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.     

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.     

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.     

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 technique to determine the mean molecular mass of a planetary atmosphere using pressure and temperature measurements made by an entry probe: Demonstration using Huygens data

It is possible to determine the mean molecular mass of a planetary atmosphere using pressure and temperature measurements made by an entry probe descending at terminal velocity. The descent trajectory of an entry probe can be determined from pressure, temperature, and mean molecular mass data. This technique offers redundancy for large entry probes in the event of a mass spectrometer failure and increases the potential scientific yield of small entry probes that do not carry mass spectrometers. This technique is demonstrated on Huygens atmospheric structure instrument (HASI) data from Titan. Accurate knowledge of entry probe and parachute drag coefficients is required for this technique to be useful.     

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.     

Huygens probe entry dynamic model and accelerometer data analysis

During the first phase of Huygens arrival into Titan's atmosphere the probe is subjected to gravitational and aerodynamic forces in aerodynamic hypersonic regime. Atmospheric drag exerts a strong deceleration on the capsule measured by Huygens atmospheric structure instrument (HASI) servo accelerometer. A 6 DOF (Degree of Freedom) model of the Huygens probe entry dynamics has been developed and used for data analysis. The accelerometer data are analysed and the model allows the retrieval of dynamics information of Huygens probe from 1545 km altitude down to end of the entry phase. Probe's initial conditions (velocity and position) were refined to match the measured deceleration profile resulting in a different altitude at interface epoch with respect to those of the Cassini Navigation Team. Velocity and position of probe at interface epoch are compatible with those used by Descent Trajectory Working Group (DTWG).Measurements acquired before atmosphere detection are used to estimate probe's angular rate, bound attitude and characterise the angle of attack profile which results to be lower than 4^° during the whole entry. Probe's spin calculated (6.98 RPM) is slightly different with respect to DTWG of 7.28 RPM but considering a 2% error in the Inertia matrix these results are inside the 1-σ error band.     

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.     

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.     

Thermal interactions of the Huygens probe with the Titan environment: Constraint on near-surface wind

The Huygens probe lost heat to its cold environment during its descent through Titan's atmosphere and after landing. Here I report measurements of the probe's thermal behavior and comparison with ground tests (1) to provide a context for other scientific investigations, such as the release of volatiles from the landing site, and (2) to place constraints on Titan environmental parameters directly, such as the thermal conductivity of the surface material and the strength of winds at the surface. Near-surface winds are constrained to be less than 0.2 m s⁻¹, and probably much less.     

Shading under Titan's sky

During the descent of the Huygens probe in January 2005, its Descent Imager/Spectral Radiometer (DISR) will take the first close up images of Titan's surface. The shading imposed by the illumination of a planetary surface contains information on its topography. For planetary bodies without an optically thick atmosphere, the light can be assumed to stem from a point source. In this case, methods are available in order to estimate the shape of surface features from shading. The situation is quite different for Titan, as its atmosphere is optically thick at optical wavelengths. The sun is visible from the surface, but the illumination is dominated by diffuse radiance. In order to investigate the characteristics of shading under Titan's sky and to assess methods to retrieve the shape, different digital terrain models (DTMs) are used to simulate images according to different types of illumination. For an idealized DTM, the shape is retrieved from the shading in the simulated images. Deriving the shape from shading under Titan's sky using existing methods is only possible if the topography is relatively flat, i.e. in the absence of steep slopes.     

In situ thermal conductivity measurements of Titan's lower atmosphere

Thermal conductivity measurements, presented in this paper (Fig. 3), were made during the descent of the Huygens probe through the atmosphere of Titan below the altitude of 30 km. The measurements are broadly consistent with reference values derived from the composition, pressure and temperature profiles of the atmosphere; except in narrow altitude regions around 19 km and 11 km, where the measured thermal conductivity is lower than the reference by 1% and 2%, respectively. Only single data point exists at each of the two altitudes mentioned above; if true however, the result supports the case for existence for molecules heavier than nitrogen in these regions (such as: ethane, other primordial noble gases, carbon dioxide, and other hydrocarbon derivatives). The increasing thermal conductivity observed below 7 km altitude could be due to some liquid deposition during the descent; either due to condensation and/or due to passing through layers of fog/cloud containing liquid nitrogen-methane. Thermal conductivity measurements do not allow conclusions to be drawn about how such liquid may have entered the sensor, but an estimate of the cumulative liquid content encountered in the last 7 km is 0.6% by volume of the Titan's atmosphere sampled during descent.     

