NASA's Mars Exploration Rover Research Articles

Precise pose estimation of the NASA Mars 2020 Perseverance rover through a stereo‐vision‐based approach

AbstractVisual Odometry (VO) is a fundamental technique to enhance the navigation capabilities of planetary exploration rovers. By processing the images acquired during the motion, VO methods provide estimates of the relative position and attitude between navigation steps with the detection and tracking of two‐dimensional (2D) image keypoints. This method allows one to mitigate trajectory inconsistencies associated with slippage conditions resulting from dead‐reckoning techniques. We present here an independent analysis of the high‐resolution stereo images of the NASA Mars 2020 Perseverance rover to retrieve its accurate localization on sols 65, 66, 72, and 120. The stereo pairs are processed by using a 3D‐to‐3D stereo‐VO approach that is based on consolidated techniques and accounts for the main nonlinear optical effects characterizing real cameras. The algorithm is first validated through the analysis of rectified stereo images acquired by the NASA Mars Exploration Rover Opportunity, and then applied to the determination of Perseverance's path. The results suggest that our reconstructed path is consistent with the telemetered trajectory, which was directly retrieved onboard the rover's system. The estimated pose is in full agreement with the archived rover's position and attitude after short navigation steps. Significant differences (~10–30 cm) between our reconstructed and telemetered trajectories are observed when Perseverance traveled distances larger than 1 m between the acquisition of stereo pairs.

Geological Analysis of Martian Rover‐Derived Digital Outcrop Models Using the 3‐D Visualization Tool, Planetary Robotics 3‐D Viewer—PRo3D

AbstractPanoramic camera systems on robots exploring the surface of Mars are used to collect images of terrain and rock outcrops which they encounter along their traverse. Image mosaics from these cameras are essential in mapping the surface geology and selecting locations for analysis by other instruments on the rover's payload. 2‐D images do not truly portray the depth of field of features within an image, nor their 3‐D geometry. This paper describes a new 3‐D visualization software tool for geological analysis of Martian rover‐derived Digital Outcrop Models created using photogrammetric processing of stereo‐images using the Planetary Robotics Vision Processing tool developed for 3‐D vision processing of ExoMars PanCam and Mars 2020 Mastcam‐Z data. Digital Outcrop Models are rendered in real time in the Planetary Robotics 3‐D Viewer PRo3D, allowing scientists to roam outcrops as in a terrestrial field campaign. Digitization of point, line, and polyline features is used for measuring the physical dimensions of geological features and communicating interpretations. Dip and strike of bedding and fractures is measured by digitizing a polyline along the contact or fracture trace, through which a best fit plane is plotted. The attitude of this plane is calculated in the software. Here we apply these tools to analysis of sedimentary rock outcrops and quantification of the geometry of fracture systems encountered by the science teams of NASA's Mars Exploration Rover Opportunity and Mars Science Laboratory rover Curiosity. We show the benefits PRo3D allows for visualization and collection of geological interpretations and analyses from rover‐derived stereo‐images.

Surface-based 3D measurements of small aeolian bedforms on Mars and implications for estimating ExoMars rover traversability hazards

