Huygens probe entry and descent trajectory analysis and reconstruction techniques

Cassini/Huygens is a joint National Aeronautics and Space Administration (NASA)/European Space Agency (ESA)/Agenzia Spaziale Italiana (ASI) mission on its way to explore the Saturnian system. The ESA Huygens Probe is scheduled to be released from the Orbiter on 25 December 2004 and enter the atmosphere of Titan on 14 January 2005. Probe delivery to Titan, arbitrarily defined to occur at a reference altitude of 1270 km above the surface of Titan, is the responsibility of the NASA Jet Propulsion Laboratory (JPL). ESA is then responsible for safely delivering the probe from the reference altitude to the surface. The task of reconstructing the probe trajectory and attitude from the entry point to the surface has been assigned to the Huygens Descent Trajectory Working Group (DTWG), a subgroup of the Huygens Science Working Team. The DTWG will use data provided by the Huygens Probe engineering subsystems and selected data sets acquired by the scientific payload. To correctly interpret and correlate results from the probe science experiments and to provide a reference set of data for possible “ground-truthing” Orbiter remote sensing measurements, it is essential that the trajectory reconstruction be performed as early as possible in the post-flight data analysis phase. The reconstruction of the Huygens entry and descent trajectory will be based primarily on the probe entry state vector provided by the Cassini Navigation Team, and measurements of acceleration, pressure, and temperature made by the Huygens Atmospheric Structure Instrument (HASI). Other data sets contributing to the entry and descent trajectory reconstruction include the mean molecular weight of the atmosphere measured by the probe Gas Chromatograph/Mass Spectrometer (GCMS) in the upper atmosphere and the Surface Science Package (SSP) speed of sound measurement in the lower atmosphere, accelerations measured by the Central and Radial Accelerometer Sensor Units (CASU/RASU), and the probe altitude by the two probe radar altimeters during the latter stages of the descent. In the last several hundred meters, the altitude determination will be constrained by measurements from the SSP acoustic sounder. Other instruments contributing data to the entry and descent trajectory and attitude determination include measurements of the zonal wind drift by the Doppler Wind Experiment (DWE), and probe zonal and meridional drift and probe attitude by the Descent Imager and Spectral Radiometer (DISR). In this paper, the need for and the methods by which the Huygens Probe entry and descent trajectory will be reconstructed are reviewed.     

Reconstruction of the trajectory of the Huygens probe using the Huygens Atmospheric Structure Instrument (HASI)

The Huygens probe returned scientific measurements from the atmosphere and surface of Titan on 14 January 2005. Knowledge of the trajectory of Huygens is necessary for scientific analysis of those measurements. We use measurements from the Huygens Atmospheric Structure Instrument (HASI) to reconstruct the trajectory of Huygens during its mission. The HASI Accelerometer subsystem measured the axial acceleration of the probe with errors of 3E−6 m s⁻², the most accurate measurements ever made by an atmospheric structure instrument on another planetary body. The atmosphere was detected at an altitude of 1498 km. Measurements of the normal acceleration of the probe, which are important for determining the probe's attitude during hypersonic entry, were significantly less accurate and limited by transverse sensitivity of the piezo sensors. Peak acceleration of 121.2 m s⁻² occurred at 234.9 km altitude. The parachute deployment sequence started at 157.1 km and a speed of 342.1 m s⁻¹. Direct measurements of pressure and temperature began shortly afterwards. The measured accelerations and equations of motion have been used to reconstruct the trajectory prior to parachute deployment. Measured pressures and temperatures, together with the equation of hydrostatic equilibrium and the equation of state, have been used to reconstruct the trajectory after parachute deployment. Uncertainties in the entry state of Huygens at the top of the atmosphere are significant, but can be reduced by requiring that the trajectory and atmospheric properties be continuous at parachute deployment.     

