Development and calibration of the Moon-based EUV camera for Chang'e-3

The process of development and calibration for the first Moon-based extreme ultraviolet(EUV) camera to observe Earth's plasmasphere is introduced and the design, test and calibration results are presented. The EUV camera is composed of a multilayer film mirror, a thin film filter, a photon-counting imaging detector, a mechanism that can adjust the direction in two dimensions, a protective cover, an electronic unit and a thermal control unit. The center wavelength of the EUV camera is 30.2 nm with a bandwidth of 4.6 nm. The field of view is 14.7° with an angular resolution of 0.08°, and the sensitivity of the camera is 0.11 count s-1Rayleigh-1. The geometric calibration, the absolute photometric calibration and the relative photometric calibration are carried out under different temperatures before launch to obtain a matrix that can correct geometric distortion and a matrix for relative photometric correction,which are used for in-orbit correction of the images to ensure their accuracy.     

A method and results of color calibration for the Chang'e-3 terrain camera and panoramic camera

The terrain camera(TCAM) and panoramic camera(PCAM) are two of the major scientific payloads installed on the lander and rover of the Chang'e 3 mission respectively. They both use a Bayer color filter array covering CMOS sensor to capture color images of the Moon's surface. RGB values of the original images are related to these two kinds of cameras. There is an obvious color difference compared with human visual perception. This paper follows standards published by the International Commission on Illumination to establish a color correction model, designs the ground calibration experiment and obtains the color correction coefficient. The image quality has been significantly improved and there is no obvious color difference in the corrected images. Ground experimental results show that:(1) Compared with uncorrected images, the average color difference of TCAM is 4.30, which has been reduced by 62.1%.(2) The average color differences of the left and right cameras in PCAM are 4.14 and 4.16, which have been reduced by 68.3% and 67.6% respectively.     

Panoramic camera on the Yutu lunar rover of the Chang'e-3 mission

The Chang'e-3 panoramic camera, which is composed of two cameras with identical functions, performances and interfaces, is installed on the lunar rover mast. It can acquire 3D images of the lunar surface based on the principle of binocular stereo vision. By rotating and pitching the mast, it can take several photographs of the patrol area. After stitching these images, panoramic images of the scenes will be obtained.Thus the topography and geomorphology of the patrol area and the impact crater, as well as the geological structure of the lunar surface, will be analyzed and studied.In addition, it can take color photographs of the lander using the Bayer color coding principle. It can observe the working status of the lander by switching between static image mode and dynamic video mode with automatic exposure time. The focal length of the lens on the panoramic camera is 50 mm and the field of view is 19.7?umination and viewing conditions, the largest signal-to-no×14.5?.Under the best illise ratio of the panoramic camera is 44 d B. Its static modulation transfer function is 0.33. A large number of ground testing experiments and on-orbit imaging results show that the functional interface of the panoramic camera works normally. The image quality of the panoramic camera is satisfactory. All the performance parameters of the panoramic camera satisfy the design requirements.     

A new lunar absolute control point: established by images from the landing camera on Chang'e-3

The establishment of a lunar control network is one of the core tasks in selenodesy, in which defining an absolute control point on the Moon is the most important step. However, up to now, the number of absolute control points has been very sparse. These absolute control points have mainly been lunar laser ranging retroreflectors, whose geographical location can be observed by observations on Earth and also identified in high resolution lunar satellite images. The Chang'e-3(CE-3) probe successfully landed on the Moon, and its geographical location has been monitored by an observing station on Earth. Since its positional accuracy is expected to reach the meter level, the CE-3 landing site can become a new high precision absolute control point. We use a sequence of images taken from the landing camera, as well as satellite images taken by CE-1 and CE-2, to identify the location of the CE-3 lander. With its geographical location known, the CE-3 landing site can be established as a new absolute control point, which will effectively expand the current area of the lunar absolute control network by 22%, and can greatly facilitate future research in the field of lunar surveying and mapping, as well as selenodesy.     

