HiRISE Overview: Imaging Mars Surface with Precision

1. HiRISE Stuff That Might Be Relevant to LROC Alfred McEwen and Eric Eliason

2. MRO Mission Overview Launch Interplanetary Cruise Approach and Orbit Insertion Aug 2005 Aug 2005 - Mar 2006 Mar 2006 Capture Orbit --- Period: 35 hrs Asc Node: 8:30 pm LMST LC-41 Atlas V-401 Aerobraking Primary Science/Relay Nov 2006 - Dec 2010 Mar-Sep 2006 Primary Science/Relay Orbit --- Period: 112 min Hp: 255 km Ha: 320 km, Frozen Ascending Node: 3:00 pm LMST (Sun-Sync) Science Data Acquisition/Return

3. ~6Ft. MRO MGS Odyssey MRO Odyssey 2001 MGS Recent NASA Mars Orbiters - A Comparison Launch Mass 2180 kg 750 kg 1060 kg 255 x 320 km sun-sync frozen orbit 390 x 450 km sun-sync frozen orbit 370 x 430 km sun-sync frozen orbit Operational Orbit

4. Data Return Comparison

5. HiRISE Objectives HiRISE Capabilities at 300 km altitude • Study the full range of processes affecting the surface of Mars. • Precision mapping of future landing sites and rover traverses. Part of Upheaval Dome, Utah, 61 cm/pixel.

6. Metering Structure Sunshade Focal Plane Electronics Baffle Tube Power Supply Spacecraft Structure Remote Electronics HiRISE Camera Installed on MRO

7. HiRISE Ray Trace Focus Mechanism Primary Mirror Primary Mirror Baffle 2nd Fold Mirror 1st Fold Mirror Filters Focal Plane Focal Plane Electronics Secondary Mirror Tertiary Mirror Secondary Mirror Baffle

10. HiRISE Focal Plane Assembly • 14 CCDs (2048 x 128 pixels): • 10 CCDs Form Red Channel (20,000 pixels) • 2 CCDs Form Blue-Green Channel (4000 pixels) • 2 CCDs Form NIR Channel (4000 pixels)

11. Non-Flight Alignment Cube Near IR CCDs Lightweight Baseplate Broadband Red CCDs (10 Total) Blue-Green CCDs 14 CCDs Mounted to FPA Baseplate S/C flight direction

12. Data Compression • Pixel binning (2x2, 3x3, 4x4, 8x8, 16x16) • Use to reduce data volume and/or increase SNR • Convert from 14 to 8 bits with Look-Up Tables (LUTs) • 28 stored tables, most non-linear • Can compute additional tables • Fast and Efficient Image Compression System (FELICS) • Lossless compression in hardware attached to Solid State Recorder (SSR). • Expect slightly < 2:1 compression on full-res images and slightly > 2:1 on binned images • Only compresses 8-bit images

13. Spaccecraft Jitter: What’s the Problem? • TDI imaging with 1 radian IFOV is very sensitive to spacecraft motions: • Motion over time scales up to 12.7 msec broadens the PSF and reduces spatial resolution. • Motion over all time scales up to that of the full image (up to 6.5 s at full resolution) distorts the image geometry. These distortions are significant to stereo analyses and must be corrected to ~1/3 pixel to achieve 0.5 m vertical precision.

14. POINTING DISTURBANCE SOURCES Solar Array High-Gain Antenna HiRISE IMU Inertial Measurement Unit (Not shown) Reaction Wheels MCS Mars Climate Sounder CRISM Compact Reconnaissance Imaging Spectrometer for Mars Solar Array

