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Spacecraft Thermal and Optical Modeling Impacts on Estimation of the GRAIL Lunar Gravity Field

We summarize work performed involving thermo-optical modeling of the two Gravity Recovery And Interior Laboratory (GRAIL) spacecraft. We derived several reconciled spacecraft thermo-optical models having varying detail. We used the simplest in calculating SRP acceleration, and used the most detailed to calculate acceleration due to thermal re-radiation. For the latter, we used both the output of pre-launch finite-element-based thermal simulations and downlinked temperature sensor telemetry. The estimation process to recover the lunar gravity field utilizes both a nominal thermal re-radiation accleration history and an apriori error model derived from that plus an off-nominal history, which bounds parameter uncertainties as informed by sensitivity studies.

thermal modeling↗

Global and Local Gravity Field Models of the Moon Using GRAIL Primary and Extended Mission Data

The Gravity Recovery and Interior Laboratory (GRAIL) mission was designed to map the structure of the lunar interior from crust to core and to advance the understanding of the Moon's thermal evolution by producing a high-quality, high-resolution map of the gravitational field of the Moon. The mission consisted of two spacecraft, which were launched in September 2011 on a Discovery-class NASA mission. Ka-band tracking between the two satellites was the single science instrument, augmented by tracking from Earth using the Deep Space Network (DSN).

Moon↗

GRAIL Gravity Observations of the Transition from Complex Crater to Peak-Ring Basin on the Moon: Implications for Crustal Structure and Impact Basin Formation

High-resolution gravity data from the Gravity Recovery and Interior Laboratory (GRAIL) mission provide the opportunity to analyze the detailed gravity and crustal structure of impact features in the morphological transition from complex craters to peak-ring basins on the Moon. We calculate average radial profiles for free-air anomalies and Bouguer anomalies for peak-ring basins, proto-basins, and the largest complex craters. Complex craters and proto-basins have free-air anomalies that are positively correlated with surface topography, unlike the prominent lunar mascons (positive free-air anomalies in areas of low elevation) associated with large basins. The Bouguer gravity anomaly profiles of complex craters are highly irregular, with central positive anomalies that are generally absent or not clearly tied to interior morphology. In contrast, gravity profiles for peak-ring basins (approx. 200 km to 580 km) are much more regular and are highly correlated with surface morphology. A central positive Bouguer anomaly is confined within the peak ring and a negative Bouguer anomaly annulus extends from the edge of the positive anomaly outward to about the rim crest. A number of degraded basins lacking interior peak rings have diameters and gravity patterns similar to those of well-preserved peak-ring basins. If these structures represent degraded peak-ring basins, the number of peak-ring basins on the Moon would increase by more than a factor of two to 34. The gravity anomalies within basins are interpreted to be due to uplift of the mantle confined within the peak ring and an annulus of thickened crust between the peak ring and rim crest. We hypothesize that mantle uplift is influenced by interaction between the transient cavity and the mantle. Further, mascon formation is generally disconnected from the number of basin rings formed and occurs over a wide range of basin sizes. These observations have important implications for models of basin and mascon formation on the Moon and other planetary bodies.

