Analysis and interpretation of Cassini Titan radar altimeter echoes

The Cassini spacecraft has acquired 25 radar altimeter elevation profiles along Titan's surface as of April 2008, and we have analyzed 18 of these for which there are currently reconstructed ephemeris data. Altimeter measurements were collected at spatial footprint sizes from 6-60 km along ground tracks of length 400-3600 km. The elevation profiles yield topographic information at this resolution with a statistical height accuracy of 35-50 m and kilometer-scale errors several times greater. The data exhibit significant variations in terrain, from flat regions with little topographic expression to very rugged Titanscapes. The bandwidth of the transmitted waveform admits vertical resolution of the terrain height to 35 m at each observed location on the surface. Variations in antenna pointing and changes in surface statistics cause the range-compressed radar echoes to exhibit strong systematic and time-variable biases of hundreds of meters in delay. It is necessary to correct the received echoes for these changes, and we have derived correction algorithms such that the derived echo profiles are accurate at the 100 m level for off-nadir pointing errors of 0.3° and 0.6°, for leading edge and echo centroid estimators, respectively. The leading edge of the echo yields the elevation of the highest points on the surface, which we take to be the peaks of any terrain variation. The mean value of the echo delay is more representative of the mean elevation, so that the difference of these values gives an estimate of any local mountain heights. Finding locations where these values diverge indicates higher-relief terrain. Elevation features are readily seen in the height profiles. Several of the passes show mountains of several hundred m altitude, spread over 10's or even 100's of km in spatial extent, so that slopes are very small. Large expanses of sub-100 m topography are commonplace on Titan, so it is rather smooth in many locations. Other areas exhibit more relief, although the overall observed variation in surface height on any pass is less than about 1 km. Some elevation features correspond to observed changes in brightness in Cassini infrared images, but many do not. Correspondence between the imaging SAR ground tracks and the altimeter paths is limited, so that identifying elevation changes with higher resolution SAR features is premature at present.     

Removal of topographic effects from lunar images using Kaguya (LALT) and Earth-based observations

Lunar images acquired at non-zero phase angles show brightness variations caused by both albedo heterogeneities and local topographic slopes of the surface. To distinguish between these two factors, altimetry measurements or photoclinometry data can be used. The distinction is especially important for imagery of phase-function parameters of the Moon. The imagery is a new tool that can be used to study structural anomalies of the lunar surface. To illustrate the removal of the topographic effects from photometric images, we used Earth-based telescopic observations, altimetry measurements carried out with the Kaguya (JAXA) LALT instrument, and a new photoclinometry technique that includes analysis of several images of the same scenes acquired at different phase angles. Using this technique we have mapped the longitudinal component of lunar topography slopes (the component measured along the lines of constant latitude). We have found good correlations when comparing our map with the corresponding data from Kaguya altimetry. The removal of the topographic surface properties allows for the study of the phase-function parameters of the lunar surface, not only for flat mare regions, but for highlands as well.     

Titan's surface from Cassini RADAR SAR and high resolution radiometry data of the first five flybys

The first five Titan flybys with Cassini's Synthetic Aperture RADAR (SAR) and radiometer are examined with emphasis on the calibration and interpretation of the high-resolution radiometry data acquired during the SAR mode (SAR-radiometry). Maps of the 2-cm wavelength brightness temperature are obtained coincident with the SAR swath imaging, with spatial resolution approaching 6 km. A preliminary calibration shows that brightness temperature in these maps varies from 64 to 89 K. Surface features and physical properties derived from the SAR-radiometry maps and SAR imaging are strongly correlated; in general, we find that surface features with high radar reflectivity are associated with radiometrically cold regions, while surface features with low radar reflectivity correlate with radiometrically warm regions. We examined scatterplots of the normalized radar cross-section σ⁰ versus brightness temperature, finding differing signatures that characterize various terrains and surface features. Implications for the physical and compositional properties of these features are discussed. The results indicate that volume scattering is important in many areas of Titan's surface, particularly Xanadu, while other areas exhibit complex brightness temperature variations consistent with variable slopes or surface material and compositional properties.     