16. 11 0.384 12 3 7 1 5 9 10 2 4 6 8 7.3 typ 13 14 Jitter and Geometry Knowledge from CCD Layout • Ground features in image data are correlated between overlapping pairs or triplets of CCDs. • 7.3 mm offsets are too large (608 rows or lines), so selected CCDs (see arrows) are offset by 32 rows (384 µm) and 3 CCDs are needed per solution. • There are 5 triplets of CCDs for 32-line solutions (1-2-3, 3-4-5, 5-6-7, 7-8-9, 8-9-10). • Some solutions could fail for lack of surface features or data gaps within 48 x 48 pixel areas. • Red CCD overlaps only 48 pixels wide. NIR and Blue-Green CCD overlaps of 4000 pixels provide high-reliability solutions every 1250 lines. • Solutions allow us to model the broadening of the PSF both cross-track and along-track to an accuracy of 1/5 pixel or better.

17. Geometric Reconstruction Is Essential to Stereo Measurements • Image at left is an anaglyph of the simulated 48-pixel overlap with LMA jitter model (worst time period). • Colors indicate false topography without geometric reconstruction. • Preliminary results of simulations show high correlation accuracy for 48 x 48 pixel overlaps.

18. HiRISE Science Team

19. HiRISE Science Team

20. Acquire ~1000 stereo pairs (50% with 2x2 binning) Digital Elevation Model (DEM) resolution ~1.2-2.4 m Require q1+q2 >15° for 0.2 m vertical precision Stereo Data Acquisition Left: Topographic model with 10-m contours of Mars residual south polar cap (Soderblom, Kirk, and Herkenhoff, 2002).

21. MOC DEM with jitter: Jitter corrected: (cosmetic correction to MOC-derived model) Production of Digital Elevation Models (DEMs) • Work will be led by R. Kirk at USGS/Flagstaff. • Integrated Software for Imagers and Spectrometers (ISIS) used to correct image geometry. • Commercial photogrammetry software (SOCET SET) used to produce DEM. • ISIS/SOCET synergy is especially important for correcting errors in image orientation, which include • high frequency vibrations (“jitter”) —> undulations of DEM • absolute pointing/position errors —> offsets of DEM from true location In ISIS • HiJITTER: estimate pointing jitter by automatic matching of overlapping areas of CCD images; compare/combine with gyro data • HiGEOM: resample image data to remove jitter effects; also remove optical distortion & knit CCDs together into one image

22. High-Resolution DEMs Will Enable Quantitative Geomorphology Controls on bedrock incision in the Grand Canyon are being studied with high-resolution DEMs by J. Pelletier et al.; see http://geomorphology.geo.arizona.edu//geomorphology.html Other things being equal, one effect of lithology is to increase stream gradients in strongly resistant bedrock such as in Hack's classic example of steeper gradients in sandstone than in shale of the Shenandoah Valley, Virginia. (From J. Pelletier’s class notes for Introduction to Geomorphology.)

23. HiRISE and Surface Exploration • Past Landing Sites: • Viking (2), Pathfinder, MER (2) • Detailed orbital views may resolve arguments. • Ground truth for interpretation of orbital observations • Future Landing Sites • Candidate landing site evaluations for Phoenix and MSL; maybe other Scouts, sample return, human precursor missions • Meter-scale resolution and topography are essential to evaluate landing hazards and rover trafficability. • Active surface missions during MRO • Phoenix, MSL, others? • Precisely locate landers and rovers • Monitor surface changes

24. “The People’s Camera” • HiRISE will welcome and encourage participation from all scientists and the general public: • Anyone may submit proposals for images. • Processed images, useful for science analyses, will be released ASAP, hopefully within weeks of acquisition. • These will be official PDS releases! • Web-based interface (HiWeb) • HiWeb will begin accepting target suggestions soon after launch. • HiRISE teams thinks this approach will result in the greatest possible science return: • We will image ~1% of Mars (0.1% at full resolution), so images must be carefully placed to address key questions. • The dataset is huge, so we want outside help for earlier discoveries, to influence future research and exploration.

