian to Early Hesperian collapse and mass wasting of Noachian highland rocks contributed to the deposition of detritus in the area of the ellipse. Furthermore, we document partial Late Hesperian to Early Amazonian resurfacing of the ellipse by flows and vents that may be of mud or silicate volcanic origin. A rover investigation of the Utopia landing site using the MER Athena instrument package might address some fundamental aspects of Martian geologic evolution, such as climate change, hydrologic evolution, and magmatic and tectonic history.

Wind‐related features in Gusev crater, Mars

Gusev crater has a complex history beginning with its formation by an impact in the Noachian Period and subsequent evolution, including erosion and deposition associated with Ma'adim Vallis, which cut through Gusev crater from the south. Various wind‐related features are found on the crater floor, including albedo patterns, bedforms (such as barchan dunes), and elongated hills possibly reflecting erosion by the wind. Comparisons of the orientations of these features with predictions from global and atmospheric models show wind patterns as functions of season and time of day. Strongest global winds occur out of the southeast in the late fall and early winter and appear to be responsible for the formation of a large dark streak that drapes 100 km across the crater floor. On an intermediate‐scale, bright wind streaks correlate with nighttime winds that flow into the crater from the rim and outlying high areas; these streaks are interpreted to be deposits of dust settled from the atmosphere during times of positive atmospheric static stability. Smaller features include various dark streaks and duneforms, the orientations of which are inferred to represent local zones of high wind‐shear surface stress. These features also tend to correlate with strong afternoon upslope winds caused by the uneven heating of the atmosphere across the crater. Thus the large dark streak reflects global‐scale wind patterns, the smaller dark features and duneforms represent flow of strong winds out of the crater in the afternoon, and the small bright streaks represent deposition of dust associated with nighttime flow of wind into the crater. The correlation between the wind regime predicted by the models and the orientations of the aeolian features gives confidence that the models are essentially correct. Because Gusev is a prime candidate landing site for landers, including the Mars Exploration Rovers, understanding the interplay of the atmosphere and the surface (including the erosion and deposition of windblown particles) is important in assessments of the science potential for these missions. Despite the abundance of wind‐related features on the floor of Gusev, only about 1.2% of the proposed landing ellipse area is covered with organized bedforms (e.g., dunes), although mantles of sand and dust are also likely to be present. On the basis of an analysis of random landing points within the ellipse, traverse distances to ridges, ejecta from small craters, and other potential sources of rocks are within 150 m traverse distance for 95% of the touchdown points.