Reconstructing the landing trajectory of the CE-3 lunar probe by using images from the landing camera

An accurate determination of the landing trajectory of Chang'e-3(CE-3)is significant for verifying orbital control strategy, optimizing orbital planning, accurately determining the landing site of CE-3 and analyzing the geological background of the landing site. Due to complexities involved in the landing process, there are some differences between the planned trajectory and the actual trajectory of CE-3. The landing camera on CE-3 recorded a sequence of the landing process with a frequency of 10 frames per second. These images recorded by the landing camera and high-resolution images of the lunar surface are utilized to calculate the position of the probe, so as to reconstruct its precise trajectory. This paper proposes using the method of trajectory reconstruction by Single Image Space Resection to make a detailed study of the hovering stage at a height of 100 m above the lunar surface. Analysis of the data shows that the closer CE-3 came to the lunar surface, the higher the spatial resolution of images that were acquired became, and the more accurately the horizontal and vertical position of CE-3 could be determined. The horizontal and vertical accuracies were7.09 m and 4.27 m respectively during the hovering stage at a height of 100.02 m. The reconstructed trajectory can reflect the change in CE-3's position during the powered descent process. A slight movement in CE-3 during the hovering stage is also clearly demonstrated. These results will provide a basis for analysis of orbit control strategy,and it will be conducive to adjustment and optimization of orbit control strategy in follow-up missions.     

Echo simulation of lunar penetrating radar: based on a model of inhomogeneous multilayer lunar regolith structure

Lunar Penetrating Radar(LPR) based on the time domain Ultra-Wideband(UWB) technique onboard China's Chang'e-3(CE-3) rover, has the goal of investigating the lunar subsurface structure and detecting the depth of lunar regolith. An inhomogeneous multi-layer microwave transfer inverse-model is established. The dielectric constant of the lunar regolith, the velocity of propagation, the reflection, refraction and transmission at interfaces, and the resolution are discussed. The model is further used to numerically simulate and analyze temporal variations in the echo obtained from the LPR attached on CE-3's rover, to reveal the location and structure of lunar regolith. The thickness of the lunar regolith is calculated by a comparison between the simulated radar B-scan images based on the model and the detected result taken from the CE-3 lunar mission. The potential scientific return from LPR echoes taken from the landing region is also discussed.     

Diurnal physical temperature at Sinus Iridum area retrieved from observations of Chinese Chang’E-1 microwave radiometer

According to the incidence and azimuth angles of the Sun during observations of Chinese Chang’E-1 (CE-1) lunar satellite, brightness temperatures (Tb) at different lunar local time observed by the CE-1 multi-channel radiometers, especially at the Sinus Iridum (i.e. Bay of Rainbow) area, are collected from the transformation between the principal and local coordinates at the observed site, which demonstrates the Tb distribution and its diurnal variation. Based on a three-layer radiative transfer model of the lunar media, the CE-1 Tb data at 19.35 and 37.0 GHz channels are applied to invert the physical temperatures of both the dust and the regolith layer at Sinus Iridum area, where might be the CE-3 landing site, at different lunar local times. The physical temperature variations with the lunar local time and other geophysical parameters of lunar layered media are discussed.     

Scientific data products and the data pre-processing subsystem of the Chang'e-3 mission

The Chang'e-3(CE-3) mission is China's first exploration mission on the surface of the Moon that uses a lander and a rover. Eight instruments that form the scientific payloads have the following objectives:(1) investigate the morphological features and geological structures at the landing site;(2) integrated in-situ analysis of minerals and chemical compositions;(3) integrated exploration of the structure of the lunar interior;(4) exploration of the lunar-terrestrial space environment, lunar surface environment and acquire Moon-based ultraviolet astronomical observations. The Ground Research and Application System(GRAS) is in charge of data acquisition and pre-processing, management of the payload in orbit, and managing the data products and their applications. The Data Pre-processing Subsystem(DPS) is a part of GRAS.The task of DPS is the pre-processing of raw data from the eight instruments that are part of CE-3, including channel processing, unpacking, package sorting, calibration and correction, identification of geographical location, calculation of probe azimuth angle, probe zenith angle, solar azimuth angle, and solar zenith angle and so on, and conducting quality checks. These processes produce Level 0, Level 1 and Level 2data. The computing platform of this subsystem is comprised of a high-performance computing cluster, including a real-time subsystem used for processing Level 0 data and a post-time subsystem for generating Level 1 and Level 2 data. This paper describes the CE-3 data pre-processing method, the data pre-processing subsystem, data classification, data validity and data products that are used for scientific studies.     