25. HiWeb Roles: • -Uplink: HiRISE Image Suggestions, Mars data perusal. • -Downlink: HiRISE image viewing, analysis & distribution • -Public website http://marsoweb.nas.nasa.gov/HiRISE • HiWeb development led by V. Gulick, NASA-Ames/SETI

26. Browsing HiRISE Images in HiWeb JPEG2000 provide rapid response to sliding window over a new region, and resolution improves over time. Upheaval Dome at 61 cm/pixel

27. HiRISE Science Planning (14-Day IO Cycle)

28. Phase E budget

29. Eric’s Slides

30. PDS Data Products Delivered within 6 months (hopefully much sooner): • Raw data (EDR) -- up to 28 channels per observation. • Standard product: mosaic channels with radiometric calibration in map-projected format. • Big files, up to 20,000 x 63,000 pixels • Use JPEG2000 for rapid browsing Final Products Delivered by 2009 (hopefully much sooner): • Full-resolution and stereo products with precision geometric corrections • Color products merged with high-resolution images • A few large DEMs

31. Cruise Activity Goals • Provide ACS team with data for HiRISE-to-Star Tracker alignment verification • Determine image scale (focal length) and geometric distortions by imaging star fields. • Determine best focus position • Contribute to assessment of yaw alignment • Begin to understand impact of s/c jitter on HiRISE • Star PSFs affected by focus, yaw alignment, and jitter • Need to model all 3 effects • Characterize post-launch performance of HiRISE and update radiometric calibration matrices

32. Cruise Observation Summary Omega Centauri • Moon/Omega Centauri - Stay Light / Focus Test (September 8) • 2 targets • 3 slews • Total data volume = 58 Gb • M11(Wild Duck) /Star Tracker-to-HiRISE (October 6) • 1 target • 3 slews • Total data volume = 53 Gb; • Add 6.0 Gb for internal calibrations? • Jewel Box (NGC 4755) and CTX Crux area/Jitter-Geometric (Dec. 2005) • Week 1 (December 7) • 2 targets • 3-10 slews • Total data volume = 63 Gb; • Add 4.9 Gb of internal calibrations? • Week 2 (December 14) • 1 target (Jewel Box only) • 9 slews • Total data volume = 69 Gb Jewel Box Wild Duck

33. Other Cruise Activities (1) Other activities are planned throughout cruise in order to prepare for the Primary Science Phase • HiWEB development • We have started populating our data base of potential targets via HiWEB • Public version release date TBD; coordinate with NASA press release? • We are planning a HiRISE internal thread test • Co-I’s input targets via HiWEB • HiRISE team telecon to decide on targets we want to image for a 14-day cycle • Emulate TAG meeting and Co-I of the Pay Period duties • Significant progress is being made towards our HiRISE strategic science plan: • Themes reviewed by science team: landscape evolution, polar geology, layered terrains, volcanism, topographic mapping • Themes to go: seasonal processes, fluvial/hydrothermal, glacial/perigracial, spectrophotometry • Other themes will be added, like tectonism

34. Other Cruise Activities (2) • HiRISE will continue to participate in project-led rehearsals and ORT’s • PSP rehearsal may start as early as 11-15-05 • PSP ORT scheduled between April and July ’06 • The ongoing PSP thread test will require follow-up in many areas • Planning for post – MOI images and the Transition Phase calibrations • Data analysis for calibrations (radiometric, geometric, jitter) • Intensive development and testing of GDS software and procedures for PSP.

