Characteristics of the Pathfinder APXS Sites
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JOURNAL OF GEOPHYSICAL RESEARCH, VOL. 106, NO. E7, PAGES 14,621-14,665,JULY 25, 2001 Characteristicsof the Pathfinder APXS sites:Implications for the compositionof Martian rocks and soils NathanT. Bridgesand Joy A. Crisp JetPropulsion Laboratory, Pasadena, California James F. Bell III Centerfor Radiophysicsand Space Research, Cornell University, Ithaca, New York Abstract. An integratedstudy of spectral,elemental abundance, and image data from the Pathfinderalpha proton X-ray spectrometer(APXS) measurementsites has led to a better understandingof the natureof Martiansurface matehals. This rigorousanalysis provides a new level of detailthat forms the basisfor the resultsreported here and that can be usedby future scientiststrying to understandrocks and soilson Mars. EachAPXS sitehas been precisely locatedby analyzingstereo Imager for Mars Pathfinder(IMP) androver camera images to determine the positionof the APXS duringdeployment. Rover and IMP imagesare usedto assesslocal geology,namely, the presence of pebbles,clods, and aeolian features in soilsand surface textures anddust concentrations on rocks. IMP spectrausing the latestcalibrations for radianceand reflectanceare analyzedat a numberof differentillumination geometries for eachAPXS site. The three-dimensionalorientation of the siteshas been determined and then used to computethe true sunlight(incidence) and viewing (emission) angles. Where suitable photometric coverage is available,reflectances are fit to the Hapke-Irvinefunction. This is thenused to adjustspectral reflectancesto a normalizedillumination geometry common to all rocksand soils. Comparingall the datasets shows a positivecorrelation among red/blue reflectance ratio, SO3content, and dust abundanceon rocks,indicating that rocks are coatedwith varyingamounts of sulfur-rich,red dust. Otherelements, such as siliconand iron, are poortracers for dustbecause their abundances within soil are similarto thosewithin rock. Rock APXS targetsthat are bluer,poorer in sulfur,and have minimaldust coverage face toward the northeast,the directionin whichwinds may be capableof efficientlyremoving loose material under current Martian conditions. The IMP spectralproperties of the soilsshow poor correlations with APXS elementalabundances. On the basisof currently releasedAPXS data,bulk soilsat the Pathfinderlanding site are richerin silicaand sulfurthan the Viking landingsites, suggesting a differentcomposition. The APXS soilswith the mostapparent pebblesare the poorestin SiO2,indicating that either the pebblesare moremafic thanthe APXS rocksor thepebble-free soil componentis inherentlyenriched in SiO2compared to Viking soils. The mixtureof materialsat the APXS sitesis a reflectionof the overall complexityof Martian surfacematerials, a detailedunderstanding of whichshould drive the choice of futureinstruments and missions. 1. Introduction abundances(from here on, APXS "ite" refers to the region within the actual 5-cm APXS analysis spot or an area that The alpha proton X-my spectrometer(APXS) on Mars likely containsthe spot, as describedbelow). IMP furnishes Pathfinder's Sojourner rover provided the first in situ similar information, generally at a lower spatial resolution, measurements of Martian surface materials and the first andprovides visible andnear-IR spectrathat are relatedto the analyses of unequivocalMartian rocks. It acquired 16 oxidation state, mineralogy, and physical nature of the measurementsof geologic materials, of which 11 were of surface.As wasrecognized before landing, the complementary sufficient quality that they have been converted to oxide information providedby these instrumentscould serve as a abundances [Rieder et al., 1997a]. These 11 measurement very useful tool for constraining the elemental chemistry, targetsconsist of :5 rocks and 6 soils. Supportingthe APXS mineralogy,and physical makeup of the materials[Golombek, measurementswere the rover camerasand the lander'sImager 1997; Smith et al., 1997b]. for Mars Pathfinder(IMP). The images from the rover show The Pathfinder APXS and supporting data collectively the detailedmorphology of APXS sites, giving clues to the provide previously unavailable information regarding the components contributing to the measuredbulk elemental Martian surface. The only other successfulMars landers, Viking 1 and 2, had well-calibratedX-my fluorescence spectrometers(XRFS) and comparableresolution cameras. Copyright2001 by theAmerican Geophysical Union. However,the XRFS did not measurerocks [e.g., Clark et al., Papernumber 2000JE001393. 