Baker, David M. H.↗

High-degree Gravity Models from GRAIL Primary Mission Data

We have analyzed Ka‒band range rate (KBRR) and Deep Space Network (DSN) data from the Gravity Recovery and Interior Laboratory (GRAIL) primary mission (1 March to 29 May 2012) to derive gravity models of the Moon to degree 420, 540, and 660 in spherical harmonics. For these models, GRGM420A, GRGM540A, and GRGM660PRIM, a Kaula constraint was applied only beyond degree 330. Variance‒component estimation (VCE) was used to adjust the a priori weights and obtain a calibrated error covariance. The global root‒mean‒square error in the gravity anomalies computed from the error covariance to 320×320 is 0.77 mGal, compared to 29.0 mGal with the pre‒GRAIL model derived with the SELENE mission data, SGM150J, only to 140×140. The global correlations with the Lunar Orbiter Laser Altimeter‒derived topography are larger than 0.985 between l = 120 and 330. The free‒air gravity anomalies, especially over the lunar farside, display a dramatic increase in detail compared to the pre‒GRAIL models (SGM150J and LP150Q) and, through degree 320, are free of the orbit‒track‒related artifacts present in the earlier models. For GRAIL, we obtain an a posteriori fit to the S‒band DSN data of 0.13 mm/s. The a posteriori fits to the KBRR data range from 0.08 to 1.5 micrometers/s for GRGM420A and from 0.03 to 0.06 micrometers/s for GRGM660PRIM. Using the GRAIL data, we obtain solutions for the degree 2 Love numbers, k20=0.024615+/-0.0000914, k21=0.023915+/-0.0000132, and k22=0.024852+/-0.0000167, and a preliminary solution for the k30 Love number of k30=0.00734+/-0.0015, where the Love number error sigmas are those obtained with VCE.

Primary 1↗

Operating the Dual-Orbiter GRAIL Mission to Measure the Moon's Gravity

NASA's mission to measure the Moon's gravity and determine the interior structure, from crust to core, has almost completed its 3-month science data collection phase. The twin orbiters of the Gravity Recovery and Interior Laboratory (GRAIL) mission were launched from Florida on September 10, 2011, on a Delta-II launch vehicle. After traveling for nearly four months on a low energy trajectory to the Moon, they were inserted into lunar orbit on New Year's Eve and New Year's Day. In January 2012 a series of circularization maneuvers brought the orbiters into co-planar near-circular polar orbits. In February a distant (75- km) rendezvous was achieved and the science instruments were turned on. A dual- frequency (Ka and S-band) inter-orbiter radio link provides a precise orbiter-to-orbiter range measurement that enables the gravity field estimation. NASA's Jet Propulsion Laboratory in Pasadena, CA, manages the GRAIL project. Mission management, mission planning and sequencing, and navigation are conducted at JPL. Lockheed Martin, the flight system manufacturer, operates the orbiters from their control center in Denver, Colorado. The orbiters together have performed 28 propulsive maneuvers to reach and maintain the science phase configuration. Execution of these maneuvers, as well as the payload checkout and calibration activities, has gone smoothly due to extensive pre-launch operations planning and testing. The key to the operations success has been detailed timelines for product interchange between the operations teams and proven procedures from previous JPL/LM planetary missions. Once in science phase, GRAIL benefitted from the payload operational heritage of the GRACE mission that measures the Earth's gravity.

Moon missions↗

Designing Mission Operations for the Gravity Recovery and Interior Laboratory Mission

The Gravity Recovery and Interior Laboratory (GRAIL) mission has placed two orbiters in a low altitude polar orbit around the moon to study its internal structure. GRAIL mission to the Moon offered unique challenges to operatiotn: (1) operate twin-orbiters in parallel, (2) numerous maneuvers, (3) short, compact mission with six unique phases, and (4) detailed contingency planning required.

Orbital Period Reduction (OPR)↗

Determining the 3D Subsurface Density Structure of Taurus Littrow Valley Using Apollo 17 Gravity Data

Surface gravity surveys can detect subsurface density variations that can reveal subsurface geologic features. In 1972, the Apollo 17 (A17) mission conducted the Traverse Gravimeter Experiment (TGE) using a gravimeter that measured the local gravity field near Taurus Littrow Valley (TLV), located on the south-eastern rim of the Serenitatis basin. TLV is hypothesized to be a basaltfilled radial graben resulting from the impact that formed Mare Serenitatis. It is bounded by both the North and South Massifs (NM and SM) as well as other smaller mountains to the East that are thought to be mainly composed of brecciated highland material. The TGE is the first and only successful gravity survey on the surface of the Moon. Other more recent satellite surveys, such as NASA's Gravity Recovery and Interior Laboratory (GRAIL) mission (2011- 2012), have produced the best global gravity field to date (approx. 13km resolution). However, these satellite surveys are not sensitive enough to detect fine-scale (<1km) lunar subsurface structures. This underscores the value of the data collected at the surface by A17. In the original analysis of the data a 2D forward-modelling approach was used to derive a thickness of the subsurface basalt layer of 1.0 km by assuming a simple flat-faced rectangular geometry and using densities derived from Apollo lunar samples. We are investigating whether modern 3D modelling techniques in combination with high-resolution topographical and image datasets can reveal additional fine-scale subsurface structure in TLV.