Global-scale surface spectral variations on Titan seen from Cassini/VIMS

We present global-scale maps of Titan from the Visual and Infrared Mapping Spectrometer (VIMS) instrument on Cassini. We map at 64 near-infrared wavelengths simultaneously, covering the atmospheric windows at 0.94, 1.08, 1.28, 1.6, 2.0, 2.8, and 5 μm with a typical resolution of 50 km/pixel or a typical total integration time of 1 s. Our maps have five to ten times the resolution of ground-based maps, better spectral resolution across most windows, coverage in multiple atmospheric windows, and represent the first spatially resolved maps of Titan at 5 μm. The VIMS maps provide context and surface spectral information in support of other Cassini instruments. We note a strong latitudinal dependence in the spectral character of Titan's surface, and partition the surface into 9 spectral units that we describe in terms of spectral and spatial characteristics.     

Cryovolcanic features on Titan's surface as revealed by the Cassini Titan Radar Mapper

The Cassini Titan Radar Mapper obtained Synthetic Aperture Radar images of Titan's surface during four fly-bys during the mission's first year. These images show that Titan's surface is very complex geologically, showing evidence of major planetary geologic processes, including cryovolcanism. This paper discusses the variety of cryovolcanic features identified from SAR images, their possible origin, and their geologic context. The features which we identify as cryovolcanic in origin include a large (180 km diameter) volcanic construct (dome or shield), several extensive flows, and three calderas which appear to be the source of flows. The composition of the cryomagma on Titan is still unknown, but constraints on rheological properties can be estimated using flow thickness. Rheological properties of one flow were estimated and appear inconsistent with ammonia-water slurries, and possibly more consistent with ammonia-water-methanol slurries. The extent of cryovolcanism on Titan is still not known, as only a small fraction of the surface has been imaged at sufficient resolution. Energetic considerations suggest that cryovolcanism may have been a dominant process in the resurfacing of Titan.     

Radarclinometry of the sand seas of Africa’s Namibia and Saturn’s moon Titan

Radarclinometry is a powerful technique for estimating heights of landforms in synthetic aperture radar (SAR) images of planetary surfaces. In particular, it has been used to estimate heights of dunes in the sand seas of Saturn’s moon Titan (Lorenz, R.D., and 39 colleagues [2006]. Science 312, 724-727). In this work, we verify the technique by comparing dune heights derived from radarclinometry to known topography of dune fields in the Namib sand sea of western Africa. We compared results from three different image grid spacings, and found that 350 m/pixel (the same spacing at which the Cassini RADAR data was processed) is sufficient to determine dune height for dunes of similar morphometry to those of the Namib sand sea. At this grid spacing, height estimates derived from radarclinometry are largely representative of, though may underestimate by as much as 30%, or overestimate by as much as 40%, true dune height. Applying the technique to three regions on Titan, we estimate dune heights of 45-180 m, and dune spacings of 2.3-3.3 km. Obtaining accurate heights of Titan’s dunes will help to constrain the total organic inventory on Titan.     

Maps of Titan's surface from 1 to 2.5 μm

We have acquired resolved images of Titan with the adaptive optics systems PUEO/KIR at the CFHT (Hawaii) and NAOS/CONICA at the VLT (Chile). We report here on images and maps (when data at several orbital phases are available) of Titan's surface from observations taken during the last 4 years (2001-2004) in all the methane windows between 1 and 2.5 μm (namely, at 1.08, 1.28, 1.6, and 2 μm). We present the only complete maps of Titan currently available at 1.3 μm, a spectral window where Titan appears particularly bright in spectroscopy, with a resolution of about 200 km at best on the ground. Our surface maps show the bright and dark regions sharing Titan's landscape with as much detail as possible from the ground and with high contrast in most cases. From the information gathered by comparing the maps at different wavelengths we derive constraints on the ground's composition. Our results could complete/optimize the return of the Cassini-Huygens mission.     