1982] and the camerassampled fewer wavelengthsthan IMP 0148-0227/01/2000JE001393509.00 and could be calibrated only to within 10% uncertainty 14,621 14,622 BRIDGES ET AL.' PATHFINDER APXS SITES [Guinnesset al., 1987]. The availability of an imaging rover iron-bearingminerals and their weatheredproducts [Smith et on Pathfinder provided greater spatial resolution for some al., 1997b]. The band centersof the 12 "geology" filters areasthan achievablewith the fixed camerasof Viking. Initial rangein wavelengthfrom 440 to 1000 nm [seeSmith et al., studiesusing complementary APXS data, rover imaging, and 1997b, Figure6]. IMP data are 12-bit encoded,providing a IMP spectra/imaging have proven very useful for 64-fold improvementin dataprecision over the 6-bit Viking understandingthe geology of the landing site [Bridgeset al., Landercameras. Spectral features of two main mineral groups 19.97, 1998, 2000; Basilevskyet al., 1999; Bell and Bustani, expectedon the Martian surfacespan the IMP wavelength 1999; Bridgesand Crisp, 1999; McSweenet al., 1999; Bell et range. Crystallineferric (Fe 3*) oxides,oxyhydroxides, and al., 2000]. poorlycrystalline and nanophase ferric oxides have diagnostic This paperdocuments and exploresthe relationshipamong spectralsignatures from 440 to 860 nm, a region sampledby APXS, IMP imaging/spectra, and rover imaging data for the eight IMP geology filters [Morris et al., 1985, 1989, 1990; APXS sites. This is done in order to better understand and Smithet al., 1997b]. Ferrous(Fe 2*) silicates,principally characterize the rocks and soils at the Pathfinder site and Mars pyroxene and olivine, have absorption bands near 1 /•m in general,namely, their mixing relationships,physical state, [Cloutisand Gaffey, 1991; Gaffeyet al., 1993]. Thesebands spectralproperties, and geochemistry. In addition, the new were well sampled by the five filters spread over the level of detail reported herein should benefit future wavelengthrange of 860 to 1000 nm [Smithet al., 1997b]. investigationsof Martian surfacematerials, which will require Onceon the Martian surface,IMP acquiredmultispectral data progressively more sophisticated measurementsand data of the entire Pathfinderlanding site. Seven imaging sequences analysis techniques. First, a brief review of the IMP, rover can be ttsedfor spectralanalyses (Table 1). Except for the camera,and APXS instrumentsis presented.This is followed Multispectral Spots, each of these covers almost the entire by an overview of earlier related studies. The methods landingsite scene. The Superpanand Multispectral Spots are employedto analyze the data are then presented. This is of mostrelevance because they wereacquired in all 12 geology followed by a discussionof the location, geology, surface filters with losslessor minimal (2:1) compression. orientation, and spectralproperties of each APXS site. The IMP images also provided important information on illumination geometry of each measurementspot, combined geology and geomorphology. The Insuranceand Superpan, with simple photometricmodeling and assumptions,is then with losslessor 2:1 compression,acquired images of rocksand usedto normalize the reflectancesand spectral ratios to a soils with a resolutionof 1 mrad/pixel, comparableto the 0.7 commongeometry. The paper goes on to comparethe APXS, mrad/pixelfor the Viking Landercameras. Finally, several imaging, and normalized spectral data. The Pathfinder soil IMP sequenceswere devotedto determining the position, compositionsare then comparedto Viking analyses. Finally, orientation,and location of the rover. Thesedata were usedby inferences on the overall characteristics of rocks and soils on engineersto updateposition and orientationinformation in Mars are explored. the rover software,plan traverses,and assessthe successof previoustraverses and have beenttsed here to help determine 2. Background APXS site positions. 2.1. IMP Data 2.2. Rover Imaging Data The Imagerfor Mars Pathfindercamera provided visible-near The PathfinderSojourner rover camed one color and two IR multispectral,stereo imaging at the Pathfinderlanding site monochrome cameras [Rover Team, 1997a]. The color camera at a resolutionof 1 mrad/pixel [Smith et al., 1997a]. The IMP was located on the rear of the rover. It had pixels for red, filter set wasdesigned to searchfor the spectralsignatures of green,and infrared and a crosstrack by along track resolution Table 1. PathfinderImage Sequences Relevant to GeologySpectral Studies , ,, , Imaee Seauence Compressiona Fi![ers, gm Stereo Sol(s) PredeployPan (SOO01) 6:1 (965)' 12:1 (670) 670, 965 no 1 (stowed position) Mission SuccessPan (S0002,8) 12:1,2x2 pix. ave.b (440, 670);24:1 (530) 440, 530, 670 yes (stowedposition) Insurance Pan (S0030-33) lossless 440, 530, 600, 750 yes (stowedposition) Monster Pan (S0069,70,73,74) 6:1, 2x2 pix. ave.b(all,except 670)' 6:1 (670) 440, 530, 670, 750, 965 yes (deployedposition) Gallery Pan (S0164-167) 6:1 440, 530, 670 no 8-19 (deployed position) MultispectralSpots (S0171-2)