TGE↗

Structure and Evolution of the Lunar Procellarum Region as Revealed by GRAIL Gravity Data

The Procellarum region is a broad area on the nearside of the Moon that is characterized by low elevations, thin crust, and high surface concentrations of the heat-producing elements uranium, thorium, and potassium. The Procellarum region has been interpreted as an ancient impact basin approximately 3200 km in diameter, though supporting evidence at the surface would have been largely obscured as a result of the great antiquity and poor preservation of any diagnostic features. Here we use data from the Gravity Recovery and Interior Laboratory (GRAIL) mission to examine the subsurface structure of Procellarum. The Bouguer gravity anomalies and gravity gradients reveal a pattern of narrow linear anomalies that border the Procellarum region and are interpreted to be the frozen remnants of lava-filled rifts and the underlying feeder dikes that served as the magma plumbing system for much of the nearside mare volcanism. The discontinuous surface structures that were earlier interpreted as remnants of an impact basin rim are shown in GRAIL data to be a part of this continuous set of quasi-rectangular border structures with angular intersections, contrary to the expected circular or elliptical shape of an impact basin. The spatial pattern of magmatic-tectonic structures bounding Procellarum is consistent with their formation in response to thermal stresses produced by the differential cooling of the province relative to its surroundings, coupled with magmatic activity driven by the elevated heat flux in the region.

Procellarum↗

GRAIL - A Microwave Ranging Instrument to Map Out the Lunar Gravity Field

Gravity Recovery and Interior Laboratory, or GRAIL, is a NASA mission to map out the gravity field of the moon to an unprecedented level of detail. The instrument for this mission is based on GRACE (Gravity Recovery and Climate Experiment), an earth-orbiting mission currently mapping out the gravity field of the earth. This paper will describe the similarities and differences between these two instruments with a focus on the microwave ranging measurements used to determine the gravity parameters and the testbed built at Jet Propulsion Laboratory to demonstrate micron level ranging capability. The onboard ultrastable oscillator and RF instruments will be described and noise contributions discussed.

Enzer, Daphna G.↗

GRGM900C: A Degree 900 Lunar Gravity Model from GRAIL Primary and Extended Mission Data

We have derived a gravity field solution in spherical harmonics to degree and order 900, GRGM900C, from the tracking data of the Gravity Recovery and Interior Laboratory (GRAIL) Primary (1 March to 29 May 2012) and Extended Missions (30 August to 14 December 2012). A power law constraint of 3.6 × 10(exp −4)/l(exp 2) was applied only for degree l greater than 600. The model produces global correlations of gravity, and gravity predicted from lunar topography of greater than or equal to 0.98 through degree 638. The model's degree strength varies from a minimum of 575-675 over the central nearside and farside to 900 over the polar regions. The model fits the Extended Mission Ka-Band Range Rate data through 17 November 2012 at 0.13 micrometers/s RMS, whereas the last month of Ka-Band Range-Rate data obtained from altitudes of 2-10 km fit at 0.98 micrometers/s RMS, indicating that there is still signal inherent in the tracking data beyond degree 900.