Terrain reconstruction from Chang'e-3 PCAM images

The existing terrain models that describe the local lunar surface have limited resolution and accuracy, which can hardly meet the needs of rover navigation,positioning and geological analysis. China launched the lunar probe Chang'e-3 in December, 2013. Chang'e-3 encompassed a lander and a lunar rover called "Yutu"(Jade Rabbit). A set of panoramic cameras were installed on the rover mast. After acquiring panoramic images of four sites that were explored, the terrain models of the local lunar surface with resolution of 0.02 m were reconstructed. Compared with other data sources, the models derived from Chang'e-3 data were clear and accurate enough that they could be used to plan the route of Yutu.     

Lunar Penetrating Radar onboard the Chang'e-3 mission

Lunar Penetrating Radar(LPR) is one of the important scientific instruments onboard the Chang'e-3 spacecraft. Its scientific goals are the mapping of lunar regolith and detection of subsurface geologic structures. This paper describes the goals of the mission, as well as the basic principles, design, composition and achievements of the LPR. Finally, experiments on a glacier and the lunar surface are analyzed.     

Analysis of the geomorphology surrounding the Chang'e-3 landing site

Chang'e-3(CE-3) landed on the Mare Imbrium basin in the east part of Sinus Iridum(19.51°W, 44.12°N), which was China's first soft landing on the Moon and it started collecting data on the lunar surface environment. To better understand the environment of this region, this paper utilizes the available high-resolution topography data, image data and geological data to carry out a detailed analysis and research on the area surrounding the landing site(Sinus Iridum and 45 km×70 km of the landing area)as well as on the topography, landform, geology and lunar dust of the area surrounding the landing site. A general topographic analysis of the surrounding area is based on a digital elevation model and digital elevation model data acquired by Chang'e-2 that have high resolution; the geology analysis is based on lunar geological data published by USGS; the study on topographic factors and distribution of craters and rocks in the surrounding area covering 4 km×4 km or even smaller is based on images from the CE-3 landing camera and images from the topographic camera; an analysis is done of the effect of the CE-3 engine plume on the lunar surface by comparing images before and after the landing using data from the landing camera. A comprehensive analysis of the results shows that the landing site and its surrounding area are identified as typical lunar mare with flat topography. They are suitable for maneuvers by the rover,and are rich in geological phenomena and scientific targets, making it an ideal site for exploration.     

Data processing and initial results of Chang'e-3 lunar penetrating radar

To improve our understanding of the formation and evolution of the Moon,one of the payloads onboard the Chang'e-3(CE-3) rover is Lunar Penetrating Radar(LPR). This investigation is the first attempt to explore the lunar subsurface structure by using ground penetrating radar with high resolution. We have probed the subsurface to a depth of several hundred meters using LPR. In-orbit testing, data processing and the preliminary results are presented. These observations have revealed the configuration of regolith where the thickness of regolith varies from about 4 m to 6 m.In addition, one layer of lunar rock, which is about 330 m deep and might have been accumulated during the depositional hiatus of mare basalts, was detected.     

The penetrating depth analysis of Lunar Penetrating Radar onboard Chang'e-3 rover

Lunar Penetrating Radar(LPR) has successfully been used to acquire a large amount of scientific data during its in-situ detection. The analysis of penetrating depth can help to determine whether the target is within the effective detection range and contribute to distinguishing useful echoes from noise.First, this study introduces two traditional methods, both based on a radar transmission equation, to calculate the penetrating depth. The only difference between the two methods is that the first method adopts system calibration parameters given in the calibration report and the second one uses high-voltage-off radar data. However, some prior knowledge and assumptions are needed in the radar equation and the accuracy of assumptions will directly influence the final results. Therefore, a new method termed the Correlation Coefficient Method(CCM) is provided in this study, which is only based on radar data without any a priori assumptions. The CCM can obtain the penetrating depth according to the different correlation between reflected echoes and noise. To be exact, there is a strong correlation in the useful reflected echoes and a random correlation in the noise between adjacent data traces. In addition, this method can acquire a variable penetrating depth along the profile of the rover, but only one single depth value can be obtained from traditional methods. Through a simulation, the CCM has been verified as an effective method to obtain penetration depth. The comparisons and analysis of the calculation results of these three methods are also implemented in this study. Finally, results show that the ultimate penetrating depth of Channel 1 and the estimated penetrating depth of Channel 2 range from 136.9 m to 165.5 m(ε_r = 6.6) and from 13.0 m to 17.5 m(ε_r = 2.3), respectively.     