Titan atmosphere profiles from Huygens engineering (temperature and acceleration) sensors

Data from several Huygens probe housekeeping sensors (an engineering accelerometer and housekeeping temperature sensors) are studied to determine how effectively such nonideal instruments may characterize the density or temperature structure of the atmosphere. While only confirming the results of the dedicated atmospheric structure instrument, this exercise is of relevance to possible future missions to various bodies which might not be equipped with such science-grade sensors able to accurately profile the atmosphere top-to-bottom. It is found that for typical engineering accelerometers with 8-bit resolution, the atmosphere density for ∼4 scale heights above the peak deceleration altitude may be recovered. If, as with Huygens, the peak deceleration exceeds the range of the accelerometers, recovery of an additional scale height or so below the peak is still possible, but relies on accurate total velocity knowledge. Engineering temperature sensors can, with care, be analyzed to recover the temperature structure of at least the lowest ∼30 km of Titan's atmosphere. Fortunately, in the case of Huygens, data from the surface after landing were available to constrain models of heat leaks which offset the observed temperature from that of the ambient air during descent; data from before and during the entry phase on other missions would be similarly useful. When corrections are made for the estimated heat transfer processes, the atmospheric temperature can be recovered to within about 3 K.     

Heat balance in Titan's atmosphere

The recent measurements of the vertical distribution and optical properties of haze aerosols as well as of the absorption coefficients for methane at long paths and cold temperatures by the Huygens entry probe of Titan permit the computation of the solar heating rate on Titan with greater certainty than heretofore. We use the haze model derived from the Descent Imager/Spectral Radiometer (DISR) instrument on the Huygens probe [Tomasko, M.G., Doose, L., Engel, S., Dafoe, L.E., West, R., Lemmon, M., Karkoschka, E., See, C., 2008a. A model of Titan's aerosols based on measurements made inside the atmosphere. Planet. Space Sci., this issue, doi:10.1016/j.pss.2007.11.019] to evaluate the variation in solar heating rate with altitude and solar zenith angle in Titan's atmosphere. We find the disk-averaged solar energy deposition profile to be in remarkably good agreement with earlier estimates using very different aerosol distributions and optical properties. We also evaluated the radiative cooling rate using measurements of the thermal emission spectrum by the Cassini Composite Infrared Spectrometer (CIRS) around the latitude of the Huygens site. The thermal flux was calculated as a function of altitude using temperature, gas, and haze profiles derived from Huygens and Cassini/CIRS data. We find that the cooling rate profile is in good agreement with the solar heating profile averaged over the planet if the haze structure is assumed the same at all latitudes. We also computed the solar energy deposition profile at the 10°S latitude of the probe-landing site averaged over one Titan day. We find that some 80% of the sunlight that strikes the top of the atmosphere at this latitude is absorbed in all, with 60% of the incident solar energy absorbed below 150 km, 40% below 80 km, and 11% at the surface at the time of the Huygens landing near the beginning of summer in the southern hemisphere. We compare the radiative cooling rate with the solar heating rate near the Huygens landing site averaging over all longitudes. At this location, we find that the solar heating rate exceeds the radiative cooling rate by a maximum of 0.5 K/Titan day near 120 km altitude and decreases strongly above and below this altitude. Since there is no evidence that the temperature structure at this latitude is changing, the general circulation must redistribute this heat to higher latitudes.     

Vertical pressure profile of Titan—observations of the PPI/HASI instrument

The Huygens entry probe descended through the atmosphere of Titan and provided an excellent set of observations of the atmosphere and the surface of Titan. During the 150-min descent the Huygens Atmospheric Structure Instrument (HASI) observed a comprehensive set of variables, including pressure, temperature, density and atmospheric electricity. The atmospheric pressure profile was recorded by the Pressure Profile Instrument (PPI), provided by Finnish Meteorological Institute (FMI). The instrument started measurements at an altitude of 150 km, and produced about 28 bits of data per second. Data were also obtained through the time of 31 min beyond the time of surface impact. The first-order scientific analysis of the PPI results has been performed. The observations together with hydrostatic assumption and in combination with other measurements have provided the first atmospheric pressure profile and the surface pressure (of approximately ) for Titan's atmosphere. To carry out the pressure profile reconstruction we developed a real gas formulation, which is applicable also for other Titan atmospheric investigations. The altitude versus time speed of the descent was calculated and the results were compared with the direct altitude observations by the radar altimeter during the last 40 km of the descent. The fit was excellent demonstrating the high-quality level of the PPI observations as well as the utilized investigation methods.     

