Mars Network: An Orbital Relay Infrastructure For Mars .
Mars Network: An Orbital RelayInfrastructure for Mars ExplorationChad Edwardschad.edwards@jpl.nasa.govSeptember 17, 2003DESCANSO
Outline Mars exploration overview - drivers ontelecommunications Program strategies– Improved deep space communications– An evolving relay network Science orbiters Dedicated telesats– Electra proximity link payload– Communications protocols and standards– Radio-based in situ navigation Case studies– ‘03/’04 UHF relay operations– ‘09 Mars Science Loboratory SummaryDESCANSO Seminar030917cde-2
A Decade of Mars ExplorationDESCANSO Seminar030917cde-3
Program Drivers onTelecommunications InfrastructureIncreased Science DataReturn for MSL-ClassLandersEnabling Energy-efficientRelay for Scout-classMissionsRobust Capture of CriticalEvent Tracking andTelemetryDESCANSO SeminarPublic Engagement - Creatinga Virtual Presence at MarsPrecision in situNavigation andPositioning030917cde-4
Improved Direct-to-Earth (DTE)Communications––––Higher powerLimited spectrum allocation constrains BWutilization to 4 MHz 4x performance improvement over X-bandIncreased spectral allocation allows higher symbolratesKey enablers: – DSN 34m BWG subnet capability35 W Ka-band TWTAIncreased DSN aperture–70m offers 4x improvement over 34m (currentlyX-band only)DSN Large Array could offer significantimprovement beyond 70m performanceLonger-term Transition to Optical––Further performance increase relative to RF due tohighly collimated transmit beam2009 Mars Telesat Orbiter will include technologydemo of 10 Mbps downlink from Mars @ 2.67 AUDESCANSO Seminar125Large deployable antennas could offer additionalimprovementTransition to Ka-band––Range 2.67 AU, X-band, 34m DSNLarger aperture Mars-to-Earth Deep Space LinkIncreased X-band EIRP1 kbps10 kbps100 kbps1 Mbps100RF Transmit Power (W) MRO:- 3.0 m HGA- 100 W TWTA- 450 kbps75MGS:- 1.5 m HGA- 25 W TWTA- 28 kbpsMER:- 28 cm HGA- 15 W SSPA- 0.6 kbps50Odyssey:- 1.3 m HGA- 15 W SSPA- 12 kbps25001234Antenna Diameter (m) Mass, power constraints typically limit landerDTE capability to well below orbital DTEcapability - one of the primary rationales forrelay comm!030917cde-5
Key Aspects of RelayCommunicationsOrbiter Deep Space Link:- Data rate ( power x gain)- Frequency (X, Ka)- Range variation (25x comm performance)Orbit:- Slant range- Connectivity- Global CoverageOrbiter ProximityLink:- Data Rate- Antenna gain/steeringProximity Link:- Frequency band- Comm protocols- Multiple AccessSchemeUser:- Transmit power- Antenna gain/steering- Power/energy constraintsDESCANSO Seminar030917cde-6
Planned Program TelecomInfrastructure‘03 MER-A/BBeagle-2Launch MOIMGSCruise‘07 PheonixScout‘09 MSLExtended MissionScience & RelayAerobrakeLaunch MOIOdysseyScience & RelayExtended MissionCruise A/BLaunch MOIScience & Y ELEMENTS: Standardized relaytelecommunications protocols Relay payload on every scienceorbiter for low-cost early network Dedicated Telesat offeringbreakthrough capabilities for MSLand next-decade Redundant relay orbiters forsupport of each surfacecampaign96DESCANSO Seminar97989900LaunchMOIScience & RelayCruise A/BExtendedMissionLaunch MOIRelayCruise0102030405060708091011030917cde-7
Mars Network Evolution:Mars Global Surveyor Launched in 1996Low altitudescience orbiterMars Balloon Relay UHF radio– Return-link only (no commandlink)– Unreliable bitstreamcommunications– Limited data rates (8, 128 kbps)– Fixed frequency operation Relay data flow through MarsOrbiter Camera– Malin Space Science SystemsDESCANSO Seminar030917cde-8
Mars Network Evolution:Mars Odyssey Launched in 2001Low altitude science orbiterCE505 UHF Transceiver– First implementation of CCSDSProximity-1 Link protocol– Hailing procedure & linkdirectives– Forward and return link (TLM &CMD); fixed frequencies– Framed data, ARQretransmission for reliable datatransfer– Add’l data rates: 8, 32, 128, and256 kbps Open-loop sampling(1 bit/sample)DESCANSO Seminar030917cde-9