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.     

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.     

Operating principles and detection characteristics of the Visible and Near-Infrared Imaging Spectrometer in the Chang'e-3

The Visible and Near-Infrared Imaging Spectrometer(VNIS), using two acousto-optic tunable filters as dispersive components, consists of a VIS/NIR imaging spectrometer(0.45–0.95 μm), a shortwave IR spectrometer(0.9–2.4 μm) and a calibration unit with dust-proofing functionality. The VNIS was utilized to detect the spectrum of the lunar surface and achieve in-orbit calibration, which satisfied the requirements for scientific detection. Mounted at the front of the Yutu rover, lunar objects that are detected with the VNIS with a 45° visual angle to obtain spectra and geometrical data in order to analyze the mineral composition of the lunar surface. After landing successfully on the Moon, the VNIS performed several explorations and calibrations, and obtained several spectral images and spectral reflectance curves of the lunar soil in the region of Mare Imbrium. This paper describes the working principle and detection characteristics of the VNIS and provides a reference for data processing and scientific applications.     

Data processing and preliminary results of the Chang'e-3 VIS/NIR Imaging Spectrometer in-situ analysis

The Chang'e-3 Visible and Near-infrared Imaging Spectrometer(VNIS) is one of the four payloads on the Yutu rover. After traversing the landing site during the first two lunar days, four different areas are detected, and Level 2A and 2B radiance data have been released to the scientific community. The released data have been processed by dark current subtraction, correction for the effect of temperature,radiometric calibration and geometric calibration. We emphasize approaches for reflectance analysis and mineral identification for in-situ analysis with VNIS. Then the preliminary spectral and mineralogical results from the landing site are derived. After comparing spectral data from VNIS with data collected by the M3 instrument and samples of mare that were returned from the Apollo program, all the reflectance data have been found to have similar absorption features near 1000 nm except lunar sample71061. In addition, there is also a weak absorption feature between 1750～2400 nm on VNIS, but the slopes of VNIS and M3 reflectance at longer wavelengths are lower than data taken from samples of lunar mare. Spectral parameters such as Band Centers and Integrated Band Depth Ratios are used to analyze mineralogical features. The results show that detection points E and N205 are mixtures of high-Ca pyroxene and olivine,and the composition of olivineat point N205 is higher than that at point E, but the compositions of detection points S3 and N203 are mainly olivine-rich. Since there are no obvious absorption features near 1250 nm, plagioclase is not directly identified at the landing site.     

Development of MINISAT 01 Scientific Payload

The MINISAT design is a modular concept, and accordingly the ScientificPayload of Mission 01 is a self-contained Payload Module (PLM). Thisphilosophy offers the advantage that the Payload and the Platform may beassembled independently and coupled together at a later stage. Themechanical, thermal, power and data interfaces have to be secured alongthe design and development phases. The MINISAT 01 PLM with threeinstruments, EURD, LEGRI and CPLM, integrates on a structural tray adozen of equipment supplied by more than ten participant Institutions. TheAssembly, Integration and Verifications (AIV) of the PLM, was performedat INTA, providing the common structural, harnessing and thermal controlsubsystems. In this paper an overview is presented of the PLM layout of thedifferent models and the qualification and acceptance testing.     

Laboratory verification of the Active Particle-induced X-ray Spectrometer(APXS) on the Chang'e-3 mission

In the Chang'e-3 mission, the Active Particle-induced X-ray Spectrometer(APXS) on the Yutu rover is used to analyze the chemical composition of lunar soil and rock samples. APXS data are only valid are only if the sensor head gets close to the target and integration time lasts long enough. Therefore, working distance and integration time are the dominant factors that affect APXS results. This study confirms the ability of APXS to detect elements and investigates the effects of distance and time on the measurements. We make use of a backup APXS instrument to determine the chemical composition of both powder and bulk samples under the conditions of different working distances and integration times. The results indicate that APXS can detect seven major elements, including Mg, Al, Si, K, Ca, Ti and Fe under the condition that the working distance is less than 30 mm and having an integration time of 30 min. The statistical deviation is smaller than 15%. This demonstrates the instrument's ability to detect major elements in the sample. Our measurements also indicate the increase of integration time could reduce the measurement error of peak area, which is useful for detecting the elements Mg, Al and Si. However, an increase in working distance can result in larger errors in measurement, which significantly affects the detection of the element Mg.     

