Mar

s Ex

plor

atio

n R

over

PND

-1

LaR

C

ME

R E

DL

: Ove

rvie

w a

nd R

econ

stru

ctio

n St

atus

Pras

un N

. Des

aiN

ASA

Lan

gley

Res

earc

h C

ente

r

Way

ne J

. Lee

Jet P

ropu

lsio

n La

bora

tory

Aug

ust 2

3, 2

004

https://ntrs.nasa.gov/search.jsp?R=20070014638 2018-07-17T07:33:31+00:00Z

Mar

s Ex

plor

atio

n R

over

PND

-2

LaR

CB

ackg

roun

d

•“S

pirit

” an

d “O

ppor

tuni

ty”

land

ed

succ

essf

ully

on

Janu

ary

4th

and

25th

of

200

4 at

two

scie

ntifi

cally

dis

tinct

si

tes

•D

eliv

ered

to th

e su

rfac

e us

ing

the

Mar

s Pa

thfin

der (

MPF

) Ent

ry, D

esce

nt

and

Land

ing

(ED

L) s

yste

m

•5

inst

rum

ents

to c

ondu

ct re

mot

e an

d in

-situ

obs

erva

tions

•O

pera

tiona

l life

>90

sol

s m

inim

um

for e

ach

rove

r

•Sc

ient

ific

obje

ctiv

e is

to s

earc

h fo

r ev

iden

ce o

f pas

t his

tory

of w

ater

Mar

s Ex

plor

atio

n R

over

PND

-3

LaR

CM

ER

Can

dida

te L

andi

ng S

ites

Land

ing

site

s w

ill b

e eq

uato

rial (

15° N

to 1

5° S

)

Mar

s Ex

plor

atio

n R

over

PND

-4

LaR

CM

ER

Ent

ry H

erita

ge w

/Vik

ing

& M

ars

Path

finde

r

Viki

ng I,

IIM

ars

Path

finde

rM

ER

Fore

body

geom

etry

, deg

70

70

70A

ftbod

yge

omet

ry, d

eg39

/62

(bic

onic

)

4949

Rel

ativ

e En

try

Velo

city

, km

/s4.

5, 4

.42

7.6

5.5

Rel

ativ

e En

try

FPA

, deg

-17.

6-1

3.8

-12

Entr

y Lo

cal T

ime

--Pr

e-D

awn

Afte

rnoo

nM

ass,

kg

930

585

827,

832

.2m

/(CDA

), kg

/m2

63.7

62.3

89

.8

X CG/D

: ref

eren

ce0.

221

0.27

0.27

Nom

inal

αΤ, d

eg-1

1.1

00

L/D

0.18

00

G&

C3-

axis

(act

ive)

spin

sta

biliz

edsp

in s

tabi

lized

Mar

s Ex

plor

atio

n R

over

PND

-5

LaR

CM

ER

ED

L A

nim

atio

n

Mar

s Ex

plor

atio

n R

over

PND

-6

LaR

CM

ER

Ent

ry, D

esce

nt, a

nd L

andi

ng (E

DL

) Se

quen

ce

Land

er S

epar

atio

n: E

+ 27

4 s

Hea

tshi

eld

Sep

arat

ion:

E+

264

s

Par

achu

te D

eplo

ymen

t: E

+ 24

4 s,

9.5

km

, 430

m/s

Cru

ise

Sta

ge S

epar

atio

n: E

-15m

Def

latio

n: L

+20

min

Airb

ags

Ret

ract

ed:

L+69

min

Rad

ar G

roun

d A

cqui

sitio

n (e

arlie

st):

2.4

km (A

GL)

Brid

le C

ut: 1

2 m

(AG

L)

Airb

ag In

flatio

n: 0

.5 s

prio

r to

RA

D fi

ring

RA

D &

TIR

S R

ocke

t Firi

ng:

~120

m

L =

Land

ing:

~E

+355

sR

oll-S

top:

L+10

min

Ent

ry: E

-0 s

, 125

km

, 5.6

km

/s, γ

= -1

1.5

deg.