Recent aeolian bedforms comprising loose sand are common on the martian surface and provide a mobility hazard to Mars rovers. The ExoMars rover will launch in 2020 to one of two candidate sites: Mawrth Vallis or Oxia Planum. Both sites contain numerous aeolian bedforms with simple ripple-like morphologies. The larger examples are ‘Transverse Aeolian Ridges’ (TARs), which stereo imaging analyses have shown to be a few metres high and up to a few tens of metres across. Where they occur, TARs therefore present a serious, but recognized and avoidable, rover mobility hazard. There also exists a population of smaller bedforms of similar morphology, but it is unknown whether these bedforms will be traversable by the ExoMars rover. We informally refer to these bedforms as “mini-TARs”, as they are about an order of magnitude smaller than most TARs observed to date. They are more abundant than TARs in the Oxia Planum site, and can be pervasive in areas. The aim of this paper is to estimate the heights of these features, which are too small to measured using High Resolution Imaging Science Experiment (HiRISE) Digital Elevation Models (DEMs), from orbital data alone. Thereby, we aim to increase our knowledge of the hazards in the proposed ExoMars landing sites. We propose a methodology to infer the height of these mini-TARs based on comparisons with similar features observed by previous Mars rovers. We use rover-based stereo imaging from the NASA Mars Exploration Rover (MER) Opportunity and PRo3D software, a 3D visualisation and analysis tool, to measure the size and height of mini-TARs in the Meridiani Planum region of Mars. These are good analogues for the smaller bedforms at the ExoMars rover candidate landing sites. We show that bedform height scales linearly with length (as measured across the bedform, perpendicular to the crest ridge) with a ratio of about 1:15. We also measured the lengths of many of the smaller aeolian bedforms in the ExoMars rover Oxia Planum candidate landing site, and find that they are similar to those of the Meridiani Planum mini-TARs. Assuming that the Oxia Planum bedforms have the same length/height ratio as the MER Opportunity mini-TARs, we combine these data to provide a probabilistic method of inferring the heights of bedforms at the Oxia Planum site. These data can then be used to explore the likely traversability of this site. For example, our method suggests that most of the bedforms studied in Oxia Planum have ridge crests higher than 15 cm, but lower than 25 cm. Hence, if the tallest bedforms the ExoMars rover will be able to safely cross are only 15 cm high, then the Oxia Planum sites studied here contain mostly impassable bedforms. However, if the rover can safely traverse 25 cm high bedforms, then most bedforms here will be smaller than this threshold. As an additional outcome, our results show that the mini-TARs have length/height ratios similar to TARs in general. Hence, these bedforms could probably be classified simply as “small TARs”, rather than forming a discrete population or sub-type of aeolian bedforms.

Variabilidad estacional e interanual de la radiación solar en las coordenadas de aterrizaje de Spirit, Opportunity y Curiosity

In this article we characterize the radiative environment at the landing sites of NASA's Mars Exploration Rover (MER) and Mars Science Laboratory (MSL) missions. We use opacity values obtained at the surface from direct imaging of the Sun and our radiative transfer model COMIMART to analyze the seasonal and interannual variability of the daily irradiation at the MER and MSL landing sites. In addition, we analyze the behavior of the direct and diffuse components of the solar radiation at these landing sites.

Dust deposition on the decks of the Mars Exploration Rovers: 10 years of dust dynamics on the Panoramic Camera calibration targets.

The Panoramic Cameras on NASA's Mars Exploration Rovers have each returned more than 17,000 images of their calibration targets. In order to make optimal use of this data set for reflectance calibration, a correction must be made for the presence of air fall dust. Here we present an improved dust correction procedure based on a two‐layer scattering model, and we present a dust reflectance spectrum derived from long‐term trends in the data set. The dust on the calibration targets appears brighter than dusty areas of the Martian surface. We derive detailed histories of dust deposition and removal revealing two distinct environments: At the Spirit landing site, half the year is dominated by dust deposition, the other half by dust removal, usually in brief, sharp events. At the Opportunity landing site the Martian year has a semiannual dust cycle with dust removal happening gradually throughout two removal seasons each year. The highest observed optical depth of settled dust on the calibration target is 1.5 on Spirit and 1.1 on Opportunity (at 601 nm). We derive a general prediction for dust deposition rates of 0.004 ± 0.001 in units of surface optical depth deposited per sol (Martian solar day) per unit atmospheric optical depth. We expect this procedure to lead to improved reflectance‐calibration of the Panoramic Camera data set. In addition, it is easily adapted to similar data sets from other missions in order to deliver improved reflectance calibration as well as data on dust reflectance properties and deposition and removal history.

Onboard centralized frame tree database for intelligent space operations of the Mars Science Laboratory Rover.