35. GDS Overview ENG mon HiEST

36. GDS Capabilities at Launch HiCommand development completed Adequate for Cruise Observations And PSP testing MTT HOGG Apgen • HiCat Supports: • HiWeb Image Suggest tables • Uplink Commanding • EDR Product Tables • Calibration Statistics HiDog development completed DMD & HiFive Operational ENG mon Uplink: HiWeb Image Suggestion Operational Downlink: HiRISE EDRs distributed to science team through ftp Automated Pipeline: EDR Products Calibration statistics HiEST

37. Downlink Data Flow Summary JPL MRO Support Facilities HiROC Data Recipients Retrieval Tools Distribution Tools DOM Project Data Base Channelized Engineering Data Predict Events DSN Allocation Seq. Events SPICE Etc. HiCat & File Server Ball Aerospace (Instrument Health and Monitoring) ENGdist Engineering Data ENGmon SOPC • Ancillary Data • Pred. & Recon. SPICE • ACS Raw Data (CK) • Moving Parts (EK) • Predict Events • DSN Allocation • Seq. Events. DOMquery HiRISE Science Team HiSPICE Surface Shipment MRO Project Scientists Raw Sci. Data (HiRISE channel files) Accounting File (Data Gap Table) ? NAIF SPICE HiDOg FEI PDS Archive Facility EDR & RDR Pipeline Processing RSDS Raw Sci. Data SPICE HiArch General Community • Standard Data Products • Level-0 EDR • Level-1C RDR HiWeb CTX Ops Center MRO Project Scientists CTX Data Products TBD FTP HiRISE Science Team CRISM Ops Center CRISM Data Products

38. ISIS3 • HiRISE makes use of ISIS3: • Capabilities: Data ingestion, radiometric correction, geometric rectification, photometric normalization, export to other imaging formats. • Pipeline Processing: Supports generation of HiRISE RDR standard data products. • Analysis: filtering, stretch, ratio, statistics, math, spectral extraction, and plotting. • Cartography: Map projection, image mosaicking, automated image co-registration, map assembly, automated and manual tie-point control and C-Smithing • Display: Display of b/w & color image cubes, contrast enhancement, density slicing, region-of-interest statistics, interactive editing, measuring tools.

39. Science Data Processing System Summary (cont.) • History: ISIS developed by USGS in support of planetary mission and cartography programs (Clementine, DS-1, Galileo/SSI/NIMS, Cassini/ISS/Radar/VIMS, Odyssey/THEMIS (geometry), MGS/MOC cartography, MER/MI, Pathfinder). • Distribution: ISIS is freely distributed to planetary scientists. • HiRISE Team Support: Each science team member provided with workstation and ISIS systems. ISIS updates remotely managed by USGS team. Major HiRISE Development Tasks: • HiGeom – Adapt ISIS Odyssey/THEMIS geometric processing software to HiRISE camera model. • HiCal – Adapt ISIS MGS/MOC calibration software to HiRISE model. Start with basic HiRISE radiometric model from pre-launch calibration and build improvements based on analysis of cruise and in-orbit observations. • HiJitter – Make use of existing proven ISIS automated co-registration software. High-frequency SPICE generated from jitter analysis.

40. Science Teams and Ops Staff Public HiReport HiEST HiCat HiWeb Pipelines PDS Products HiVali DOM Eng HiDOG EDRgen RDRgen RSDS HiArch ISIS HiSPICE from DOM? Conductor Host OS Environment GDS Development Status – Downlink Components

41. MOS/GDS Staffing • Ground Data System Manager: Eric Eliason • HiROC Operations and calibration: Ingrid Daubar, Rich Leis, Loretta McKibben, 4 new hires uplink & downlink ops support after launch • Radiometric calibration: Tahirih Motazedian, Kelly Kolb (grad student) • Post-doc/targeting specialists: Chris Okubo, Moses Milazzo • GDS Development • HiROC: Brad Castalia (lead), Chris Schaller, Rod Heyd, Bob King, 2 new hires after launch • ISIS (USGS): Kris Becker (lead), Jeff Anderson, Stuart Sides, Jim Torson • HiWeb (Ames/SETI): Ginny Gulick, Glenn Deardorff • HiPlan: Mike Weiss-Malik (MTT developer at ASU) • Engineering and ATLO Support: Jim Bergstrom, Pete Hubbard, Dino Rossetti, Steve Tarr, Jeff Lasco, Dennis Gallagher, Alan Delamere, Bob King • System Admin: Joe Plassmann, 1.3 new hires after launch • Administration: Linda Hickcox (program coordinator), Kathi Baker, Mike Prout (Contracts Manager), 0.5 FTE assistant hire after launch. • Elsa Jensen thinks our ops staff is a little light for the workload.