Brid

le D

eplo

yed:

E+

284

s

Bou

nces

Land

ing

Tim

es

(Mar

s lo

cal s

olar

tim

e)M

ER

-A: ~

2:00

PM

M

ER

-B: ~

1:15

PM

Ear

th s

et: ~

3:30

PM

EDL Communication via UHF to MGS Orbiter

EDL Direct to Earth Communication with MFSK tones

ED

L Im

ages

Tak

en :

1.6

km (A

GL)

Terminal Descent Sub-Phase

Crit

ical

Dep

loym

ents

Pet

als

& S

AO

pene

d: L

+100

min

Mar

s Ex

plor

atio

n R

over

PND

-7

LaR

CPr

e-E

ntry

“Sp

irit”

Ent

ry A

tmos

pher

e M

odel

s

Mod

els

base

line:

use

d fo

r de

sign

tau=

1:

wor

st c

ase

estim

ate

Dec

XX

: up

date

d m

odel

s usi

ngM

GS

TE

S In

stru

men

t Dat

aD

ec27

:se

lect

ed p

re-e

ntry

bas

elin

e

Mar

s Ex

plor

atio

n R

over

PND

-8

LaR

C“S

piri

t” L

andi

ng E

llips

e at

Fin

al O

D, &

Upd

ated

E

stim

ate

Diff

eren

ced

1-w

ay D

oppl

er

Mar

s Ex

plor

atio

n R

over

PND

-9

LaR

C“S

piri

t” L

andi

ng E

llips

e at

Fin

al O

D a

nd F

inal

L

ocat

ion

Est

imat

es

TAR

GET

TAR

GET

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Rov

er P

ositi

on

Rep

ort 1

/9/0

4R

over

Pos

ition

R

epor

t 1/9

/04

Gol

ombe

kG

olom

bek /

Park

er

/Par

ker

1/19

/04

1/19

/04

Land

ing

scat

ter d

ue to

Nav

unce

rtai

nty

only

, ass

umin

g no

min

al a

tmos

pher

e, w

inds

, ae

ro (A

EPL

un-m

argi

ned)

Land

ing

scat

ter d

ue to

Nav

unce

rtai

nty

only

, ass

umin

g no

min

al a

tmos

pher

e, w

inds

, ae

ro (A

EPL

un-m

argi

ned)

Fina

l Lan

ding

Loc

atio

n ~1

3.4

km fr

om F

inal

OD

So

lutio

n

Fina

l Lan

ding

Loc

atio

n ~1

3.4

km fr

om F

inal

OD

So

lutio

n

Mar

s Ex

plor

atio

n R

over

PND

-10

LaR

CM

onte

Car

lo R

esul

ts fo

r “S

piri

t”

6DO

F3D

OF

Rec

onst

ruct

edPa

ram

eter

Uni

ts M

ean

3-σ

Ran

geM

ean

3-σ

Ran

geH

yper

soni

c Fl

ight

Peak

Hea

ting

Rat

eW

/cm

239

.938

.1-4

1.7

45.0

b42

.9b -4

7.1b

A

ttitu

de @

Pea

k H

eat R

ate

deg

0.6

0-2.

2Ša

Ša

1.8

Peak

Acc

eler

atio

nEa

rth g

5.9

5.5-

6.3

5.9

5.5-

6.3

5.6

Peak

Sta

g Pr

essu

reN

/m2

9984

9263

-107

0599

5592

53-1

0657

Tota

l Hea

t Loa

dJ/

cm2

2770

2669

-287

032

47b

3136

b -335

8b

Para

chut

e D

eplo

ymen

tT

ime

from

Ent

ryse

c24

5.6

237.

3-25

3.8

245.

523

7.9-

253.