Inverse radiation modeling of Titan's atmosphere to assimilate solar aureole imager data of the Huygens probe

During the descent of the Huygens probe through Titan's atmosphere in January 2005, the Descent Imager/Spectral Radiometer (DISR) will perform upward and downward looking measurements at various spectral ranges and spatial resolutions. This internal radiation density could be estimated by radiative transfer calculations for Titan's atmosphere. However, to do this, the optical properties—i.e. volume extinction coefficient, single scattering albedo and scattering phase function—have to be prescribed at every altitude, and these are apriori not known. Herein, an inverse approach is investigated, which retrieves the single scattering albedo and the phase function of the aerosols from DISR observations. The method uses data from a DISR subinstrument, the Solar Aureole imager (SA), to estimate the optical properties of the atmospheric layer between two successive observation altitudes. A unique solution for one layer can in principle be calculated directly from a linear system of equations, but due to the sparseness of the data and the unavoidable noise in the measurements, the inverse problem is ill-posed. The problem is stabilized by the regularization method requiring smoothness of the resultant solution. A consistent set of solutions for all layers is obtained by iterating several times downward and upward through the layers. The method is tested in a simulated radiation density scenario for Titan, which is based on a microphysical aerosol model for the haze layer. Within this scenario, the expected coverage of SA data allows a reconstruction of the angular dependence of the scattering phase function with an explained variance better than 90%.     

Titan's diverse landscapes as evidenced by Cassini RADAR's third and fourth looks at Titan

Cassini's third and fourth radar flybys, T7 and T8, covered diverse terrains in the high southern and equatorial latitudes, respectively. The T7 synthetic aperture radar (SAR) swath is somewhat more straightforward to understand in terms of a progressive poleward descent from a high, dissected, and partly hilly terrain down to a low flat plain with embayments and deposits suggestive of the past or even current presence of hydrocarbon liquids. The T8 swath is dominated by dunes likely made of organic solids, but also contain somewhat enigmatic, probably tectonic, features that may be partly buried or degraded by erosion or relaxation in a thin crust. The dark areas in T7 show no dune morphology, unlike the dark areas in T8, but are radiometrically warm like the dunes. The Huygens landing site lies on the edge of the T8 swath; correlation of the radar and Huygens DISR images allows accurate determination of its coordinates, and indicates that to the north of the landing site sit two large longitudinal dunes. Indeed, had the Huygens probe trajectory been just 10 km north of where it actually was, images of large sand dunes would have been returned in place of the fluvially dissected terrain actually seen—illustrating the strong diversity of Titan's landscapes even at local scales.     

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.     

Cassini-Huygens results on Titan's surface

Our understanding of Titan, Saturn's largest satellite, has recently been consid-erably enhanced, thanks to the Cassini-Huygens mission. Since the Saturn Orbit Injection in July 2004, the probe has been harvesting new insights of the Kronian system. In par-ticular, this mission orchestrated a climax on January 14, 2005 with the descent of the Huygens probe into Titan's thick atmosphere. The orbiter and the lander have provided us with picturesque views of extraterrestrial landscapes, new in composition but reassuringly Earth-like in shape. Thus, Saturn's largest satellite displays chains of mountains, fields of dark and damp dunes, lakes and possibly geologic activity. As on Earth, landscapes on Titan are eroded and modeled by some alien hydrology: dendritic systems, hydrocarbon lakes, and methane clouds imply periods of heavy rainfalls, even though rain was never observed directly. Titan's surface also proved to be geologically active - today or in the recent past - given the small number of impact craters listed to date, as well as a few possible cryovolcanic features. We attempt hereafter a synthesis of the most significant results of the Cassini-Huygens endeavor, with emphasis on the surface.