Huygens probe entry trajectory and attitude estimated simultaneously with Titan atmospheric structure by Kalman filtering

Space probes entering planetary atmospheres are used for in situ study of their physical structures. During the entry phase aerodynamic forces exerted on the probe depend on atmospheric density. As a consequence accelerations measured by on-board sensors can be used to derive probe trajectory as well as atmospheric density, pressure and temperature profiles. In this work acceleration data acquired by the Huygens Atmospheric Structure Instrument (HASI) have been used to reconstruct the probe trajectory and the Titan's atmospheric structure from down to of altitude. An accurate six degree of freedom model of Huygens during the entry phase has been developed and a new reconstruction technique based on Kalman filtering is presented. This technique estimates simultaneously the probe trajectory, the attitude profile consistent with measured data and the atmospheric density, pressure and temperature.     

Huygens HASI servo accelerometer: A review and lessons learned

The servo accelerometer constituted a vital part of the Huygens Atmospheric Structure Instrument (HASI): flown aboard the Huygens probe, it operated successfully during the probe's entry, descent, and landing on Titan, on 14th January 2005. This paper reviews the Servo accelerometer, starting from its development/assembly in the mid-1990s, to monitoring its technical performance through its seven-year long in-flight (or cruise) journey, and finally its performance in measuring acceleration (or deceleration) upon encountering Titan's atmosphere.The aim of this article is to review the design, ground tests, in-flight tests and operational performance of the Huygens servo accelerometer. Techniques used for data analysis and lessons learned that may be useful for accelerometry payloads on future planetary missions are also addressed.The main finding of this review is that the conventional approach of having multiple channels to cover a very broad measurement range: from 10⁻⁶g to the order of 10g (where g=Earth's surface gravity, 9.8 m/s²), with on-board software deciding which of the channels to telemeter depending on the magnitude of the measured acceleration, works well. However, improvements in understanding the potential effects of the sensor drifts and ageing on the measurements can be achieved in future missions by monitoring the ‘scale factor’—a measure of such sensors’ sensitivity, along with the already implemented monitoring of the sensor's offset during the in-flight phase.     

A method to determine the atmospheric temperature profile from in situ pressure data: Application to Titan

We have developed a new method to analyse in situ observations of atmospheric variables of state: the reconstruction of the vertical temperature profile from pressure measurements accompanied by rough knowledge of the atmospheric composition and the aerodynamical response properties of the descent vehicle. We can use the method to construct the temperature profile when no direct measurements are available, as well as to analyse the consistency between data from different instruments. We applied the method to the Huygens measurements of Titan's atmosphere, determining the aerodynamical drag properties from radar altimeter data. We discovered that the temperature profile computed in this manner differs from the profile from the temperature sensor (TEM) of the probe by up to 5% in the altitude range of 0–60 km, and up to 10% at higher altitudes due to increased noise. The method gives a tropopause altitude of about 50 km and a surface temperature of about 98 K, in contrast to the TEM temperature measurements. Our error analysis shows that these differences are caused by the known discrepancy in the Huygens altimeter data, with the estimates made by the reconstruction algorithm contributing only 1–2% of error.     