Numerical investigation of collision orbits of lunar satellites

In the present study an investigation of the collision orbits of natural satellites of the Moon (considered to be of finite dimensions) is developed, and the tendency of natural satellites of the Moon to collide on the visible or the far side of the Moon is studied. The collision course of the satellite is studied up to its impact on the lunar surface for perturbations of its initial orbit arbitrarily induced, for example, by the explosion of a meteorite. Several initial conditions regarding the position of the satellite to collide with the Moon on its near (visible) or far (invisible) side is examined in connection to the initial conditions and the direction of the motion of the satellite. The distribution of the lunar craters-originating impact of lunar satellites or celestial bodies which followed a course around the Moon and lost their stability - is examined. First, we consider the planar motion of the natural satellite and its collision on the Moon's surface without the presence of the Earth and Sun. The initial velocities of the satellite are determined in such a way so its impact on the lunar surface takes place on the visible side of the Moon. Then, we continue imparting these velocities to the satellite, but now in the presence of the Earth and Sun; and study the forementioned impacts of the satellites but now in the Earth-Moon-Satellite system influenced also by the Sun. The initial distances of the satellite are taken as the distances which have been used to compute periodic orbits in the planar restricted three-body problem (cf. Gousidou-Koutita, 1980) and its direction takes different angles with the x-axis (Earth-Moon axis). Finally, we summarise the tendency of the satellite's impact on the visible or invisible side of the Moon.     

Design of lunar landing trajectory under constraints

The design of a lunar landing trajectory which satisfies certain constraints is considered and discussed. The constraints are of two kinds, kinetic constraints, which deal with the relative positions among the Sun, the Moon, the Earth, the spacecraft and tracking stations, and dynamic constraints, which deal with the orbital motion of the spacecraft. After a discussion of the characteristics of lunar flight trajectory, a method of designing standard flight trajectory is suggested that satisfies the constraints. This method is applied to the Chinese lunar landing flight and to the pre-design of the orbit of a lunar satellite.     

A primary analysis of microwave brightness temperature of lunar surface from Chang-E 1 multi-channel radiometer observation and inversion of regolith layer thickness

In China’s first lunar exploration project, Chang-E 1 (CE-1), a multi-channel microwave radiometer was aboard the satellite, with the purpose of measuring microwave brightness temperature (Tb) from lunar surface and surveying the global distribution of lunar regolith layer thickness. In this paper, the primary 621 tracks of swath data measured by CE-1 microwave radiometer from November 2007 to February 2008 are collected and analyzed. Using the nearest neighbor interpolation to collect the Tb data under the same Sun illumination, global distributions of microwave brightness temperature from lunar surface at lunar daytime and nighttime are constructed. Based on the three-layer media modeling (the top dust-soil, regolith and underlying rock media) for microwave thermal emission of lunar surface, the CE-1 measured Tb and its dependence upon latitude, frequency and FeO + TiO₂ content, etc. are discussed. The CE-1 Tb data at Apollo landing sites are especially chosen for validation and calibration on the basis of available ground measurements. Using the empirical dependence of physical temperature upon the latitude verified by the CE-1 multi-channel Tb data at Apollo landing sites, the global distribution of regolith layer thickness is further inverted from the CE-1 brightness temperature data at 3 GHz channel. Those inversions at Apollo landing sites and the characteristics of regolith layer thickness for lunar maria are well compared with the Apollo in situ measurements and the regolith thickness derived from the Earth-based radar data. Finally, the statistical distribution of regolith thickness is analyzed and discussed.     

