esa unclassified – for official use exomars eswt#7 9 dec 2014 1 eswt #7 2018 rover operations...

ESA UNCLASSIFIED – For Official UseExoMars ESWT#7 9 Dec 20141

ESWT #7

2018 Rover operations concept

by Luc Joudrier (ESA) / P. Franceschetti (TAS-I)

ESA UNCLASSIFIED – For Official Use

ROCC & EXM Ground Segment Architecture

2

ExoMars 2016 Orbiter SOC

ESA Relay Coord.Office

(ERCO)

ESAC

ESOC

ESA

ExoMars 2016 EDM

2018 RoverESA

ESAGround StationsESA

ExoMars 2016Orbiter (TGO)

2016 EDM Surface

Cruise, EDL

NRO

NASA

UHF RadioTelescopeFor 2016 EDM EDL

Russian Ground Station)

ESA

NOMAD ACSCASSIS FREND

2018 SPOCC

ROSCOSMOS

2018 ROCCALTEC

EDL &Surface

EDL &Surface

MaROSNROMOC

NASA NASA

2016 EDM Surface

ROSCOSMOS

MEX MOC(TBC)

ESOC

NASAGround

Station (TBD) NASA

TBD

Russian Mission Data

Archive

ESAMission

Data Archive

Science Ground Segment

Eng

inee

ring

activ

ities

sci o

ps

2016 EDMPIs

ExoMars 2016 Orbiter & EDM

MOCESOC

2018 LanderROSCOSMOS

UHF link duringEDL

Russian Mission Data

Archive

ESAMission

Data ArchiveESAC

IKI

Who does what?

ExoMars ESWT#7 9 Dec 2014


Rover Operations Concept ROCC is integrating the Science Operations Centre (SOC) and is fully

responsible to all the commands sent to the Rover and its instruments.

The commands are generated as a result of the planning process. Strategic Planning

Prepare the coming plans (e.g. where to go next). Refine the coming sols plans .

Tactical Planning Refine the (up to two sols) Activity Plans for upload to the Rover including alternative activities.

Scientists at ROCC and supported remotely by their home base. Timely provide the scientific assessments of the data supporting the strategic

and tactical planning -> ROCC to PPL ICDs discussion Fundamental: Assessments and data are shared within the ROCC (ref to Rules

of the Road) Scientific Archives are prepared at ROCC and sent regularly to ESAC-PSA.

Discussion about ROCC to PPL ICDs contributing to ROCC to ESAC ICD

More details in Sol#2

ExoMars Project <9 Dec 2014>< ESWT#7 > 3


Rover Module operations per phase ExoMars Rover Operating Scenarios Transition

Pre-Launch through Interplanetary Trip Scenario

Surface Operations Scenario

DMC Release through

Touch–Down Scenario

Rover Module powered off

Rover Module commanded to execute at least 3 checkouts:• During the SC commissioning • Half way to Mars• Before the DM separation

from the CM

Rover Module powered on starting from PLTE

Surface Mission execution



5Rover Command & Control

Pre-Launch Phase: ROCC is responsible for the ExoMars Rover Module activities and will provide direct support to 2018 ESOC/MOC.

ESOC/MOC route the data to/from ROCC

Inputs and support from Science teams necessary to evaluate PPL Instruments behaviour

LEOP: limited operations: execution of the Rover Module checkout as part of the Spacecraft Composite IOCR. ROCC is responsible for providing direct support to 2018 ESOC/MOC whenever deemed necessary.

Inputs and support from Science teams necessary to support PPL checkout and to evaluate PPL Instruments behaviour

Cruise Phase: The Rover Module will mainly be in OFF status with the exception of the periodic checkouts (at least 2), the On-Board SW uploading and the Rover Battery charging.

ROCC is responsible for the ExoMars Rover Module activities and will provide direct support to 2018 ESOC/MOC

No real time operations

Inputs and support from Science teams necessary to support PPL checkout and to evaluate PPL Instruments behaviour



Rover Command & Control

DMC Phase: The Rover Module is OFF until the beginning of the PLTE Phase (after the touchdown) when the Rover is powered on, executes a checkout and leaves the landing platform

Until Rover egress completion, 2018 ESOC/MOC is responsible for the joint (Rover + Surface Platform) operations

After the handover between 2018 ESOC/MOC and ROCC, ROCC is responsible for commanding & controlling the Rover Module

Inputs and support from Science teams necessary to evaluate PPL Instruments behaviour for the checkout

Based on the current planning, the checkout of the PPL instruments is going to be split into two parts:

the first executed soon after the Rover is powered-on and limited to the instruments supporting the egress preparation activities (e.g. PanCam)

The second executed once the Rover is on the Martian soil

Inputs and support from Science teams necessary to evaluate PPL Instruments behaviour are requested



Rover Command & ControlSurface Phase: Rover Surface Operations Phase is a combination of the operations involving both the mobility of Rover and the analyses of selected Martian surface and sub-surface targets

This mission phase is under control of ROCC.

This mission phase will be performed during Mars daylight; night-time activities will be limited to support possible communications with the ESA TGO Data Relay Orbiter and, possibly, some data compression.

The Rover engineering and scientific supporting teams will be organised on working shifts, which could be different because of their roles and responsibilities, suitable to always assure the full support to the surface activities.

Indeed, along the evolution of the surface mission proper tailoring will be pursued to increase the efficiency in supporting the Mars tasks and to enhance the promptness of the Earth reply.

The supporting teams are responsible for rover surface activity planning, for data assessment, trend analyses, recovery procedures definition etc. etc.

The ground activities will require tight cooperation between engineering and science personnel to assure the accomplishment of all the mission goals.