Huygens/HASI 2002 balloon test campaign: Probe trajectory and atmospheric vertical profiles reconstruction

In the framework of the activities going on in preparation for the mission of the Huygens probe in Titan's atmosphere (January 2005), the Huygens Atmospheric Structure Instrument (HASI) team scheduled and performed several balloon campaigns to test the HASI sensors’ performance in flight conditions in the Earth's atmosphere. In particular, pressure conditions reached during each test are similar to those expected in Titan's lower atmosphere. A 1:1 scaled mock-up of the Huygens probe was launched with a stratospheric balloon in 2001 (Br. Assoc. Adv. Sci. 33 (2001) 1109) and in 2002 (Br. Assoc. Adv. Sci. 34 (2002) 911; Adv. Space. Sci. (2003)) from the G. Broglio base of the Italian Space Agency, located in Trapani Milo (Sicily). In both cases the mock-up was dropped from an altitude higher than 27 and , respectively, and recovered on the ground after a parachuted descent. In this paper, we describe the results obtained in reconstructing (i) the probe descent trajectory and (ii) the profiles of the physical quantities characterizing the Earth's atmosphere, on the basis of a complete analysis of the data obtained during the HASI 2002 balloon flight experiment. Using temperature and pressure measurements, we are able to reach an accuracy of the order of 0.5% on the altitude reconstruction during the descent. We validate both the models used for trajectory reconstruction and to check the sensors’ performance. We describe the problems faced in determining the Huygens probe descent trajectory in Titan's atmosphere focusing our discussion on the critical aspects of the descent reconstruction (such as the uncertainties due to measurement errors, limited knowledge of the atmospheric composition, etc.) and the validity of the adopted assumptions.     

The Huygens Probe Descent Trajectory Working Group: Organizational framework,goals, and implementation

Cassini/Huygens, a flagship mission to explore the rings, atmosphere, magnetic field, and moons that make up the Saturn system, is a joint endeavor of the National Aeronautics and Space Administration, the European Space Agency, and Agenzia Spaziale Italiana. Comprising two spacecraft—a Saturn orbiter built by NASA and a Titan entry/descent probe built by the European Space Agency—Cassini/Huygens was launched in October 1997. The Huygens probe parachuted to the surface of Titan in January 2005. During the descent, six science instruments provided in situ measurements of Titan's atmosphere, clouds, and winds, and photographed Titan's surface. To correctly interpret and correlate results from the probe science experiments, and to provide a reference set of data for ground-truth calibration of orbiter remote sensing measurements, an accurate reconstruction of the probe entry and descent trajectory and surface landing location is necessary. The Huygens Descent Trajectory Working Group was chartered in 1996 as a subgroup of the Huygens Science Working Team to develop and implement an organizational framework and retrieval methodologies for the probe descent trajectory reconstruction from the entry altitude of 1270 km to the surface using navigation data, and engineering and science data acquired by the instruments on the Huygens Probe. This paper presents an overview of the Descent Trajectory Working Group, including the history, rationale, goals and objectives, organizational framework, rules and procedures, and implementation.     

A stratospheric balloon experiment to test the Huygens atmospheric structure instrument (HASI)

We developed a series of balloon experiments parachuting a 1:1 scale mock-up of the Huygens probe from an altitude just over to simulate at planetary scale the final part of the descent of the probe through Titan's lower atmosphere. The terrestrial atmosphere represents a natural laboratory where most of the physical parameters meet quite well the bulk condition of Titan's environment, in terms of atmosphere composition, pressure and mean density ranges, though the temperature range will be far higher.The probe mock-up consists of spares of the HASI sensor packages, housekeeping sensors and other dedicated sensors, and also incorporates the Huygens Surface Science Package (SSP) Tilt sensor and a modified version of the Beagle 2 UV sensor, for a total of 77 acquired sensor channels, sampled during ascent, drift and descent phase.An integrated data acquisition and instrument control system, simulating the HASI data-processing unit (DPU), has been developed, based on PC architecture and soft-real-time application. Sensor channels were sampled at the nominal HASI data rates, with a maximum rate of . Software has been developed for data acquisition, onboard storage and telemetry transmission satisfying all requests for real-time monitoring, diagnostic and redundancy.The mock-up of the Huygens probe mission was successfully launched for the second time (first launch in summer 2001, see Gaborit et al., 2001) with a stratospheric balloon from the Italian Space Agency Base “Luigi Broglio” in Sicily on May 30, 2002, and recovered with all sensors still operational. The probe was lifted to an altitude of and released to perform a parachuted descent lasting , to simulate the Huygens mission at Titan. Preliminary aerodynamic study of the probe has focused upon the achievement of a descent velocity profile reproducing the expected profile of Huygens probe descent into Titan.We present here the results of this experiment discussing their relevance in the analysis of the data which will be obtained during the Huygens mission at Titan.     