The fate of primordial lunar Trojans

Multiple large impact basins on the lunar nearside formed in a relatively-short interval around 3.8-3.9 Gyr ago, in what is known as the Lunar Cataclysm (LC; also known as Late Heavy Bombardment). It is widely thought that this impact bombardment has affected the whole Solar System or at least all the inner planets. But with non-lunar evidence for the cataclysm being relatively weak, a geocentric cause of the Lunar Cataclysm cannot yet be completely ruled out [Ryder, G., 1990. Eos 71, 313, 322-323]. In principle, late destabilization of an additional Earth satellite could result in its tidal disruption during a close lunar encounter (cf. [Asphaug, E., Agnor, C.B., Williams, Q., 2006. Nature 439, 155-160]). If the lost satellite had D>500 km, the resulting debris can form multiple impact basins in a relatively short time, possibly explaining the LC. Canup et al. [Canup, R.M., Levison, H.F., Stewart, G.R., 1999. Astron. J. 117, 603-620] have shown that any additional satellites of Earth formed together with (and external to) the Moon would be unable to survive the rapid initial tidally-driven expansion of lunar orbit. Here we explore the fate of objects trapped in the lunar Trojan points, and find that small lunar Trojans can survive the Moon's orbital evolution until they and the Moon reach 38 Earth radii, at which point they are destabilized by a strong solar resonance. However, the dynamics of Trojans containing enough mass to cause the LC (diameters >150 km) is more complex; we find that such objects do not survive the passage through a weaker solar resonance at 27 Earth radii. This distance was very likely reached by the Moon long before the LC, which seems to rule out the disruption of lunar Trojans as a cause of the LC.     

Direct and indirect capture of near-Earth asteroids in the Earth–Moon system

Near-Earth asteroids have attracted attention for both scientific and commercial mission applications. Due to the fact that the Earth–Moon \(\hbox {L}_{1}\) and \(\hbox {L}_{2}\) points are candidates for gateway stations for lunar exploration, and an ideal location for space science, capturing asteroids and inserting them into periodic orbits around these points is of significant interest for the future. In this paper, we define a new type of lunar asteroid capture, termed direct capture. In this capture strategy, the candidate asteroid leaves its heliocentric orbit after an initial impulse, with its dynamics modeled using the Sun–Earth–Moon restricted four-body problem until its insertion, with a second impulse, onto the \(\hbox {L}_{2}\) stable manifold in the Earth–Moon circular restricted three-body problem. A Lambert arc in the Sun-asteroid two-body problem is used as an initial guess and a differential corrector used to generate the transfer trajectory from the asteroid’s initial obit to the stable manifold associated with Earth–Moon \(\hbox {L}_{2}\) point. Results show that the direct asteroid capture strategy needs a shorter flight time compared to an indirect asteroid capture, which couples capture in the Sun–Earth circular restricted three-body problem and subsequent transfer to the Earth–Moon circular restricted three-body problem. Finally, the direct and indirect asteroid capture strategies are also applied to consider capture of asteroids at the triangular libration points in the Earth–Moon system.     

Comparison of low-energy lunar transfer trajectories to invariant manifolds

In this study, transfer trajectories from the Earth to the Moon that encounter the Moon at various flight path angles are examined, and lunar approach trajectories are compared to the invariant manifolds of selected unstable orbits in the circular restricted three-body problem. Previous work focused on lunar impact and landing trajectories encountering the Moon normal to the surface, and this research extends the problem with different flight path angles in three dimensions. The lunar landing geometry for a range of Jacobi constants is computed, and approaches to the Moon via invariant manifolds from unstable orbits are analyzed for different energy levels.     

On the deviation of the lunar center of mass to the East. Two possible mechanisms based on evolution of the orbit and rounding off the shape of the Moon

