Article 10 Mars Exploration Rover Telecommunications
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DESCANSO Design and Performance Summary Series Article 10 Mars Exploration Rover Telecommunications Jim Taylor Andre Makovsky Andrea Barbieri Ramona Tung Polly Estabrook A. Gail Thomas Jet Propulsion Laboratory California Institute of Technology Pasadena, California National Aeronautics and Space Administration Jet Propulsion Laboratory California Institute of Technology Pasadena, California October 2005 This research was carried out at the Jet Propulsion Laboratory, California Institute of Technology, under a contract with the National Aeronautics and Space Administration. Prologue Mars Exploration Rovers: Twelve Wheels on the Ground The cover image is an artist’s rendition of one of the rovers deployed on the surface of Mars. (A version of this picture with the parts called out appears at the end of Section 1.) In the cover image, the communications antennas are prominent. The High-Gain Antenna (HGA) for direct-to-Earth (DTE) communications with the Deep Space Network (DSN) is the large disk to the right, facing up and out. The Low-Gain Antenna (LGA) is the mast to the left of the HGA. The Ultrahigh-Frequency (UHF) Antenna, for communicating with Mars orbiters, is the thinner vertical rod to the left of the LGA. The Panoramic Camera (Pancam) is mounted on the large, light-colored mast in the foreground, which was also a factor in the rover’s communications with the DSN. The picture above, from [1], is a self-portrait of the Spirit rover on the surface of Mars, a mosaic made up of about 100 separate images taken by the rover’s Pancam on sols 329 and 330 (Dec. 7 and 8, 2004), and produced at Cornell University. The downward-looking view omits the mast on which the camera is mounted. iii DESCANSO DESIGN AND PERFORMANCE SUMMARY SERIES Issued by the Deep Space Communications and Navigation Systems Center of Excellence Jet Propulsion Laboratory California Institute of Technology Joseph H. Yuen, Editor-in-Chief Previously Published Articles in This Series Article 1—“Mars Global Surveyor Telecommunications” Jim Taylor, Kar-Ming Cheung, and Chao-Jen Wong Article 2—“Deep Space 1 Telecommunications” Jim Taylor, Michela Muñoz Fernández, Ana I. Bolea Alamañac, and Kar-Ming Cheung Article 3—“Cassini Orbiter/Huygens Probe Telecommunications” Jim Taylor, Laura Sakamoto, and Chao-Jen Wong Article 4—“Voyager Telecommunications” Roger Ludwig and Jim Taylor Article 5—“Galileo Telecommunications” Jim Taylor, Kar-Ming Cheung, and Dongae Seo Article 6—“Odyssey Telecommunications” Andre Makovsky, Andrea Barbieri, and Ramona Tung Article 7—“Deep Space 1 Navigation: Extended Missions” Brian Kennedy, Shyam Bhaskaran, J. Edmund Riedel, and Mike Wang Article 8—“Deep Space 1 Navigation: Primary Mission” Brian Kennedy, J. Edmund Riedel, Shyam Bhaskaran, Shailen Desai, Don Han, Tim McElrath, George Null, Mark Ryne, Steve Synnott, Mike Wang, and Robert Werner Article 9—“Deep Impact Flyby and Impactor Telecommunications” Jim Taylor and David Hansen iv Table of Contents Foreword........................................................................................................................................ xi Preface........................................................................................................................................... xii Acknowledgements...................................................................................................................... xiii Section 1 Mission and Spacecraft Summary..............................................................................1 1.1 Mission Objectives.........................................................................................1 1.2 Mission Description.......................................................................................1 1.3 The Spacecraft................................................................................................3 1.3.1 Cruise Stage.....................................................................................4 1.3.2 Entry, Descent, and Landing Systems (Aeroshell and Lander).......5 1.3.3 Rover................................................................................................8 Section 2 Telecommunications Subsystem Overview .............................................................10 2.1 X-Band: Cruise, EDL, Surface.....................................................................10 2.2 UHF: EDL, Surface......................................................................................10 2.3 Direct-to-Earth Downlink Capability...........................................................11 2.4 UHF Relay Capability..................................................................................12 Section 3 Telecom Subsystem Hardware and Software...........................................................15 3.1 X-Band Flight Subsystem Description.........................................................15 3.1.1 X-Band Functions..........................................................................15 3.1.2 Functional Block Diagram.............................................................16 3.1.3 Interfaces with Other Subsystems..................................................16 3.1.4 Description of X-Band Components..............................................19 3.1.4.1 Antennas...............................................................................................19 3.1.4.2 Radio Frequency Subsystem ................................................................21 3.1.4.3 X-Band Diplexer ..................................................................................23 3.1.4.4 Transfer Switches (WTS and CXS) .....................................................23 3.1.4.5 Solid-State Power Amplifier ................................................................24 3.1.4.6 3-dB Coupler........................................................................................24 3.1.4.7 Small Deep-Space Transponder ...........................................................25 3.1.4.7.1 Ranging Performance....................................................................... 27 3.1.4.7.2 Range Delay after Integration on Spacecraft.................................... 27 3.2 UHF..............................................................................................................28 3.2.1 UHF Antennas...............................................................................29 3.2.2 UHF Transceiver and Diplexer......................................................30 3.2.3 UHF System Operation..................................................................31 3.2.3.1 Physical Layer......................................................................................31 3.2.3.2 Data Frame Layer (Odyssey and Mars Express)..................................31 3.2.3.3 MGS Operations...................................................................................32 3.3 MER Telecom Hardware Mass and Power Summary .................................33 Section 4 Ground Systems .......................................................................................................35 v 4.1 Deep Space Network....................................................................................35 4.1.1 Background....................................................................................35 4.1.2 Stations Used by MER (34-m and 70-m, All Complexes) ............35 4.1.3 DSN Changes Instituted during the MER Mission........................36 4.1.3.1 34-m BWG 20-kW Transmitter and X/X/Ka-Feed Upgrades..............36 4.1.3.2 Network Simplification Project Changes.............................................36 4.1.3.3 Multiple Spacecraft per Aperture.........................................................37 4.2 Entry, Descent, and Landing Communications............................................38 4.3 Relay Data Flow...........................................................................................42 4.3.1 Odyssey..........................................................................................42 4.3.2 Mars Global Surveyor....................................................................44 4.3.3 Commanding the Rover via UHF ..................................................44 Section 5 Telecom Subsystem and Link Performance.............................................................45 5.1 X-Band: Cruise, EDL, Surface.....................................................................45 5.1.1 X-Band Performance during Initial Acquisition............................45 5.1.2 X-Band Performance during EDL .................................................47 5.1.3 Performance vs. Predicts: Cruise ...................................................54 5.1.4 Performance vs. Predicts: Surface .................................................55 5.1.5 PMA Occlusion..............................................................................56 5.1.6 X-Band Carrier-Only Beeps ..........................................................56 5.1.7 Antenna Pointing...........................................................................58 5.1.7.1 Station ..................................................................................................58 5.1.7.2 Rover....................................................................................................60 5.1.8 Uplink Acquisition Problems Caused by Rover Temperature Variations.......................................................................................63 5.1.9 Other Key X-Band Technical Issues..............................................66