Titan's surface from the Cassini RADAR radiometry data during SAR mode

We present initial results on the calibration and interpretation of the high-resolution radiometry data acquired during the Synthetic Aperture Radar (SAR) mode (SAR-radiometry) of the Cassini Radar Mapper during its first five flybys of Saturn's moon Titan.We construct maps of the brightness temperature at the 2-cm wavelength coincident with SAR swath imaging. A preliminary radiometry calibration shows that brightness temperature in these maps varies from 64 to 89 K. Surface features and physical properties derived from the SAR-radiometry maps and SAR imaging are strongly correlated; in general, we find that surface features with high radar reflectivity are associated with radiometrically cold regions, while surface features with low radar reflectivity correlate with radiometrically warm regions. We examined scatterplots of the normalized radar cross-section σ⁰ versus brightness temperature, outlining signatures that characterize various terrains and surface features. The results indicate that volume scattering is important in many areas of Titan's surface, particularly Xanadu, while other areas exhibit complex brightness temperature variations consistent with variable slopes or surface material and compositional properties.     

Bosumtwi impact structure,Ghana: Evidence for fluidized emplacement of the ejecta

The about 10.5 km diameter Bosumtwi impact crater is one of the youngest large impact structures on Earth. The crater rim is readily noticed on topographic maps or in satellite imagery. It defines a circular basin filled by water (Lake Bosumtwi) and lacustrine sediments. The morphology of this impact structure is also characterized by a circular plateau extending beyond the rim and up to 9–10 km from the center of the crater (about 2 crater radii). This feature comprises a shallow ring depression, also described as an annular moat, and a subdued circular ridge at its outer edge. The origin of this outermost feature could so far not be elucidated based on remote sensing data only. Our approach combines detailed topographic analysis, including roughness mapping, with airborne radiometric surveys (mapping near‐surface K, Th, U concentrations) and field observations. This provides evidence that the moat and outer ring are features inherited from the impact event and represent the partially eroded ejecta layer of the Bosumtwi impact structure. The characteristics of the outer ridge indicate that ejecta emplacement was not purely ballistic but requires ejecta fluidization and surface flow. The setting of Bosumtwi ejecta can therefore be considered as a terrestrial analog for rampart craters, which are common on Mars and Venus, and also found on icy bodies of the outer solar system (e.g., Ganymede, Europa, Dione, Tethys, and Charon). Future studies at Bosumtwi may therefore help to elucidate the mechanism of formation of rampart craters.     

A spherical Monte-Carlo model of aerosols: Validation and first applications to Mars and Titan

The atmospheres of Mars and Titan are loaded with aerosols that impact remote sensing observations of their surface. Here we present the algorithm and the first applications of a radiative transfer model in spherical geometry designed for planetary data analysis. We first describe a fast Monte-Carlo code that takes advantage of symmetries and geometric redundancies. We then apply this model to observations of the surface of Mars and Titan at the terminator as acquired by OMEGA/Mars Express and VIMS/Cassini. These observations are used to probe the vertical distribution of aerosols down to the surface. On Mars, we find the scale height of dust particles to vary between 6 km and 12 km depending on season. Temporal variations in the vertical size distribution of aerosols are also highlighted. On Titan, an aerosols scale height of 80 ± 10 km is inferred, and the total optical depth is found to decrease with wavelength as a power-law with an exponent of −2.0 ± 0.4 from a value of 2.3 ± 0.5 at 1.08 μm. Once the aerosols properties have been constrained, the model is used to retrieve surface reflectance properties at high solar zenith angles and just after sunset.     

Electric properties and related physical characteristics of the atmosphere and surface of Titan

The permittivity, waves and altimetry (PWA) instrument was designed for the investigation of the electric properties and other related physical characteristics of the atmosphere of Titan, from an altitude around 140 km down to the surface. PWA carried sensors to measure the atmospheric conductivity, and record electromagnetic and acoustic waves up to frequencies of 11.5 and 6.7 kHz, respectively. PWA also measured the relief roughness during the descent and the permittivity of the surface after touchdown. The measurements and the results of the preliminary analysis are presented. An ionized layer is detected at altitudes above 50 km, using two independent techniques, and the presence of free electrons in the upper atmosphere is confirmed. An electric signal at around 36 Hz is observed throughout the descent, but it is not yet confirmed that this emission is unambiguously related to a resonance of the ionospheric cavity. The relative dielectric constant of Titan's surface material is nearly 2 and the electric conductivity 4×10⁻¹⁰ S m⁻¹. The electric properties of the surface seem to evolve after touch-down, possibly due to a local warming of the landing site by the Huygens Probe body.     