Gravity↗

Measurements of Ultra-Stable Oscillator (USO) Allan Deviations in Space

Researchers have used data from the GRAIL mission to the Moon to make the first in-flight verification of ultra-stable oscillators (USOs) with Allan deviation below 10 13 for 1-to-100-second averaging times. USOs are flown in space to provide stable timing and/or navigation signals for a variety of different science and programmatic missions. The Gravity Recovery and Interior Laboratory (GRAIL) mission is flying twin spacecraft, each with its own USO and with a Ka-band crosslink used to measure range fluctuations. Data from this crosslink can be combined in such a way as to give the relative time offsets of the two spacecrafts USOs and to calculate the Allan deviation to describe the USOs combined performance while orbiting the Moon. Researchers find the first direct in-space Allan deviations below 10(exp -13) for 1-to-100-second averaging times comparable to pre-launch data, and better than measurements from ground tracking of an X-band carrier coherent with the USO. Fluctuations in Earth s atmosphere limit measurement performance in direct-to-Earth links. Inflight USO performance verification was also performed for GRAIL s parent mission, the Gravity Recovery and Climate Experiment (GRACE), using both Kband and Ka-band crosslinks.

Enzer, Daphna G.↗

GRAIL Orbit Determination for the Science Phase and Extended Mission

The Gravity Recovery and Interior Laboratory Mission (GRAIL) is the 11th mission of the NASA Discovery Program. Its objective is to help answer funda-mental questions about the Moon's internal structure, thermal evolution, and collisional history. GRAIL employs twin spacecraft, which fly in formation in low altitude polar orbits around the Moon. An improved global lunar gravity field is derived from high-precision range-rate measurements of the distance between the two spacecraft. The purpose of this paper is to describe the strategies used by the GRAIL Orbit Determination Team to overcome challenges posed during on-orbit operations.

near-coplanar orbits↗

GRAIL Refinements to Lunar Seismic Structure

The present ]day internal structure of the Moon provides insight not only into its own formation and evolution, but also that of all rocky planetary bodies. The most direct way to probe a planet fs interior structure is through seismology. As part of the Apollo lunar missions, four seismometers were deployed on the nearside surface of the Moon between the years 1969 and 1972. These instruments operated continuously until 1977, forming the only substantial extraterrestrial seismic data set in existence. These data have been used to constrain various aspects of the seismic velocity and density structure of the Moon. Typical 1-D models recognize a 30-60 km thick crust overlying a nearly constant ]velocity mantle, and extend to a depth of approximately 1000 km, below which the lack of penetrating moonquake ray ]paths precludes the seismic determination of deeper structure. Previously, the lack of observed moonquakes from the far side of the Moon has been used to infer the presence of a highly attenuating (possibly molten) core. Indirect geophysical measurements such as moment of inertia, magnetic induction, lunar laser ranging, and elemental abundances of mare basalts also place varying constraints on core size and state. In combination with seismic studies, these indirect measurements have been used to arrive at a commonly accepted model of the Moon's deepest interior that includes a solid inner and fluid outer core, overlain by a partial melt boundary layer. We recently applied modern array seismology techniques to the Apollo data and revealed detailed core structure, including the first direct confirmation of the presence of a solid inner core. Our study focused on the identification of core ]reflected phases in deep moonquake seismograms. The resulting model of the Moon fs innermost structure was found to be consistent with the commonly accepted model. However, the modeled layer radii may vary by tens of kilometers, as is expected when accounting for uncertainties such as moonquake location, timing errors, and potential seismic heterogeneities. In addition, the modeled velocities may vary with a 1-to-1 trade ]off with the modeled reflector depth. The GRAIL (Gravity Recovery and Interior Laboratory) mission, launched in Sept. 2011, placed two nearly identical spacecraft in lunar orbit. The two satellites make extremely high-resolution measurements of the lunar gravity field, which can be used to constrain the interior structure of the Moon using a "crust to core" approach. GRAIL fs constraints on crustal thickness, mantle structure, core radius and stratification, and core state (solid vs. molten) will complement seismic investigations in several ways. Here we present a progress report on our efforts to advance our knowledge of the Moon fs internal structure using joint gravity and seismic analyses. We will focus on methodology, including 1) refinements to the seismic core constraint accomplished through array processing of Apollo seismic data, made by applying a set of travel time corrections based on GRAIL structure estimates local to each Apollo seismic station; 2) modeling deep lunar structure through synthetic seismograms, to test whether the seismic core model can reproduce the core reflections observed in the Apollo seismograms; and 3) a joint seismic and gravity inversion in which we attempt to fit a family of seismic structure models with the gravity constraints from GRAIL, resulting in maps of seismic velocities and densities that vary from a nominal model both laterally and with depth.