Planetary surface science operations performed by robotic space systems frequently require pointing cameras at various objects and moving a robotic arm end effector tool toward specific targets. Earlier NASA Mars Exploration Rovers did not have the ability to compute actual coordinates for given object coordinate frame names and had to be provided with explicit coordinates. Since it sometimes takes hours to more than a day to get final approval of certain calculated coordinates for command uplink via the Earth-based mission operations procedures, a highly desired enhancement for future rovers was to have the onboard automated capability to compute the coordinates for a given frame name. The Mars Science Laboratory (MSL) rover mission is the first to have a centralized coordinate transform database to maintain the knowledge of spatial relations. This onboard intelligence significantly simplifies communication and control between Earth-based human mission operators and the robotic rover on Mars by supporting higher level abstraction of commands using object and target names instead of coordinates. More specifically, the spatial relations of many object frames are represented hierarchically in a tree data structure, called the frame tree. Individual frame transforms are populated by their respective modules that have specific knowledge of the frames. Through this onboard centralized frame tree database, client modules can query transforms between any two frames and support spacecraft commands that use any frames maintained in the frame tree. Various operational examples in the MSL mission that have greatly benefitted from this onboard centralized frame tree database are presented.

A continuative variable resolution digital elevation model for ground-based photogrammetry

A new digital elevation model (DEM) is presented for accurate surface representation in photogrammetric processing of stereo ground-based imagery. This model is named the continuative variable resolution DEM (cvrDEM). In contrast to traditional grid-based DEMs that have only one fixed resolution, this new model can provide resolutions that vary depending on the range represented in the ground-based imagery. Functions for deriving radial and angular resolutions from the cvrDEM have been derived, and a corresponding storage structure for the polar coordinates has been developed. Experimental results using publically available NASA Mars Exploration Rover 2003 imagery demonstrate the effectiveness of the cvrDEM model: It can significantly reduce storage space while fully maintaining the most useful level of mapping accuracy relevant to the range from the imaging station. A terrestrial laser scanning data set was also used to validate the effectiveness of the cvrDEM.

Scientific results and lessons learned from an integrated crewed Mars exploration simulation at the Rio Tinto Mars analogue site

Between 15 and 25 April 2011 in the framework of the PolAres programme of the Austrian Space Forum, a five-day field test of the Aouda.X spacesuit simulator was conducted at the Rio Tinto Mars-analogue site in southern Spain. The field crew was supported by a full-scale Mission Control Center (MCC) in Innsbruck, Austria. The field telemetry data were relayed to the MCC, enabling a Remote Science Support (RSS) team to study field data in near-real-time and adjust the flight planning in a flexible manner. We report on the experiences in the field of robotics, geophysics (Ground Penetrating Radar) and geology as well as life sciences in a simulated spaceflight operational environment. Extravehicular Activity (EVA) maps had been prepared using Google Earth and aerial images. The Rio Tinto mining area offers an excellent location for Mars analogue simulations. It is recognised as a terrestrial Mars analogue site because of the presence of jarosite and related sulphates, which have been identified by the NASA Mars Exploration Rover “Opportunity” in the El Capitan region of Meridiani Planum on Mars. The acidic, high ferric-sulphate content water of Rio Tinto is also considered as a possible analogue in astrobiology regarding the analysis of ferric sulphate related biochemical pathways and produced biomarkers. During our Mars simulation, 18 different types of soil and rock samples were collected by the spacesuit tester. The Raman results confirm the presence of minerals expected, such as jarosite, different Fe oxides and oxi-hydroxides, pyrite and complex Mg and Ca sulphates. Eight science experiments were conducted in the field. In this contribution first we list the important findings during the management and realisation of tests, and also a first summary of the scientific results. Based on these experiences suggestions for future analogue work are also summarised. We finish with recommendations for future field missions, including the preparation of the experiments, communication and data transfer – as an aid to the planning of future simulations.

Orbital identification of clays and carbonates in Gusev crater

Gusev crater was selected as the landing site of one of the two NASA Mars Exploration Rovers because water once could have ponded within the crater and partly filled it with sediments as suggested by the presence of a feeder channel and the fluvial-lacustrine morphology of the in-filling. However, the paucity of mineralogical evidence for fluvial-lacustrine activity revealed by the Spirit rover has remained a puzzle for years. Using orbital, near-infrared imaging spectroscopy, we report the detection of phyllosilicates and carbonates within and around the landing site of Spirit on the floor of Gusev crater. Placed in their geomorphological context, these minerals shed new light on the aqueous history of this crater, and offer a framework for the Spirit in situ measurements.