Attitude and angular rates of planetary probes during atmospheric descent: Implications for imaging

Attitude dynamics data from planetary missions are reviewed to obtain a zeroth-order expectation on the tilts and angular rates to be expected on atmospheric probes during descent: these rates are a strong driver on descent imager design. While recent Mars missions have been equipped with capable inertial measurements, attitude measurements for missions to other planetary bodies are rather limited but some angular motion estimates can be derived from accelerometer, Doppler or other data. It is found that robust camera designs should tolerate motions of the order of 20-40°/s, encountered by Mars Pathfinder, Pioneer Venus, Venera and the high speed part of the Huygens descent on Titan. Under good conditions, parachute-stabilized probes can experience rates of 1-5°/s, seen by the Mars Exploration Rovers and Viking, Galileo at Jupiter, and the slow speed parts of the Huygens descent. In the lowest 20 km of the descent on Titan, the Huygens probe was within 2° of vertical over 95% of the time. Some factors influencing these motions are discussed.     

Huygens’ entry and descent through Titan's atmosphere—Methodology and results of the trajectory reconstruction

The European Space Agency's Huygens probe separated from the NASA Cassini spacecraft on 25 December 2004, after having been attached for a 7-year interplanetary journey and three orbits around Saturn. The probe reached the predefined NASA/ESA interface point on 14 January 2005 at 09:05:52.523 (UTC) and performed a successful entry and descent sequence. The probe softly impacted on Titan's surface on the same day at 11:38:10.77 (UTC) with a speed of about 4.54 m/s. The probe entry and descent trajectory was reconstructed from the estimated initial state vector provided by the Cassini Navigation team, the probe housekeeping data, and measurements from the scientific payload. This paper presents the methodology and discuss the results of the reconstruction effort. Furthermore the probe roll rate was reconstructed prior to the main entry phase deceleration pulse and throughout the entire descent phase under the main and drogue parachute.     