Data processing for the Active Particle-induced X-ray Spectrometer and initial scientific results from Chang'e-3 mission

The Active Particle-induced X-ray Spectrometer(APXS) is an important payload mounted on the Yutu rover, which is part of the Chang'e-3 mission. The scientific objective of APXS is to perform in-situ analysis of the chemical composition of lunar soil and rock samples. The radioactive sources,55 Fe and109Cd, decay and produce α-particles and X-rays. When X-rays and α-particles interact with atoms in the surface material, they knock electrons out of their orbits, which release energy by emitting X-rays that can be measured by a silicon drift detector(SDD). The elements and their concentrations can be determined by analyzing their peak energies and intensities. APXS has analyzed both the calibration target and lunar soil once during the first lunar day and again during the second lunar day. The total detection time lasted about 266 min and more than 2000 frames of data records have been acquired. APXS has three operating modes: calibration mode, distance sensing mode and detection mode. In detection mode, work distance can be calculated from the X-ray counting rate collected by SDD. Correction for the effect of temperature has been performed to convert the channel number for each spectrum to X-ray energy. Dead time correction is used to eliminate the systematic error in quantifying the activity of an X-ray pulse in a sample and derive the real count rate. We report APXS data and initial results during the first and second lunar days for the Yutu rover. In this study, we analyze the data from the calibration target and lunar soil on the first lunar day. Seven major elements, including Mg, Al, Si, K, Ca, Ti and Fe, have been identified. Comparing the peak areas and ratios of calibration basalt and lunar soil the landing site was found to be depleted in K, and have lower Mg and Al but higher Ca, Ti, and Fe. In the future,we will obtain the elemental concentrations of lunar soil at the Chang'e-3 landing site using APXS data.     

Example-based super-resolution for single-image analysis from the Chang'e-1 Mission

Due to the low spatial resolution of images taken from the Chang'e-1(CE-1) orbiter, the details of the lunar surface are blurred and lost. Considering the limited spatial resolution of image data obtained by a CCD camera on CE-1, an example-based super-resolution(SR) algorithm is employed to obtain highresolution(HR) images. SR reconstruction is important for the application of image data to increase the resolution of images. In this article, a novel example-based algorithm is proposed to implement SR reconstruction by single-image analysis, and the computational cost is reduced compared to other example-based SR methods. The results show that this method can enhance the resolution of images using SR and recover detailed information about the lunar surface. Thus it can be used for surveying HR terrain and geological features. Moreover, the algorithm is significant for the HR processing of remotely sensed images obtained by other imaging systems.     

The topography of Epimetheus

A topographic model of Saturn's smaller co-orbital satellite Epimetheus was derived from the shapes of limbs, terminators and shadows of the F Ring in Voyager images, modified locally to accommodate large craters and ridges. The model is presented here in tabular and graphic form, including the first detailed shaded relief maps of the satellite. The shape is approximated by a triaxial ellipsoid with axes of 144, 108 and 98 km. The volume is estimated to be 8 ± 1 × 10⁵ km³. A prominent valley and several grooves are found on the heavily cratered surface.     

The topography of Janus

A topographic model of Saturn's larger co-orbital satellite Janus was derived from the shapes of limbs and terminators in Voyager images, modified locally to accommodate large craters and ridges. The model is presented here in tabular and graphic form, including the first detailed shaded relief maps of the satellite. The shape is approximated by a triaxial ellipsoid with axes of 196, 192 and 150 km. The volume is estimated to be 3.0 ± 0.5 × 10⁶ km³, leading to a density estimate of 0.67 ± 0.10 g/cm³. The surface is heavily cratered. Several possible crater chains of uncertain significance are observed, but few prominent linear ridges and no narrow grooves.