Mars Opportunity rover finds gypsum veins

Bright linear features about the width of a human thumb that were found on Mars by NASA's Mars Exploration Rover Opportunity appear to be gypsum veins deposited by groundwater, a team of scientists announced at a 7 December news briefing at the AGU Fall Meeting in San Francisco, Calif. “To me, this is the single most powerful piece of evidence for liquid water on Mars that has been discovered by the Opportunity rover,” said Steve Squyres, a geoscientist at Cornell University in Ithaca, N. Y., and principal investigator for NASA Mars Exploration Rovers Opportunity and Spirit. “We have found sulfates before. Those sulfates were formed somewhere; we don't know where. They have been moved around by the wind, they've been mixed with other materials. It's a big, jumbled, fascinating mess. This stuff was formed right here. There was a fracture in the rock, water flowed through it, gypsum was precipitated from the water. End of story. Okay, there is no ambiguity about this. This is what makes it so cool.”

In-situ Mössbauer spectroscopy with MIMOS II

The miniaturized Mossbauer spectrometer MIMOS II was developed for the exploration of planetary surfaces. Two MIMOS II instruments were successfully deployed on the martian surface as payload elements of the NASA Mars Exploration Rover (MER) mission and have returned data since landing in January 2004. Mossbauer spectroscopy has made significant contributions to the success of the MER mission, in particular identification of iron-bearing minerals formed through aqueous weathering processes. As a field-portable instrument and with backscattering geometry, MIMOS II provides an opportunity for non-destructive in-situ investigations for a range of applications. For example, the instrument has been used for analyses of archaeological artifacts, for air pollution studies and for in-field monitoring of green rust formation. A MER-type MIMOS II instrument is part of the payload of the Russian Phobos-Grunt mission, scheduled for launch in November 2011, with the aim of exploring the composition of the martian moon Phobos. An advanced version of the instrument, MIMOS IIA, that incorporates capability for elemental analyses, is currently under development.

Active dust control and mitigation technology for lunar and Martian exploration

Mars is covered with a layer of dust that has been homogenized by global dust storms. Dust, levitated by these storms as well as by the frequent dust devils, is the dominant weather phenomenon on Mars. NASA's Mars exploration rovers have shown that atmospheric dust falling on solar panels can decrease their efficiency to the point of rendering the rover unusable. Dust covering the surface of the moon is expected to be electrostatically charged due to the solar wind, cosmic rays, and the solar radiation itself through the photoelectric effect. Electrostatically charged dust has a large tendency to adhere to surfaces. The Apollo missions to the moon showed that lunar dust adhesion can hinder manned and unmanned exploration activities. In this paper, we report on our efforts to develop an electrodynamic dust shield to prevent the accumulation of dust on surfaces and to remove dust already adhering to those surfaces. The technology uses electrostatic and dielectrophoretic forces to carry dust particles off surfaces and to generate an electrodynamic shield that prevents further accumulation of dust. The concept of the electrodynamic dust shield was introduced by NASA in the late 1960s and later reduced to practice during the 1970s for terrestrial applications. In 2003, our laboratory, in collaboration with several universities, applied this technology to space applications, specifically to remove dust from solar panels on Mars. We show how, with an appropriate design, we can prevent the electrostatic breakdown at the low Martian atmospheric pressures. We are also able to show that uncharged dust can be lifted and removed from surfaces under simulated Martian environmental conditions. We have also been able to develop a version of the electrodynamic dust shield working under hard vacuum conditions that simulate the lunar environment. We have implemented the electrodynamic dust shield on solar arrays, optical systems, spectrometers, viewports, thermal radiators, batteries, and power systems, as well as on fabrics for spacesuits. We present data on the design and optimization of the electrodynamic dust shields and provide data on the performance of the different implementations of the technology for lunar and Martian exploration activities.