Mars synthetic topographic mapping

Topographic contour maps of Mars are compiled by the synthesis of data acquired from various scientific experiments of the Mariner 9 mission, including S-band radio-occulation, the ultraviolet spectrometer (UVS), the infrared radiometer (IRR), the infrared interferometer spectrometer (IRIS) and television imagery, as well as Earth-based radar information collected at Goldstone, Haystack, and Arecibo Observatories. The entire planet is mapped at scales of 1:25,000,000 and 1:25,000,000 using Mercator, Lambert, and polar stereographic map projections. For the computation of map projections, a biaxial spheroid figure is adopted. The semimajor and semiminor axes are 3393.4 and 3375.7 km, respectively, with a polar flattening of 0.0052. For the computation of elevations, a topographic datum is defined by a gravity field described in terms of spherical harmonics of fourth order and fourth degree combined with a 6.1-mbar occulation pressure surface. This areoid can be approximated by a triaxial ellipsoid with semimajor axes of A = 3394.6 km and B = 3393.3 km and a semiminor axis of C = 3376.3 km. The semimajor axis A intersects the Martian surface at longitude 105°W. The dynamic flattening of Mars is 0.00525. The contour intercal of the maps is 1 km. For some prominent features where overlapping pictures from Mariner 9 are available, local contour maps at relatively larger scales were also compiled by photogrammetric methods on stereo plotters.     

Electron conductivity and density profiles derived from the mutual impedance probe measurements performed during the descent of Huygens through the atmosphere of Titan

During the descent of the Huygens probe through the atmosphere of Titan, on January 14th, 2005, the permittivity, waves and altimetry (PWA) subsystem, a component of the Huygens atmospheric structure instrument (HASI), detected an ionized layer at altitudes around 63 km with two different instruments, the relaxation probe (RP) and the mutual impedance probe (MIP). A very detailed analysis of both data sets is required, in order to correct for environmental effects and compare the two independent estimates of the electrical conductivity. The present work is dedicated to the MIP data analysis. New laboratory tests have been performed to validate or improve the available calibration results. Temperature effects have been included and numerical models of the MIP sensors and electric circuitry have been developed to take into account the proximity of the Huygens probe body. The effect of the vertical motion of the vessel in the ionized atmosphere is estimated in both analytical and numerical ways. The peculiar performance of the instrument in the altitude range 100–140 km is scrutinized. The existence of a prominent ionized layer, and of enhancements in the conductivity and electron density profiles at 63 km, are discussed in the light of previous theoretical predictions.     

Identification of cryovolcanism on Titan using fuzzy cognitive maps

Future planetary exploration of Titan will require higher degrees of on-board automation, including autonomous determination of sites where the probability of significant scientific findings is the highest. In this paper, a novel Artificial Intelligence (AI) method for the identification and interpretation of sites that yield the highest potential of cryovolcanic activity is presented. We introduce the theory of fuzzy cognitive maps (FCM) as a tool for the analysis of remotely collected data in planetary exploration. A cognitive model embedded in a fuzzy logic framework is constructed via the synergistic interaction of planetary scientists and AI experts. As an application example, we show how FCM can be employed to solve the challenging problem of recognizing cryovolcanism from Synthetic Aperture Radar (SAR) Cassini data. The fuzzy cognitive map is constructed using what is currently known about cryovolcanism on Titan and relies on geological mapping performed by planetary scientists to interpret different locales as cryovolcanic in nature. The system is not conceived to replace the human scientific interpretation, but to enhance the scientists’ ability to deal with large amounts of data, and it is a first step in designing AI systems that will be able, in the future, to autonomously make decisions in situations where human analysis and interpretation is not readily available or could not be sufficiently timely. The proposed FCM is tested on Cassini radar data to show the effectiveness of the system in reaching conclusions put forward by human experts and published in the literature. Four tests are performed using the Ta SAR image (October 2004 fly-by). Two regions (i.e. Ganesa Macula and the lobate high backscattering region East of Ganesa) are interpreted by the designed FCM as exhibiting cryovolcanism in agreement with the initial interpretation of the regions by Stofan et al. (2006). Importantly, the proposed FCM is shown to be flexible and adaptive as new data and knowledge are acquired during the course of exploration. Subsequently, the FCM has been modified to include topographic information derived from SAR stereo data. With this additional information, the map concludes that Ganesa Macula is not a cryovolcanic region. In conclusion, the FCM methodology is shown to be a critical and powerful component of future autonomous robotic spacecraft (e.g., orbiter(s), balloon(s), surface/lake lander(s), rover(s)) that will be deployed for the exploration of Titan.     