42. Engineering Support Team • Jim Bergstrom, Pete Hubbard, Steve Tarr, Jeff Lasco, Dennis Gallagher, Alan Delamere, Bob King • Will support HiRISE activities in cruise, aerobraking, transition and PSP • HiRISE power on after launch – full team • Thermal stabilization – Jim and Jeff • First image acquisition (Earth/Moon) – full team • Focus adjustment – Dennis, Jim and Alan • Geometric calibration – Dennis, Jim and Alan • Post-MOI imaging – full team • Transition orbit imaging – full team • First images in Primary Science Orbit – full team • This support includes the post-test time required to analyze the data • HiEST team members will be pulled in as needed to investigate anomalies

43. HiEST Procedures

44. Team Readiness & Experience • Active HiRISE technical teams: • HiTech - Systems Group (Eric Eliason) - MOS/GDS development • HiEST - Engineering Support Group (Alan Delamere/ Jim Bergstrom) • HiCal - Instrument Calibration and Assessment (Alan Delamere/ Ken Herkenhoff) • HiSecurity - Web security (Joe Plassmann) • Flight Operations Training: MOS/GDS staff participate in two project sponsored training sessions at HiROC. • Rehearsals & Testing: • Numerous Mapping & Cruise SVT sessions on orbiter test bed and on flight system • Cruise Operational Readiness Testing - April/05 • Uplink Science Thread Testing - test TAG and POST processing and uplink tools • ATLO & Calibration Support - 1,000s of HiRISE observations acquired to support SVT, instrument calibration and assessment activities. • Effective ATLO support from HiROC tests end-to-end system.

45. HiRISE GDS Release Schedule • HiRISE software releases tied to mission milestones providing functionality needed to meet milestone objectives. • Each new release provides additional functionality to the GDS and Data Analysis tools. Bug fixes and updates are enabled through incremental releases. • HiROC GDS Release 0.2 - Calibration/ATLO/SVT - August/2004 - Completed • HiROC GDS Release 0.3 - ORT - March/2005 - Completed • HiROC GDS Release 1.0 - Launch - July/2005 - In Development • HiROC GDS Release 2.0 - MOI - February/2006 • HiROC GDS Release 2.1 - Transition - August/2006 • HiROC GDS Release 2.2 -2.4 - Data Archive & Preparation Releases

46. HiROC GDS Capabilities with Launch Release • Uplink • Perform HiRISE Observation Commanding & uplink through ASP (HOGG & HiCommand) • Special HiRISE commanding (SEQGEN) • Downlink • Retrieve HiRISE raw products from RSDS (HiDog) • Decompress FELICS-compressed images with gap handling (FELICS integrated in EDRgen) • Generate HiRISE EDR products with gap handling (EDRgen) • Update HiRISE Catalog with uplink/downlink activities & calibration statistics • Image Verification • Compare commanded versus received observations (Operating modes, image size, Stim lamps) • Initial image assessment for instrument anomaly reporting • Data Integrity Checks (EDRgen) • Gap counts • Check line sync and line counts for proper placement and correct any problems • Reconstruct Image header commanding parameters when gaps occur in headers (DataVet) • Maintain an archive of EDR products (HiCat & File Server) • Provide EDR products to Science Team for calibration & instrument performance assessment (FTP Server) • Support Instrument Health and Safety monitoring (HiFive & DMD) • HiWeb - Image Suggestion Data becomes available.

47. HiROC GDS Release 1.0 - Launch

48. HiROC GDS Release 1.0 - Launch

49. HiROC GDS Release 1.0 - Launch