Weber, Renee↗

The Gravity Recovery and Interior Laboratory Mission

The Gravity Recovery and Interior Laboratory (GRAIL) mission, launched in September 2011, successfully completed its Primary Science Mission in June 2012 and is currently in Extended Mission operations. Competitively selected under a NASA Announcement of Opportunity in December 2007, GRAIL is a Discovery Program mission subject to a mandatory project cost cap. The purpose of the mission is to precisely map the gravitational field of the Moon to reveal its internal structure from crust to core, determine its thermal evolution, and extend this knowledge to other planets. The mission uses twin spacecraft flying in tandem to provide the gravity map. The GRAIL Flight System, consisting of the spacecraft and payload, was developed based on significant heritage from previous missions such an experimental U.S. Air Force satellite, the Mars Reconnaissance Orbiter (MRO) mission, and the Gravity Recovery and Climate Experiment (GRACE) mission. The Mission Operations System (MOS) was based on high-heritage multimission operations developed by NASA's Jet Propulsion Laboratory and Lockheed Martin. Both the Flight System and MOS were adapted to meet the unique challenges posed by the GRAIL mission design. This paper summarizes the implementation challenges and accomplishments of getting GRAIL ready for launch. It also discusses the in-flight challenges and experiences of operating two spacecraft, and mission results.

GRAIL↗

MPST Software: grl_pef_check

This innovation is a tool used to verify and validate spacecraft sequences at the predicted events file (PEF) level for the GRAIL (Gravity Recovery and Interior Laboratory, see http://www.nasa. gov/mission_pages/grail/main/index. html) mission as part of the Multi-Mission Planning and Sequencing Team (MPST) operations process to reduce the possibility for errors. This tool is used to catch any sequence related errors or issues immediately after the seqgen modeling to streamline downstream processes. This script verifies and validates the seqgen modeling for the GRAIL MPST process. A PEF is provided as input, and dozens of checks are performed on it to verify and validate the command products including command content, command ordering, flight-rule violations, modeling boundary consistency, resource limits, and ground commanding consistency. By performing as many checks as early in the process as possible, grl_pef_check streamlines the MPST task of generating GRAIL command and modeled products on an aggressive schedule. By enumerating each check being performed, and clearly stating the criteria and assumptions made at each step, grl_pef_check can be used as a manual checklist as well as an automated tool. This helper script was written with a focus on enabling the user with the information they need in order to evaluate a sequence quickly and efficiently, while still keeping them informed and active in the overall sequencing process. grl_pef_check verifies and validates the modeling and sequence content prior to investing any more effort into the build. There are dozens of various items in the modeling run that need to be checked, which is a time-consuming and errorprone task. Currently, no software exists that provides this functionality. Compared to a manual process, this script reduces human error and saves considerable man-hours by automating and streamlining the mission planning and sequencing task for the GRAIL mission.

Call, Jared A.↗

Gravity Field of the Orientale Basin from the Gravity Recovery and Interior Laboratory Mission

The Orientale basin is the youngest and best-preserved major impact structure on the Moon. We used the Gravity Recovery and Interior Laboratory (GRAIL) spacecraft to investigate the gravitational field of Orientale at 3- to 5-kilometer (km) horizontal resolution. A volume of at least (3.4 +/- 0.2) × 10(exp 6) cu km of crustal material was removed and redistributed during basin formation. There is no preserved evidence of the transient crater that would reveal the basin's maximum volume, but its diameter may now be inferred to be between 320 and 460 km. The gravity field resolves distinctive structures of Orientale's three rings and suggests the presence of faults associated with the outer two that penetrate to the mantle. The crustal structure of Orientale provides constraints on the formation of multiring basins.