Future Satellite Gravimetry for Geodesy

After GRACE and GOCE there will still be need and room for improvement of the knowledge (1) of the static gravity field at spatial scales between 40 km and 100 km, and (2) of the time varying gravity field at scales smaller than 500 km. This is shown based on the analysis of spectral signal power of various gravity field components and on the comparison with current knowledge and expected performance of GRACE and GOCE. Both, accuracy and resolution can be improved by future dedicated gravity satellite missions. For applications in geodesy, the spectral omission error due to the limited spatial resolution of a gravity satellite mission is a limiting factor. The recommended strategy is to extend as far as possible the spatial resolution of future missions, and to improve at the same time the modelling of the very small scale components using terrestrial gravity information and topographic models.We discuss the geodetic needs in improved gravity models in the areas of precise height systems, GNSS levelling, inertial navigation and precise orbit determination. Today global height systems with a 1 cm accuracy are required for sea level and ocean circulation studies. This can be achieved by a future satellite mission with higher spatial resolution in combination with improved local and regional gravity field modelling. A similar strategy could improve the very economic method of determination of physical heights by GNSS levelling from the decimeter to the centimeter level. In inertial vehicle navigation, in particular in sub-marine, aircraft and missile guidance, any improvement of global gravity field models would help to improve reliability and the radius of operation.     

Titan's middle-atmospheric temperatures and dynamics observed by the Cassini Composite Infrared Spectrometer

The Composite Infrared Radiometer-Spectrometer (CIRS) instrument, on the NASA Cassini Saturn orbiter, has been acquiring thermal emission spectra from the atmosphere of Titan since orbit insertion in 2004. Observation sequences for measuring stratospheric temperatures have been obtained using both a nadir mapping mode and a limb viewing mode. The limb observations give better vertical resolution, and give information from higher altitudes, while the nadir observations provide more complete longitude coverage. Because the scale height of Titan's atmosphere is large enough so that emission from a grazing ray is influenced by horizontal temperature variations in the atmosphere, we have developed a two-dimensional temperature retrieval algorithm for reducing the limb spectra, which solves simultaneously for meridional and vertical temperature variations. The analyzed nadir mapping data have sampled nearly all longitudes at latitudes from about 90° S to 60° N, providing temperatures between pressure levels of about 5 to 0.2 mbar. The limb data covers latitudes between about 75° S and 85° N, and yields temperatures between about 1 and 0.005 mbar, at a small number of longitudes. The retrieved temperatures are consistent with early results from nadir observations [Flasar, F.M., and 44 colleagues, 2005. Science 308, 975-978] between 0.5 and 5 mbar where both results are valid, with the warmest temperatures at the equator, and much stronger meridional temperature gradients in the northern (winter) hemisphere than in the southern. At higher altitudes not probed by nadir viewing, the limb data reveal that the stratopause is nearly 20 K warmer in the northern polar regions than at the equator and southern hemisphere, and that the altitude of the stratopause shifts from ≈0.1 mbar (300 km) near the equator to 0.01 mbar (400 km) poleward of about 40° N. When the gradient wind equation is used to construct a zonal mean wind, the reversal in sign of the temperature leads to capping of the winter westerly flow. The core of the resulting jet is about 190 m s⁻¹ in magnitude, spans between 30° N and 60° N, and peaks near 0.1 mbar. Estimates of the radiative heating associated with the radiative disequilibrium lead to a meridional overturning timescale of about three Earth years.     