125

1H

eigh

tkm

8.6

6.1-

11.1

8.7

6.3-

11.1

7.54

Win

d-Re

lativ

e V

eloc

itym

/s41

7.7

389.

9-44

5.6

407

.0c

377.

5c -436

.5c

411

Mac

h N

umbe

r1.

781.

71-1

.85

1.78

1.71

-1.8

5D

ynam

ic P

ress

ure

N/m

272

4.2

654.

5-79

4.0

725.

665

4.8-

796.

373

0Pl

anet

-Rel

ativ

e FP

Ade

g-2

8.2

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0- -2

6.4

-28.

1-2

9.9-

-26.

3A

ttitu

dede

g1.

10-

4.9

ŠaŠa

7H

eats

hiel

d Je

ttis

onTi

me

from

Ent

ryse

c26

5.6

257.

3-27

3.8

265.

525

7.9-

273.

127

1H

eigh

tkm

6.4

3.9-

8.9

6.4

4.0-

8.8

Win

d-Re

lativ

e V

eloc

itym

/s11

2.2

94.1

-130

.310

8.9c

88.7

c -129

.1c

Plan

et-R

elat

ive

FPA

deg

-49.

6-5

5.6-

-43.

6-4

9.6

-55.

7- -4

3.5

Dyn

amic

Pre

ssur

eN

/m2

60.8

45.2

-76.

4Ša

Ša

Mac

h nu

mbe

r0.

470.

4-0.

540.

470.

4-0.

53a Co

mpu

ted

in 6

DO

F on

ly, b D

iffer

ent c

alcu

latio

n m

etho

d us

ed, c Pl

anet

-rel

ativ

e ve

loci

ty li

sted

,d Re

sults

obt

aine

d fr

om 2

4DO

F m

ulti-

body

PO

ST si

mul

atio

n.

Mar

s Ex

plor

atio

n R

over

PND

-11

LaR

CM

onte

Car

lo R

esul

ts fo

r “S

piri

t” (c

ont’

d)

6DO

F3D

OF

Rec

onst

ruct

edPa

ram

eter

Uni

ts M

ean

3-σ

Ran

geM

ean

3-σ

Ran

geL

ande

r D

esce

nt In

itiat

ion

Tim

e fr

om E

ntry

sec

275.

626

7.3-

283.

827

5.5

267.

9-28

3.1

281

Hei

ght

km5.

63.

1-8.

15.

63.

2-8.

1W

ind-

Rela

tive

Vel

ocity

m/s

90.6

77.4

-103

.990

.5c

75.1

c -105

.8c

Plan

et-R

elat

ive

FPA

deg

-62.

0-7

0.4-

-53.

6-6

2.1

-70.

7- -5

3.5

Dyn

amic

Pre

ssur

eN

/m2

41.8

31.8

-51.

8Ša

Ša

Sens

ed A

ccel

erat

ion

Earth

g0.

430.

39-0

.46

0.43

0.39

-0.4

6R

AD

Initi

atio

nTi

me

from

Ent

ryse

c34

5.8

316.

2-37

5.3

346.

731

7.3-

376.

233

9.4

Tim

e fr

om C

hute

Dep

loy

sec

100.

264

.4-1

36.0

101.

365

.3-1

37.2

88.4

Hei

ght

m12

3.1

91.3

-154

.711

8.4

87.1

-149

.699

.4W

ind-

Rela

tive

Vel

ocity

m/s

73.1

61.6

-84.

573

.0c

61.8

c -84.

2c69

.2Pl

anet

-Rel

ativ

e FP

Ade

g-8

3.9

-89.

9- -7

6.3

-84.

1-8

9.6-

-77.

4M

ach

num

ber

0.29

0.24

-0.3

40.

290.

24-0

.33

Bri

dle

Cut

Tim

e fr

om E

ntry

sec

348.

2d31

9.7d -3

76.3

d34

9.7

320.

6-37

8.7

Hei

ght

m12

.4d

4.2d -2

0.1d

13.6

11.1

-16.