From the observations of the gravitational field and the figure of the Moon, it is known that its center of mass (briefly COM) does not coincide with the center of figure (COF), and the line “COF/COM” is not directed to the center of the Earth, but deviates from it to the South–East. Here we study the deviation of the lunar COM to the East from the mean direction to Earth.At first, we consider the optical libration of a satellite with synchronous rotation around the planet for an observer at a point on second (empty) orbit focus. It is found that the main axis of inertia of the satellite has asymmetric nonlinear oscillations with amplitude proportional to the square of the orbit eccentricity. Given this effect, a mechanism of tidal secular evolution of the Moon’s orbit is offered that explains up to \(20\%\) of the known displacement of the lunar COM to the East. It is concluded that from the alternative—evolution of the Moon’s orbit with a decrease or increase in eccentricity—only the scenario of evolution with a monotonous increase in orbit eccentricity agrees with the displacement of lunar COM to the East. The precise calculations available confirm that now the eccentricity of the lunar orbit is actually increasing and therefore in the past it was less than its modern value, \(e = 0.0549\).To fully explain the displacement of the Moon’s COM to the East was deduced a second mechanism, which is based on the reliable effect of tidal changes in the shape of the Moon. For this purpose the differential equation which governs the process of displacement of the Moon’s COM to the East with inevitable rounding off its form in the tidal increase process of the distance between the Earth and the Moon is derived. The second mechanism not only explains the Moon’s COM displacement to the East, but it also predicts that the elongation of the lunar figure in the early epoch was significant and could reach the value \(\varepsilon\approx0.31\). Applying the theory of tidal equilibrium figures, we can estimate how close to the Earth the Moon could have formed.     

Payload topography camera of Chang'e-3

Chang'e-3 was China's first soft-landing lunar probe that achieved a successful roving exploration on the Moon. A topography camera functioning as the lander's "eye" was one of the main scientific payloads installed on the lander. It was composed of a camera probe, an electronic component that performed image compression, and a cable assembly. Its exploration mission was to obtain optical images of the lunar topography in the landing zone for investigation and research. It also observed rover movement on the lunar surface and finished taking pictures of the lander and rover. After starting up successfully, the topography camera obtained static images and video of rover movement from different directions, 360?panoramic pictures of the lunar surface around the lander from multiple angles, and numerous pictures of the Earth. All images of the rover, lunar surface, and the Earth were clear, and those of the Chinese national flag were recorded in true color. This paper describes the exploration mission, system design, working principle, quality assessment of image compression, and color correction of the topography camera. Finally, test results from the lunar surface are provided to serve as a reference for scientific data processing and application.     

Will the lunar renaissance come forth?

The article gives a brief review of the scientific program of the unmanned studies of the Moon performed in the USSR in 1960s–1970s, most notably by the “Luna” Spacecraft. The main results obtained during this period are considered, in particular photographing of the far side of the Moon, mapping of the far side of the Moon, soft landing, remote (from the orbit of an artificial lunar satellite) and in situ (on the surface) studies of the lunar surface composition and circumlunar space, automated soil sampling, and delivery of surface samples to the Earth. Various institutes of the Russian Academy of Sciences played important role in the studies, including the Vernadskii Institute of Geochemistry and Analytical Chemistry and the Space Research Institute, established in 1965, where the Moon and Planets Department was established under the leadership of K.P. Florenskii. In the conclusion, the article considers some further issues of lunar studies and possibilities for lunar exploration. The challenging Moon exploration mission “Luna-Glob”, currently under development in Russia, is a potentially important step in the beginning of the process.     

月球卫星轨道变化的分析解

由于月球自转缓慢及其引力位的特点,使得讨论月球卫星与人造地球卫星轨道变化的方法有所不同。     

Preface: The Chang'e-3 lander and rover mission to the Moon

The Chang'e-3(CE-3) lander and rover mission to the Moon was an intermediate step in China's lunar exploration program, which will be followed by a sample return mission. The lander was equipped with a number of remote-sensing instruments including a pair of cameras(Landing Camera and Terrain Camera) for recording the landing process and surveying terrain, an extreme ultraviolet camera for monitoring activities in the Earth's plasmasphere, and a first-ever Moon-based ultraviolet telescope for astronomical observations. The Yutu rover successfully carried out close-up observations with the Panoramic Camera, mineralogical investigations with the VIS-NIR Imaging Spectrometer, study of elemental abundances with the Active Particle-induced X-ray Spectrometer, and pioneering measurements of the lunar subsurface with Lunar Penetrating Radar. This special issue provides a collection of key information on the instrumental designs, calibration methods and data processing procedures used by these experiments with a perspective of facilitating further analyses of scientific data from CE-3 in preparation for future missions.     