The electrostatic environments of Mars and the Moon

The electrical activity present in the environment near the surfaces of Mars and the moon has very different origins and presents a challenge to manned and robotic planetary exploration missions. Mars is covered with a layer of dust that has been redistributed throughout the entire planet by global dust storms. Dust, levitated by these storms as well as by the frequent dust devils, is expected to be electrostatically charged due to the multiple grain collisions in the dust-laden atmosphere. Dust covering the surface of the moon is expected to be electrostatically charged due to the solar wind, cosmic rays, and the solar radiation itself through the photoelectric effect. Electrostatically charged dust has a large tendency to adhere to surfaces. NASA's Mars exploration rovers have shown that atmospheric dust falling on solar panels can decrease their efficiency to the point of rendering the rover unusable. And as the Apollo missions to the moon showed, lunar dust adhesion can hinder manned and unmanned lunar exploration activities. Taking advantage of the electrical activity on both planetary system bodies, dust removal technologies are now being developed that use electrostatic and dielectrophoretic forces to produce controlled dust motion. This paper presents a short review of the theoretical and semiempirical models that have been developed for the lunar and Martian electrical environments.

Forecasting Spacecraft Telemetry Using Modified Physical Predictions

Abstract : Among systems that provide sensor data of their performance, one approach to prognostic estimation is forecasting, i.e. prediction of measurable parameters and comparison of predicted values against established operational limits. Forecasting can be attempted statistically, or can be based on rigorous physical simulation. However, combining these approaches is difficult where system mode behavior or timing of system activities is uncertain, limiting the accuracy or applicability of a forecast. In this paper we describe a method to modify simulation outputs to better match current telemetry. We begin with a familiar autoregressive approach to model residuals between predicted spacecraft performance, provided by physics-based modeling tools, and up-to-date spacecraft telemetry. This result is then improved by transforming the simulation result to better fit recent data, and the transformation is applied to generate more accurate future predictions. The method is suitable for real-time signal prediction. We will motivate this approach and characterize its performance using example telemetry from the NASA Mars Exploration Rover spacecraft.*

The miniaturized Möessbauer spectrometer MIMOS II for the Phobos-Grunt mission

Moessbauer spectroscopy is a powerful tool for the mineralogical analysis of Fe-bearing materials. The miniaturized Moessbauer spectrometer MIMOS II has already been working on the surface of Mars for 6 years as part of the NASA Mars Exploration Rovers mission. The improved version of the instrument is a component of the scientific payload of the Phobos-Grunt mission. The scientific objectives of the instrument are the following: to identify the iron-bearing phases, to determine the quantitative distribution of iron among these phases, and to determine the distribution of iron among its oxidation states.

Mars Rover Enters New Phase of Mission

The wandering days for NASA's Mars Exploration Rover Spirit appear to be over. Spirit, which has been exploring the planet on a science mission since January 2004, is embedded in sandy soil and will remain at its current location at 14.6°S, 175.5°E, at the “Home Plate” plateau within Gusev crater, through the coming Martian winter and for the rest of its days.Despite NASA's best efforts to extricate the six‐wheeled Spirit from the sulfate salt—rich soil for the past 8 months, mission scientists indicated on 26 January that they now believe the rover is stuck for good, aside from minor movements on its four remaining operational wheels and other small adjustments. For the next several weeks, NASA will continue efforts to slightly reposition the robot so that it can better catch the Sun, endure the coming Martian winter in a state of hibernation, and remain at least in infrequent communication with the science team.