Mars Network Evolution:Mars Express (ESA) Launched in 2003Highly elliptical orbit (258 x11,560 km, 7.5 hr period)– Irregular coverage– Long proximity linkcommunications slant range– Low data volume return Will deploy Beagle 2 landerprior to Mars orbit insertionCCSDS Prox-1 compliant relayradio– Built by QinetiQ– Interoperable with Odyssey,MER Nominal mission lifetimethrough Apr’08DESCANSO Seminar030917cde-10
Mars Network Evolution:Mars Reconnaissance Orbiter Launch in 2005Low altitude science orbiterElectra UHF Transceiver– Standardized CCSDS Prox-1Protocol– Add’l data rates (1, 2, 4, 8, 16, 32,64, 128, 256, 512, 1024, 2048 kbps)– Tunable frequency (390-450 MHz)– 2 dB coding improvement– Improved open-loop sampling (8bits/sample)– Flight-reprogrammable s/w radio– USO for precision timing/nav High-performance DTE link– X-band prime; Ka-band demo Initial use of CCSDS File DeliveryProtocol (CFDP) for end-to-enddata accountabilityDESCANSO Seminar030917cde-11
Mars Network Evolution:Mars Telecommunciations Orbiter High-altitudetelesat orbit (4450 km)2009 Mars Telecommunications Orbiter– Increased contact time ( 4 hrs/sol at alllatitudes; greatly improved coverage ofcritical events) 3m X/Ka-BandDeep Space AntennaElectra UHF/X Transceiver– Addition of X-band (8.4 GHz) receivecapability for very high-ratedirectional linksLaser CommDemo– 12 dBi steered UHF antenna; 50 cm steeredX-band MGARF and Optical in situ tracking/navHigh-performance DTE linkFile-based relay opsImmediate payoff forMSL, w/ feed-forwardcapabilities for nextdecade explorationDESCANSO our 100%100Critical Event Coverage– X/Ka-band prime– Optical comm demoData Volume/Sol (Gb) Steered UHF/X-bandRelay Antennas70%60%50%40%30%X-Band10010120%10%0.0134 mDTE70 mDTEMRORelayMTORelay0%0.1MRO RelayMTO Relay34 mDTE70 mDTEMRORelayMTORelay030917cde-12
Electra Proximity Link Payload6.7 Standardized proximity linkradio for Mars– Subsequent flight on 2009 Mars Telesatand all future Mars orbitersDIPLEXER4.575 in– First flight on 2005 Mars ReconnaissanceOrbiterHF I DOLT RER X– Reprogrammable software radioarchitectureinSpecifications: CCSDS Proximity-1 Protocol (Reliable and Expedited Link Layer Protocols) Software radio architecture: Sparc V.7 rad-hard payload controller Xilinx XQVR 1000 rad-tolerant flight-reprogrammable FPGA Mass: 5.0 kg Full-duplex/Half-duplex operations modes Transmit Power: 5W Full-duplex, 7W Half-duplex Noise Figure: 4.9 dB Full-duplex, 3.9 dB Half-duplex Radiation Total Dose: 20 Krad 100 mil Al DC Power: 71 W (Full-duplex) Frequency Bands: 390-405 MHz; 435-450 MHz Suppressed and Residual Carrier Modes Symbol Rates: 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048 ksps Demodulation: Within 2.0 dB of theory at all rates Coding: K 7, 1/2 convolutional, [255,239] RS, [204,188] RS Interfaces: 1553B for Monitor & Control; LVDS for High-Speed Data Option to add X-band (8.4 GHz) downconverter slice Radio Metrics: Carrier phase/Doppler observables w/ 60 ns time tag accuracy In-flight self-test capabilityDESCANSO Seminar558.7.9inininHDO RXFilterDiplexerFiltering and Switching UnitReceiverModulatorBaseband ProcessorPower SupplyPower Amplifier030917cde-13
Electra UHF TransceiverHalf-Duplex OverlayBand Pass FilterDiplexerFiltering andSwitching UnitReceiver/ModulatorBaseband ProcessorModuleDESCANSO SeminarPower SupplyModuleBPMDaughter Board030917cde-14
Future Proximity LinkDevelopments Addition of X-band slice for MTO– Enables high-rate X-band directional link from surface to orbit Addition of QPSK and increase in symbol rate to enable up to 8 Mbps datarate (uncoded) Electra Lite– Tailoring of orbiter design (targeted descopes)to achieve lower mass/volume/power moreappropriate for lander payload Current baseline for MSL ParameterElectraElectra-Lite5.0 kg2.1-2.9 kgVolume5080 cc2120-2940 ccPower71.0 W55-58 WMassAdaptive Data Rates– MTP-funded effort to develop and demonstrate adaptive data rateprofiling during pass Allows link operation near capacity of actual (not predicted) communicationschannel - increased performance and increased robustness Increased proximity link antenna gain for MTO– MTP-funded effort to develop 12-15 dBic steered UHF antenna for MTO Compensates for longer slant ranges in high-altitude Telesat orbitDESCANSO Seminar030917cde-15