18.

5W

ind-

Rela

tive

Vel

ocity

m/s

9.8d

0.2d -2

5.3d

9.3c

0.3c -2

0.4c

11.8

Lan

ding

Tim

e fr

om E

ntry

sec

350.

5d32

1.0d -3

79.5

d35

2.3

322.

9-38

1.5

Win

d-Re

lativ

e V

eloc

itym

/s13

.9d

7.2d -2

5.0d

13.9

c6.

7c -21.

2c14

.0a Co

mpu

ted

in 6

DO

F on

ly, b D

iffer

ent c

alcu

latio

n m

etho

d us

ed, c Pl

anet

-rel

ativ

e ve

loci

ty li

sted

,d Re

sults

obt

aine

d fr

om 2

4DO

F m

ulti-

body

PO

ST si

mul

atio

n.

Mar

s Ex

plor

atio

n R

over

PND

-12

LaR

CR

econ

stru

cted

“Sp

irit”

Ent

ry D

ensi

ty P

rofil

e

Mod

els

base

line:

use

d fo

r de

sign

tau=

1:

wor

st c

ase

estim

ate

Dec

27:

sele

cted

pre

-ent

ry m

odel

usi

ngM

GS

TE

S In

stru

men

t Dat

a

Mar

s Ex

plor

atio

n R

over

PND

-13

LaR

CR

efin

ed R

econ

stru

cted

“Sp

irit”

Ent

ry

Den

sity

Pro

file

Mar

s Ex

plor

atio

n R

over

PND

-14

LaR

CM

ars P

athf

inde

r A

ttitu

de R

econ

stru

ctio

n

Mar

s Ex

plor

atio

n R

over

PND

-15

LaR

C“S

piri

t” A

ttitu

de R

econ

stru

ctio

n Atti

tude

Gro

wth

at

~170

s (M

ach

6)

theo

rized

due

to

atm

osph

ere

turb

ulen

ce

aris

ing

from

Spi

rit

flyin

g ov

er w

este

rn ri

m

of G

usev

Cra

ter (

next

sl

ide)

Mar

s Ex

plor

atio

n R

over

PND

-16

LaR

C“S

piri

t” E

ntry

Gro

und

Tra

ck

Spiri

t flig

ht p

ath

plot

ted

over

wes

tern

rim

of G

usev

Cra

ter.

Dis

play

ing

porti

onof

traj

ecto

ry w

here

atti

tude

gr

owth

beg

ins (

time

of

170s

-25

0s)

Mar

s Ex

plor

atio

n R

over

PND

-17

LaR

CR

econ

stru

cted

“Sp

irit”

Ter

min

al D

esce

nt

Dyn

amic

s (Si

de V

iew

)

Mar

s Ex

plor

atio

n R

over

PND

-18

LaR

C“O

ppor

tuni

ty”

Lan

ding

Elli

pse

at F

inal

OD

, &

Upd

ated

Est

imat

e D

iffer

ence

d 1-

way

Dop

pler

TAR

GET

TAR

GET

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Prel

imin

ary

Post

Prel

imin

ary

Post

--La

ndin

g Es

timat

e La

ndin

g Es

timat

e (D

iffer

ence

d 1

(Diff

eren

ced

1 --w

ay

way

D

oppl

er)

Dop

pler

)

Mar

s Ex

plor

atio

n R

over

PND

-19

LaR

C“S

piri

t” L

andi

ng E

llips

e at

Fin

al O

D a

nd F

inal

L

ocat

ion

Est

imat

es

TAR

GET

TAR

GET

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Dis

pers

ion

Cen

ters

Blu

e =

POST

Whi

te =

AEP

L

Fina

l Lan

ding

Es

timat

esFi

nal L

andi

ng

Estim

ates

Nav

-Onl

y D

ispe

rsio

n

(AEP

L un

-mar

gine

d)N

av-O

nly

Dis

pers

ion

(A

EPL

un-m

argi

ned)