Scientific data will be transferred to Earth following proper rules (critical data first) through ESA TGO Data Relay Orbiter that will get the data sent by the Rover



Science decisions and tradesAs a high level summary, the main objective of the rover is to acquire a sample and analyse it (and do this several times !). Survey instruments are all contributing to decide where is the right location to drill.

The Science activities on the ground must focus on the following questions:

1. From the current place of the rover, where is the most suitable site at a reasonable distance? Trade various options and establish the longer term plan (this site and then this next etc…) to be revised as part of the continuous strategic planning activities. Detailed analysis of the selected landing site will provide the initial inputs, complemented with all other measurements.

2. At the site, what are the local features that must be studied to allow selections of the drill site among possible candidates? Trade various candidates and number of measurements with the survey instruments.

3. What is the best drilling location and depth ?

4. What is the best ALD instruments measurement parameters and sequence to analyse the sample?


More details in Sol#2 about the Tools provided by ROCC and by Science Teams


Engineering SupportSupport to the main scientific decisions and trades:

1. Localisation of the rover

Note that visual localisation is well progressing with Scisys under Airbus DS contract. VisLoc will implement the same algorithms that have been tested in the Atacama desert experiment SEEKER and SAFER.

2. Mobility assessment to the various desired targets

3. Drilling assessment of the various desired locations.

4. Energy assessment of the desired plan


More details in Sol#2 about the Tools provided by ROCC

ESA UNCLASSIFIED – For Official UseExoMars Project <9 Dec 2014>< ESWT#7 > 10

Questions ?


ADDITIONAL SLIDES



Measurement Cycle Implementation Assumptions

The development of the Measurement Cycle is mainly based on the two ESA normative documents: Reference Surface Mission and PPL E-IRD

Every day, ROCC has to uplink the Activity Plans covering the following two sols of operations: in case of Decision Point, all the telemetry data necessary to prepare the Activity Plan shall be available at ROCC. In the other cases, the Activity Plan is prepared based on assessment of previously received telemetry data and the related data trend analysis

Nine Decision Points are ruling the Measurement Cycle operational sequence

Driving requirement: Drill is retracted at sunset to prevent freezing of the rod.

Drill is re-positioned at next sunrise at the previous sol depth to start again the drilling activity


RSM OPTIMISATION SCOPE


Measurement Cycle Implementation Assumptions

Differences introduced by TASI wrt the ESA Reference Surface Mission document

Drilling region characterization split over two sols because of the long duration of the operations

RLS calibration not executed in sol 4 (the sol previous the one in which RLS is operated) because of timing constraints

MOMA LD-MS operated in a dedicated sol because of thermal constraints (agreed after a joint discussion but not yet implemented in the ESA RSM)

The drilling sequence has been implemented considering loose soil down to 140 cm (instead of 130 cm) to squeeze as much as possible the drilling sequence in a reasonable time

Ma_Miss operations modified trying to make the duration of the activities compliant to the maximum allowed Rover working time (10 hours)




9-10/12/ 2014

14

Ref.:

Vertical Survey Implementation Assumptions

The development of the Vertical Survey is mainly based on the two ESA normative documents: Reference Surface Mission and PPL E-IRD

Every day, ROCC has to uplink the Activity Plans covering the following two sols of operations: in case of Decision Point, all the telemetry data necessary to prepare the Activity Plan shall be available at ROCC. In the other cases, the Activity Plan is prepared based on assessment of previously received telemetry data and the related data trend analysis

Ten Decision Points are ruling the Vertical Survey operational sequence

Driving requirement:

Drill is retracted at sunset to prevent freezing of the rod

Drill is re-positioned at next sunrise at the previous sol depth to start again the drilling activity

The ESA Reference Surface Mission document does not report the specific operations composing the Vertical Survey. The detailed step sequence has been built based on the commonalities with the Measurement Cycle activities



9-10/12/ 2014

15

Ref.:

ExoMars Rover_ Ground Segment Architecture

TM (Raw & Processed Data)

Science Processed Data For Archiving

TM

OPS Support

ESOC ERCO (communication slots planning

and data router)

ROCC

ESAC

REMOTE SCIENCE COMMUNITY CENTRE(S)

TBC

TM TM

TC

TC

Russian Deep Space Antenna

Science Operations Control

TC

TM

TC

ESA Deep Space Antennas

ESA DSA / ESA link

Russian RNS / Russsian link

ESOC / MOC

TM TC

Located at ALTEC, Turin, Italy

COVERED BY SLIDE #1


9-10/12/ 2014

16

Ref.:

ExoMars Rover Communications Architecture

Type of Communication Link

TBD REMOTE SCIENCE

COMMUNITY CENTRE(S) TBC


X-BAND

ROCC


ESOC / ERCO (communication slots planning

and data router)

SPACECRAFT COMPOSITE

(Cruise Phase)

Russian RNS/ Russian Link

ESA DSA / ESA Link ESOC / MOC ROCC


X-BAND

2018 SCC ESOC / MOC

Cruise Phase Comms Architecture

Should be covered by Michel Denis’

Presentation


17

ExoMars Rover Communications Architecture

Alternative link via ESOC

Type of Communication Link

TBD

UHF BAND

ESOC / ERCO (communication slots planning

and data router)

ROCC

ESAC REMOTE SCIENCE

COMMUNITY CENTRE(S) TBC


ROVER (PLTE & Surface Phases)

ESA TGO Data Relay


ESA DSA / ESA Link ESOC / MOC ROCC


X-BAND (TBC)

Russian RNS / Russian Link

X-BAND (TBC)

ESOC / 2016 TGO MOC

PLTE & Surface Phases Comms Architecture

Should be covered by Michel Denis’

Presentation

esa unclassified – for official use exomars eswt#7 9 dec 2014 1 eswt #7 2018 rover operations...

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