On the possibility of investigating the galactic center region with the integral observatory by the method of lunar and terrestrial occultations

The possibility of investigating the sky region near the Galactic center with instruments of the INTEGRAL orbital astrophysical gamma-ray observatory by the method of its occultation by the Earth and the Moon is considered. Existing engineering constraints on the observing conditions, such as the admissible orientation of the INTEGRAL satellite relative to the direction to the Sun and the performance of measurements only outside the Earth??s radiation belts, are taken into account. Long time intervals during which the lunar occultation center passes at angular distances of less than 2° from the Galactic center have been found. Such events occur under the adopted constraints two or three times per year without any correction of the INTEGRAL satellite orbit. The orbit can be corrected to reduce the angular distance between the Moon and the Galactic center in occultation events. The required velocity impulses do not exceed several meters per second. The possibility of the Galactic center being occulted by the Earth has been analyzed. In this case, to perform measurements, the admissible (in radiation exposure) height of the working segment of the orbit should be reduced to 25 000 km, which can be problematic. At the same time, part of the Galaxy??s equatorial region is shadowed by the Earth for a time long enough to carry out the corresponding experiments.     

月球卫星轨道力学综述

月球探测器的运动通常可分为3个阶段，这3个阶段分别对应3种不同类型的轨道：近地停泊轨道、向月飞行的过渡轨道与环月飞行的月球卫星轨道。近地停泊轨道实为一种地球卫星轨道；过渡轨道则涉及不同的过渡方式(大推力或小推力等)；环月飞行的月球卫星轨道则与地球卫星轨道有很多不同之处，它决不是地球卫星轨道的简单克隆。针对这一点，全面阐述月球卫星的轨道力学问题，特别是环月飞行中的一些热点问题，如轨道摄动解的构造、近月点高度的下降及其涉及的卫星轨道寿命、各种特殊卫星(如太阳同步卫星和冻结轨道卫星等)的轨道特征、月球卫星定轨等。     

Formation of Embryos of the Earth and the Moon from a Common Rarefied Condensation and Their Subsequent Growth

Embryos of the Moon and the Earth may have formed as a result of contraction of a common parental rarefied condensation. The required angular momentum of this condensation could largely be acquired in a collision of two rarefied condensations producing the parental condensation. With the subsequent growth of embryos of the Moon and the Earth taken into account, the total mass of as-formed embryos needed to reach the current angular momentum of the Earth–Moon system could be below 0.01 of the Earth mass. For the low lunar iron abundance to be reproduced with the growth of originally iron-depleted embryos of the Moon and the Earth just by the accretion of planetesimals, the mass of the lunar embryo should have increased by a factor of 1.3 at the most. The maximum increase in the mass of the Earth embryo due to the accumulation of planetesimals in a gas-free medium is then threefold, and the current terrestrial iron abundance is not attained. If the embryos are assumed to have grown just by accumulating solid planetesimals (without the ejection of matter from the embryos), it is hard to reproduce the current lunar and terrestrial iron abundances at any initial abundance in the embryos. For the current lunar iron abundance to be reproduced, the amount of matter ejected from the Earth embryo and infalling onto the Moon embryo should have been an order of magnitude larger than the sum of the overall mass of planetesimals infalling directly on the Moon embryo and the initial mass of the Moon embryo, which had formed from the parental condensation, if the original embryo had the same iron abundance as the planetesimals. The greater part of matter incorporated into the Moon embryo could be ejected from the Earth in its multiple collisions with planetesimals (and smaller bodies).     

Study of the transfer between libration point orbits and lunar orbits in Earth–Moon system

This paper is devoted to the study of the transfer problem from a libration point orbit of the Earth–Moon system to an orbit around the Moon. The transfer procedure analysed has two legs: the first one is an orbit of the unstable manifold of the libration orbit and the second one is a transfer orbit between a certain point on the manifold and the final lunar orbit. There are only two manoeuvres involved in the method and they are applied at the beginning and at the end of the second leg. Although the numerical results given in this paper correspond to transfers between halo orbits around the \(L_1\) point (of several amplitudes) and lunar polar orbits with altitudes varying between 100 and 500 km, the procedure we develop can be applied to any kind of lunar orbits, libration orbits around the \(L_1\) or \(L_2\) points of the Earth–Moon system, or to other similar cases with different values of the mass ratio.