Fina

l Lan

ding

Loc

atio

n ~1

4.9

km fr

om F

inal

OD

So

lutio

n

Fina

l Lan

ding

Loc

atio

n ~1

4.9

km fr

om F

inal

OD

So

lutio

n

Mar

s Ex

plor

atio

n R

over

PND

-20

LaR

CM

onte

Car

lo R

esul

ts fo

r “O

ppor

tuni

ty”

6DO

F3D

OF

Rec

onst

ruct

edPa

ram

eter

Uni

ts M

ean

3-σ

Ran

geM

ean

3-σ

Ran

geH

yper

soni

c Fl

ight

Peak

Hea

ting

Rat

eW

/cm

242

.239

.3-4

5.2

47.9

b44

.6b -5

1.1b

A

ttitu

de @

Pea

k H

eatR

ate

deg

0.6

0-2.

1Ša

Ša2.

1Pe

ak A

ccel

erat

ion

Earth

g6.

45.

9-7.

06.

45.

9-7.

06.

3Pe

ak S

tag

Pres

sure

N/m

210

835

9868

-118

0310

812

9863

-117

60To

tal H

eat L

oad

J/cm

227

1125

95-2

826

3190

b30

64b -3

317b

Para

chut

e D

eplo

ymen

tT

ime

from

Ent

ryse

c24

2.1

234.

5-24

9.7

242.

123

5.2-

249.

025

0.3

Hei

ght

km8.

76.

4-11

.08.

86.

6-11

.07.

52W

ind-

Rela

tive

Vel

ocity

m/s

438.

041

1.8-

464.

242

5.3c

395.

4c -455

.2c

434

Mac

h N

umbe

r1.

861.

78-1

.94

1.86

1.79

-1.9

4D

ynam

ic P

ress

ure

N/m

274

7.0

674.

7-81

9.3

749.

167

6.3-

821.

976

4Pl

anet

-Rel

ativ

e FP

Ade

g-2

6.8

-28.

4- -2

5.1

-26.

7-2

8.3-

-25.

2A

ttitu

dede

g1.

00-

4.4

ŠaŠa

8H

eats

hiel

d Je

ttis

onTi

me

from

Ent

ryse

c26

2.2

254.

6-26

9.8

262.

125

5.2-

269.

027

0.3

Hei

ght

km6.

54.

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CR

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Ent

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Prof

ile

Mod

els

base

line:

use

d fo

r de

sign

tau=

1:

wor

st c

ase

estim

ate

Dec

27:

sele

cted

pre

-ent

ry m

odel

usi

ngM

GS

TE

S In

stru

men

t Dat

a

Mar

s Ex

plor

atio

n R

over

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C“O

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tuni

ty”

Att

itude

Rec

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ion A

ttitu

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row

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arts

earli

er ~

130s

(Mac

h 16

)th

an fo

r Spi

rit.

Beh

avio

r stil

l not

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ders

tood

. Ana

lysi

s is

ong

oing

.

Mar

s Ex

plor

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over

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LaR

CSu

mm

ary

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pirit

” ED

L w

ent v

ery

wel

l

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ppor

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ty”

EDL

wen

t ver

y w

ell a

lso

•Pr

elim

inar

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cons

truc

tion

indi

cate

s ED

L fo

r bot

h en

trie

s w

ere

with

in

pre-

entr

y pr

edic

tions

•Ti

me

of p

arac

hute

dep

loym

ent w

as la

ter t

han

pred

icte

d ne

ar +

3-σ

boun

d–

Late

dep

loym

ent t

ime

was

a re

sult

of a

low

er d

ensi

ty e

xper

ienc

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ring

EDL

•N

o cl

ear e

xpla

natio

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of y

et fo

r hig

her a

ngle

of a

ttack

•R

econ

stru

ctio

n w

ork

on-g

oing