Phobos: Surface density of impact craters

The preliminary conclusion of the Mariner 9 Television Team that the surfaces of Phobos and Deimos are saturated with craters larger than 0.2 km in diameter is reconsidered on the basis of more extensive and uniform crater counts. For Phobos, it is verified that the surface appears saturated with craters larger than 1 km in diameter. For craters smaller than 1 km, the data points fall below the saturation curve, and it is not clear that all the departure can be explained in terms of loss of resolution. For Deimos, because of the paucity of craters visible in the Mariner 9 images, a statistically meaningful crater density curve cannot be constructed. Definitive crater density curves for subkilometer craters can only be established once additional imagery at a resolution of better than 100 m is obtained. Such imagery will be provided by the 1976 Viking Orbiters.     

Far-infrared opacity sources in Titan’s troposphere reconsidered

We use Cassini far-infrared limb and nadir spectra, together with recent Huygens results, to shed new light on the controversial far-infrared opacity sources in Titan’s troposphere. Although a global cloud of large CH₄ ice particles around an altitude of 30 km, together with an increase in tropospheric haze opacity with respect to the stratosphere, can fit nadir and limb spectra well, this cloud does not seem consistent with shortwave measurements of Titan. Instead, the N₂-CH₄ collision-induced absorption coefficients are probably underestimated by at least 50% for low temperatures.     

A review of earth-based radar mapping of the moon

Lunar radar mappings carried out in the late 1960's and 1970's have provided several valuable insights into lunar surface processes. These radar mappings used the delay-Doppler technique developed by Gordon Pettengill and his colleagues. These radar mappings also needed the narrow antenna beams, now available with large radio telescopes such as those at the Arecibo and Haystack Observatories. Two-element radar interferometers have provided resolution of the delay-Doppler ambiguity at meter wavelengths and provided topographic information at centimeter wavelengths. These techniques have provided high-resolution lunar radar-maps at 3.8-cm, 70-cm, and 7.5-m wavelengths, a set of wavelengths which span the window available for Earth-based radar mapping of the Moon.These radar maps have been used along with other Earth-based and Apollo orbital measurements to define surface units. The radar maps and these other data can describe physical properties such as small-scale (centimeter sized) blockiness and surface chemistry (titanium and iron) content. These estimates of lunar surface properties rely heavily upon extrapolation of surface sampling results.Presented at the IAU-COSPAR Julian Schmidt Symposium on 100 Years of Lunar Mapping held at Lagonissi, Greece, 25–27 May, 1978.     

Titan's surface at 2.2-cm wavelength imaged by the Cassini RADAR radiometer: Calibration and first results

The first comprehensive calibration and mapping of the thermal microwave emission from Titan's surface is reported based on radiometric data obtained at 2.2-cm wavelength by the passive radiometer included in the Cassini Radar instrument. The data reported were accumulated from 69 separate observational segments in Titan passes from Ta (October 2004) through T30 (May 2007) and include emission from 94% of Titan's surface. They are diverse in the key observing parameters of emission angle, polarization, and spatial resolution, and their reduction into calibrated global mosaic maps involved several steps. Analysis of the polarimetry obtained at low to moderate resolution (50+ km) enabled integration of the radiometry into a single mosaic of the equivalent brightness temperature at normal incidence with a relative precision of about 1 K. The Huygens probe measurement of Titan's surface temperature and radiometry obtained on Titan's dune fields allowed us to infer an absolute calibration estimated to be accurate to a level approaching 1 K. The results provide evidence for a surface that is complex and varied on large scales. The radiometry primarily constrains physical properties of the surface, where we see strong evidence for subsurface (volume) scattering as a dominant mechanism that determines the emissivity, with the possibility of a fluffy or graded-density surface layer in many regions. The results are consistent with, but not necessarily definitive of a surface composition resulting from the slow deposition and processing of organic compounds from the atmosphere.