Communications Protocols CCSDS Proximity-1 Space Link Protocol– Provides international standards for the physical and data link layers forMars proximity communications– First implemented on Mars Odyssey followed by Beagle2, Mars Express,MER A/B; will be used by MRO, Phoenix, MTO, and MSL– Key for achieving interoperability among multiple Mars landers andorbiters CCSDS File Delivery Protocol (CFDP)– Provides reliable and completeend-to-end file delivery– Addresses unique aspects of deepspace communications Long RTLTIntermittent connectivityHigh BER linksMulti-hop store-and-forward relaysCustody transfer to minimize onboardstorage rqmtsFull documentation at http://www.ccsds.orgDESCANSO Seminar030917cde-16
In Situ Navigation UsingProximity Link Radio MetricsPrecision Approach Navigation X-band Doppler on HGA linkbetween approach s/c and orbiter Capability: 1 km B-plane error @E-1 dayOrbiting SampleCanister Tracking 1-way or 2-way Dopplertracking on UHF link Open-loop recording for weaksignals Capability: 100 km 1-way 100 m 2-waySurface Positioning 1-way or 2-way Doppler/rangetracking on UHF link Capability: 10 m positionuncertainty within 1-3 solsDESCANSO Seminar030917cde-17
Case Study: ‘03/’04 UHF Relay OpsMarsExpressMGSOdysseyMER Data Return:DTE: 70 Mb/solODY: 50 Mb/solMGS: 40 Mb/solMEO: DemoBeagle Data Return:DTE: n/aMGS: n/aODY: 10 Mb/solMEO: 10 Mb/solDirect-To-Earth (DTE) assumes 70m; 4x less for 34m;Higher DTE return ( 120 Mb/sol) at start of surface ops;Lower DTE return ( 10 Mb/sol) at end of 90-sol surface opsMER-BBeagle 2DESCANSO SeminarMER-A030917cde-18
Case Study:‘03/’04 UHF Relay Ops (cont’d) Critical Event Communications for MER Entry/Descent/Landing– X-band MFSK tones (“semaphores”) on DTE link 1 bps effective data rate– UHF telemetry to MGS after lander separates from backshell 8 kbps engineering telemetryMER-A EDLArrival 1/4/04VIEW FROM MARSNORTH POLEMars OdysseySUNMGSEARTHApproach Trajectory V 2.77 km/s Declination of V 2.04 deg (MME)V-infinityEarthTerminatorMars ExpressTICK MARKS EVERY 5 MINDESCANSO Seminar030917cde-19
Case Study:‘03/’04 UHF Relay Ops (cont’d) Transceiver idiosyncrasies– Lack of reprogrammability prevents correction of firmware bugs even some found pre-launch Large multipath effects– Wide-beamwidth, long-wavelength UHF links Relay coordination process– Multi-agency interaction to identify/resolve RFI scenarios Contingency planning– Need prompt visibility into link performance and end-to-end dataflow, as well as rapid turn-around relay plan updates, particularlyduring first few sols of surface ops Orbiter-driven operations concept– Need to examine potential advantages of alternative lander-drivenrelay ops conceptDESCANSO Seminar030917cde-20
Case Study:2009 Mars Science Laboratory34 m500 kbps8 hrs/sol14 Gb/sol500 kbps8 hrs/sol14 Gb/solX-bandKa-band100w, 3m35 W, 3mKa-band100w, 3m35 W, 3m10 kbps2 hrs/sol0.07 Gb/solMars ReconnaissanceOrbiterUHFOmni1000 kmX-bandMars TelecomOrbiterUHFX-band12 dBic50 cm128 kbps4 hrs/sol2 Gb/sol512 kbps8 min/sol0.25 Gb/solUHFX-band13W, Omni15 W, 1 m8.2 Mbps, QPSK2 hrs/sol60 Gb/sol2.5 AUKa-band34 m2.5 AUX-band6000 km2.5 AUNASADeep Space NetworkMars ScienceLaboratoryDESCANSO Seminar030917cde-21
Case Study:2009 Mars Science Laboratory (cont’d)Relay DTE0.0010.010.1110100MSL Data Return (Gb/sol)DESCANSO Seminar030917cde-22
Summary Mars exploration is significantly enhanced - and insome cases enabled - by establishing an orbitaltelecommunications infrastructure––––Increased data return and contact timeRobust critical event coverageEnergy-efficient relayIn situ navigation Key strategies–––––Improved DTE performanceRelay capability on every Mars science orbiterDedicated Telesat to provide breakthrough capabilityReprogrammable “network node” - ElectraStandardized comm protocols for interoperability and reliable endto-end file transfer between Mars and EarthDESCANSO Seminar030917cde-23