Working Time on Mars

AbstractThe constancy of clock time as an effective work support technology has made it almost impossible to imagine a modern organization where time, specifically standard clock time, is not a component of the organizational infrastructure. Demonstrating the degree to which clock time has become embedded within the organizational sphere are the ways in which clock time operates as though it were a natural phenomenon, rather than a human-built technology (Adam, 1990; Anderson, 1964; Bluedorn, 2002; de Grazia, 1964; Zerubavel, 1981). The naturalization of clock time within organizations is evidenced by the reified assumption technology of clock time is fixed and cannot be modified to support contextually based temporal rhythms of work. The opportunity to challenge particular notions about the relationship between time and work is found in the organization of NASA's Mars Exploration Rovers mission (MER). In addition to standard clock time, the MER mission employed an extra-terrestrial version of standard clock time, known as “Mars time,” to track the presence and absence of sunlight on Mars. Drawing on empirical data, I foreground the inadequacies of the time support technologies that led me to question the use of standard clock time as a way of ordering the experience of time on Mars. I argue that the naturalization of clock time within post-industrial organizations contributed to this occasion in which the scientific exploration of Mars was conducted according to an agrarian era temporal rhythm but for which work support was organized around an industrial era time/work relationship.

Controlled particle removal from surfaces by electrodynamic methods for terrestrial, lunar, and Martian environmental conditions

An Electrodynamic Dust Shield to remove already deposited micron-size particles from surfaces and to prevent the accumulation of such particles on surfaces has been developed. In addition to terrestrial application, our NASA laboratory is adapting this technology for the dusty and harsh environments of the Moon and Mars. The Apollo missions to the moon showed that lunar dust can hamper astronaut surface activities due to its ability to cling to most surfaces. NASA's Mars exploration landers and rovers have also shown that the problem is equally hard if not harder on Mars. In this paper, we show that an appropriate design can prevent the electrostatic breakdown at the low Martian atmospheric pressures. We are also able to show that uncharged dust can be lifted and removed from surfaces under simulated Martian environmental conditions. This technology has many potential benefits for removing dust from visors, viewports and many other surfaces as well as from solar arrays. We have also been able to develop a version of the electrodynamic dust shield working under hard vacuum conditions. This version should work well on the moon. We present data on the design and optimization of both types of dust shields as well substantial data on the clearing factors for transparent dust shields designed to protect solar panels for Martian exploration.

A study of visual and tactile terrain classification and classifier fusion for planetary exploration rovers

SUMMARYKnowledge of the physical properties of terrain surrounding a planetary exploration rover can be used to allow a rover system to fully exploit its mobility capabilities. Terrain classification methods provide semantic descriptions of the physical nature of a given terrain region. These descriptions can be associated with nominal numerical physical parameters, and/or nominal traversability estimates, to improve mobility prediction accuracy. Here we study the performance of multisensor classification methods in the context of Mars surface exploration. The performance of two classification algorithms for color, texture, and range features are presented based on maximum likelihood estimation and support vector machines. In addition, a classification method based on vibration features derived from rover wheel–terrain interaction is briefly described. Two techniques for merging the results of these “low-level” classifiers are presented that rely on Bayesian fusion and meta-classifier fusion. The performance of these algorithms is studied using images from NASA's Mars Exploration Rover mission and through experiments on a four-wheeled test-bed rover operating in Mars-analog terrain. Also a novel approach to terrain sensing based on fused tactile and visual features is presented. It is shown that accurate terrain classification can be achieved via classifier fusion from visual and tactile features.

Dust devil speeds, directions of motion and general characteristics observed by the Mars Express High Resolution Stereo Camera

A total of 205 dust devils were detected in 23 High Resolution Stereo Camera (HRSC) images taken between January 2004 and July 2006 with the ESA Mars Express orbiter, in which average dust devil heights were ∼660 m and average diameters were ∼230 m. For the first time, dust devil velocities were directly measured from orbit, and range from 1 to 59 m/s. The observed dust devil directions of motion are consistent with data derived from a General Circulation Model (GCM). In some respects HRSC dust devil properties agree favorably with data from the NASA Mars Exploration Rover Spirit dust devil analyses. The spatial distribution of the active dust devils detected by HRSC supports the conjecture that the ascending branch of the Hadley circulation is responsible for the increase in dust devil activity, especially observed during southern summer between 50° and 60° S latitude. Combining the dust-lifting rate of 19 kg/km2/sol derived from the Spirit observations with the fewer in number but larger in size dust devils from various other locations observed by HRSC, we suggest that dust devils make a significant contribution to the dust entrainment into the atmosphere and to the martian dust cycle.