A model of Titan's aerosols based on measurements made inside the atmosphere

The descent imager/spectral radiometer (DISR) instrument aboard the Huygens probe into the atmosphere of Titan measured the brightness of sunlight using a complement of spectrometers, photometers, and cameras that covered the spectral range from 350 to 1600 nm, looked both upward and downward, and made measurements at altitudes from 150 km to the surface. Measurements from the upward-looking visible and infrared spectrometers are described in Tomasko et al. [2008a. Measurements of methane absorption by the descent imager/spectral radiometer (DISR) during its descent through Titan's atmosphere. Planet. Space Sci., this volume]. Here, we very briefly review the measurements by the violet photometers, the downward-looking visible and infrared spectrometers, and the upward-looking solar aureole (SA) camera. Taken together, the DISR measurements constrain the vertical distribution and wavelength dependence of opacity, single-scattering albedo, and phase function of the aerosols in Titan's atmosphere.Comparison of the inferred aerosol properties with computations of scattering from fractal aggregate particles indicates the size and shape of the aerosols. We find that the aggregates require monomers of radius 0.05 μm or smaller and that the number of monomers in the loose aggregates is roughly 3000 above 60 km. The single-scattering albedo of the aerosols above 140 km altitude is similar to that predicted for some tholins measured in laboratory experiments, although we find that the single-scattering albedo of the aerosols increases with depth into the atmosphere between 140 and 80 km altitude, possibly due to condensation of other gases on the haze particles. The number density of aerosols is about 5/cm³ at 80 km altitude, and decreases with a scale height of 65 km to higher altitudes. The aerosol opacity above 80 km varies as the wavelength to the −2.34 power between 350 and 1600 nm.Between 80 and 30 km the cumulative aerosol opacity increases linearly with increasing depth in the atmosphere. The total aerosol opacity in this altitude range varies as the wavelength to the −1.41 power. The single-scattering phase function of the aerosols in this region is also consistent with the fractal particles found above 60 km.In the lower 30 km of the atmosphere, the wavelength dependence of the aerosol opacity varies as the wavelength to the −0.97 power, much less than at higher altitudes. This suggests that the aerosols here grow to still larger sizes, possibly by incorporation of methane into the aerosols. Here the cumulative opacity also increases linearly with depth, but at some wavelengths the rate is slightly different than above 30 km altitude.For purely fractal particles in the lowest few km, the intensity looking upward opposite to the azimuth of the sun decreases with increasing zenith angle faster than the observations in red light if the single-scattering albedo is assumed constant with altitude at these low altitudes. This discrepancy can be decreased if the single-scattering albedo decreases with altitude in this region. A possible explanation is that the brightest aerosols near 30 km altitude contain significant amounts of methane, and that the decreasing albedo at lower altitudes may reflect the evaporation of some of the methane as the aerosols fall into dryer layers of the atmosphere. An alternative explanation is that there may be spherical particles in the bottom few kilometers of the atmosphere.     

Limits on the size of aerosols from measurements of linear polarization in Titan’s atmosphere

The Descent Imager/Spectral Radiometer (DISR) instrument on the Huygens probe into the atmosphere of Titan yielded information on the size, shape, optical properties, and vertical distribution of haze aerosols in the atmosphere of Titan [Tomasko, M.G., Doose, L., Engel, S., Dafoe, L.E., West, R., Lemmon, M., Karkoschka, E., 2008. Planet. Space Sci. 56, 669-707] from photometric and spectroscopic measurements of sunlight in Titan’s atmosphere. This instrument also made measurements of the degree of linear polarization of sunlight in two spectral bands centered at 491 and 934 nm. Here we present the calibration and reduction of the polarization measurements and compare the polarization observations to models using fractal aggregate particles which have different sizes for the small dimension (monomer size) of which the aggregates are composed. We find that the Titan aerosols produce very large polarizations perpendicular to the scattering plane for scattering near 90° scattering angle. The size of the monomers is tightly constrained by the measurements to a radius of 0.04 ± 0.01 μm at altitudes from 150 km to the surface. The decrease in polarization with decreasing altitude observed in red and blue light is as expected by increasing dilution due to multiple scattering at decreasing altitudes. There is no indication of particles that produce small amounts of linear polarization at low altitudes.     

Influence of high abundances of aerosols on the electrical conductivity of the Titan atmosphere

Observations of optical depth and scattering by instrumentation onboard the Huygens probe have been used by Tomasko et al. [Tomasko et al., 2005. Rain, winds and haze during Huygens probe's descent to Titan's surface. Nature 438 (8), 765-778] to deduce that the size and abundance of Titan aerosols could be nearly independent of altitude. Here we show that by assuming a constant mass flux with altitude and using the measured optical depth as a constraint, we obtain more realistic size and abundance distributions. In particular, the calculated abundance decreases from 3.5×10⁷ m⁻³ at 100 km to 8×10⁶ m⁻³ near the surface while the particle radius varies from 0.25 μm at 150 km to 1.1 μm at the surface. These distributions are consistent with the reported measurements for these quantities. Our results are then employed to compute electron and ion densities and conductivities for various solar UV photoelectron emission thresholds. Our model shows that to get agreement with the published (preliminary) conductivity measurements, photoemission cannot be an important source of electrons and ions. To get agreement with the electron and ion conductivity observations, both an additional population of aerosol embryos above 50 km and a trace amount of an electrophillic molecular species below 50 km are needed.