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Critical Event Communications Higher-altitude telesat orbit provides much greater coveragefor critical events (e.g., EDL) than low-altitude scienceorbitersEDL Coverage100%90%Instantaneous FootprintTotal Coverage (w/out Plane Change)80%70%60%4450 kmMarconi Orbiter50%40%InstantaneousFootprint30%20%Total Coverage(w/out Plane Change)10%400 kmSci Orbiter0%1001000SpacecraftDESCANSO SeminarAltitude10000(km)030917cde-25
EEIS and Operability IssuesRelayRelayOrbiterOrbiterGDS/MOSGDS/MOSN/W Planning& Coordination Conflict-free proxlink schedule RFI assessment Long-term relayplanning What - if any role in end-to-endaccountability?DESCANSO Seminar Deep Space Link CFDP (reliability andaccountability) DSN pass scheduling and relaylatency Cross-projectGDS/MOS interfaces Service and dataproduct latenciesUserGDS/MOS Possible DTE LinkRelayRelayOrbiterOrbiter UserS/C Onboard relay datamgmt What - if any processing of user datacontent?Prox-1 interoperabilityCodingVariable data rates?Multipath Data product structure(Bitstream? Packetstream? File?) Surface opsconstraints030917cde-26
–‘03/’04 UHF relay operations –‘09 Mars Science Loboratory Summary. 030917 DESCANSO Seminar cde-3 A Decade of Mars Exploration. 030917 DESCANSO Seminar cde-4 Enabling Energy-efficient Relay for Scout-class Missions Increased Science Data Return for MSL-Class Landers Precision in situ Navigation and Positioning Public Engagement - Creating a Virtual Presence at Mars Program Drivers .
Nissan Micra - OWM 4734 Nissan Micra - OWM 4734 CPU E6 H33750 1 Battery 2 Ignition switch 3 Fusible link holder 4 Fuse box 5 Fuse and relay box a) accessory relay b) blower motor relay 6 Intelligent power distribution module a) starter relay b) cooling fan hi relay c) cooling fan lo relay d) fuel pump relay e) ignition relay f) ECM relay
Venus and Mars Chapter 22 I. Venus A. The Rotation of Venus B. The Atmosphere of Venus C. The Venusian Greenhouse D. The Surface of Venus E. Volcanism on Venus F. A History of Venus II. Mars A. The Canals of Mars B. The Atmosphere of Mars C. The Geology of Mars D. Hidden Water on Mars E. A History of Mars
August 31, 2017 Page 5 Step 4: Launch MARS To launch the MARS software application, click Start All Programs MARS MARS or double- click the MARS desktop shortcut (Figure 1) that was created during installation. Figure 1: MARS desktop icon If the following message (Figure 2) appears upon startup, please use the link to contact MARS Sales,
38 - Check voltage output to fuel pump @ relay set 39 - Check voltage input to relay set from ignition switch 40 - Check voltage input to fuel pump relay of relay set 41 - Check input voltage to control relay of relay set 42 - Check input voltage to control relay of relay set (continued)
Power MOSFET Relay Specifications (G6D Relay) The following specifications apply to G6D Relays mounted in a G70D Relay Terminal and not the G6D Relay itself. Coil Ratings (per G6D Relay) Note: 1. The must-operate voltage is 75% or less of the rated voltage if the relay is mounted upside down. 2. Rated current and coil resistance were measured .
Results are provided for actual relay testing. Part I: Distance Relay Tests (Texas A&M University) Distance relay testing can evaluate relay performance, calibrate relay settings, and identify system conditions that could cause unexpected relay operation. Developing a relay testing methodology requires consideration of how to model the power .
MARS ODYSSEY Sent up in 2001 and named after the iconic sci-fi novel and film 2001: A Space Odyssey It is a NASA orbital satellite that is currently about 2,400 miles above Mars’ surface. It holds the record as the longest operating spacecraft orbiting Mars. Mars Odyssey’s mission was
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