Zuber, Maria T.↗

GRAIL-Identified Gravity Anomalies in Oceanus Procellarum: Insight into Subsurface Impact and Magmatic Structures on the Moon

Four, quasi-circular, positive Bouguer gravity anomalies (PBGAs) that are similar in diameter (~90-190 km) and gravitational amplitude (> 140 mGal contrast) are identified within the central Oceanus Procellarum region of the Moon. These spatially associated PBGAs are located south of Aristarchus Plateau, north of Flamsteed crater, and two are within the Marius Hills volcanic complex (north and south). Each is characterized by distinct surface geologic features suggestive of ancient impact craters and/or volcanic/plutonic activity. Here, we combine geologic analyses with forward modeling of high-resolution gravity data from the Gravity Recovery and Interior Laboratory (GRAIL) mission in order to constrain the subsurface structures that contribute to these four PBGAs. The GRAIL data presented here, at spherical harmonic degrees 6–660, permit higher resolution analyses of these anomalies than previously reported, and reveal new information about subsurface structures. Specifically, we find that the amplitudes of the four PBGAs cannot be explained solely by mare-flooded craters, as suggested in previous work; an additional density contrast is required to explain the high-amplitude of the PBGAs. For Northern Flamsteed (190 km diameter), the additional density contrast may be provided by impact-related mantle uplift. If the local crust has a density ~2800 kg/cu.m, then ~7 km of uplift is required for this anomaly, although less uplift is required if the local crust has a lower mean density of ~2500 kg/cu.m. For the Northern and Southern Marius Hills anomalies, the additional density contrast is consistent with the presence of a crustal complex of vertical dikes that occupies up to ~50% of the regionally thin crust. The structure of Southern Aristarchus Plateau (90 km diameter), an anomaly with crater-related topographic structures, remains ambiguous. Based on the relatively small size of the anomaly, we do not favor mantle uplift; however, understanding mantle response in a region of especially thin crust needs to be better resolved. It is more likely that this anomaly is due to subsurface magmatic material given the abundance of volcanic material in the surrounding region. Overall, the four PBGAs analyzed here are important in understanding the impact and volcanic/plutonic history of the Moon, specifically in a region of thin crust and elevated temperatures characteristic of the Procellarum KREEP Terrane.

Deutsch, Ariel N.↗

Grail Refinements to Lunar Seismic Structure

To probe a planet's interior, seismology provides the most direct constraints on the variables that govern the dynamic properties of the body. However, the GRAIL (Gravity Recovery and Interior Laboratory) mission's high-resolution measurements of the lunar gravity field provide constraints on crustal thickness, mantle structure, core radius and stratification, and core state (solid vs. molten). These data complement seismic investigations, and joint interpretation permits improved constraints on the Moon's internal structure. Joint interpretation of disparate geophysical datasets helps reduce drawbacks that can result from analyzing them individually. The Apollo seismic network was situated on the lunar nearside surface in a roughly equilateral triangle having sides approximately 1000 km long, with stations 12/14 nearly co-located at one corner. Due to this limited geographical extent, near-surface ray coverage from moonquakes is low, but increase with depth. In comparison, gravity surveys and their resulting gravity anomaly maps have traditionally offered optimal resolution at crustal depths. Gravimetric maps and seismic data sets are therefor well suited to joint inversion, since the complementary information reduces inherent model ambiguity. We will perform a joint inversion of Apollo seismic delay times and gravity data collected by GRAIL lunar gravity mission, in order to recover seismic velocity and density as a function of latitude, longitude and depth within the Moon. We will relate density (rho) to seismic velocity (v) using a linear relationship that is allowed to be depth-dependent. The corresponding coefficient (B) can reflect a variety of material properties that vary with depth, including temperature and composition. The inversion seeks to recover the set of rho, v, and B perturbations that minimize (in a least-squares sense) the difference between the observed and calculated data.

Weber, Renee C.↗