The Terminal Tracking Camera (TTCam) imaging system on the NASA Lucy Discovery mission consists of a pair of cameras that will be used mainly as a navigation and target acquisition system for the mission’s asteroid encounters. However, a secondary science-focused function of the TTCam system is to provide wide-angle broadband images over a large range of phase angles around close approach during each asteroid flyby. The scientific data acquired by TTCam can be used for shape modeling and topographic and geologic analyses. This paper describes the pre-flight and initial in-flight calibration and characterization of the TTCams, including the development of a radiometric calibration pipeline to convert raw TTCam images into radiance and radiance factor (I/F) images, along with their uncertainties. Details are also provided here on the specific calibration algorithms, the origin and archived location of the required ancillary calibration files, and the archived sources of the raw calibration and flight data used in this analysis.

Early observations from the Perseverance rover suggested a deltaic origin for the western fan of Jezero crater only from images of the Kodiak butte. Here, we use images from the SuperCam Remote Micro-Imager and the Mastcam-Z camera to analyze the western fan front along the rover traverse, and further assess its depositional origin. Outcrops in the middle to lower half of hillslopes are composed of planar, inclined beds of sandstone that are interpreted as foresets of deltaic deposits. Foresets are locally structured in ~20-25 m thick, ~80-100 m long, antiformal structures interpreted as deltaic mouth bars. Above these foresets are observed interbedded sandstones and boulder conglomerates, interpreted as fluvial topset beds. One well-preserved lens of boulder conglomerate displays rounded clasts within well-sorted sediment deposited in fining upward beds. We interpret these deposits as resulting from lateral accretion within fluvial channels. Estimations of peak discharge rates give a range between ~100 and ~500 m3.s-1 consistent with moderate to high floods. By contrast, boulder conglomerates exposed in the uppermost part of hillslopes are poorly sorted and truncate underlying beds. The presence of these boulder deposits suggests that intense, sediment-laden flood episodes occurred after the deltaic foreset and topset beds were deposited, although the origin, timing, and relationship of these boulder deposits to the ancient lake that once filled Jezero crater remains undetermined. Overall, these observations confirm the deltaic nature of the fan front, and suggest a highly variable fluvial input.

During the NASA Perseverance rover’s exploration of the Jezero crater floor, purple-hued coatings were commonly observed on rocks. These features likely record past water-rock-atmosphere interactions on the crater floor, and understanding their origin is important for constraining timing of water activity and habitability at Jezero. Here we characterize the morphologic, chemical, and spectral properties of the crater floor rock coatings using color images, visible/near-infrared reflectance spectra, and chemical data from the Mastcam-Z and SuperCam instruments. We show that coatings are common and compositionally similar across the crater floor, and consistent with a mixture of dust, fine regolith, sulfates, and ferric oxides indurated as a result of one or more episodes of widespread surface alteration. All coatings exhibit a similar smooth homogenous surface with variable thickness, color, and spatial extent on rocks, likely reflecting variable oxidation and erosional expressions related to formation and/or exposure age. Coatings unconformably overlie eroded natural rock surfaces, suggesting relatively late deposition that may represent one of the last aqueous episodes on the Jezero crater floor. While more common at Jezero, these coatings may be consistent with rock coatings previously observed in-situ at other landing sites and may be related to duricrust formation, suggesting a global alteration process on Mars that is not unique to Jezero. The Perseverance rover likely sampled these rock coatings on the crater floor and results from this study could provide important context for future investigations by the Mars Sample Return mission aimed at constraining the geologic and aqueous history of Jezero crater.

The first samples collected by the Perseverance rover on the Mars 2020 mission were from the Maaz formation, a lava plain that covers most of the floor of Jezero crater. Laboratory analysis of these samples back on Earth will provide important constraints on the petrologic history, aqueous processes, and timing of key events in Jezero. However, interpreting these samples will require a detailed understanding of the emplacement and modification history of the Maaz formation. Here we synthesize rover and orbital remote sensing data to link outcrop-scale interpretations to the broader history of the crater, including Mastcam-Z mosaics and multispectral images, SuperCam chemistry and reflectance point spectra, RIMFAX ground penetrating radar, and orbital hyperspectral reflectance and high-resolution images. We show that the Maaz formation is composed of a series of distinct members corresponding to basaltic to basaltic andesite lava flows. The members exhibit variable spectral signatures dominated by high-Ca pyroxene, Fe-bearing feldspar, and hematite, which can be tied directly to igneous grains and altered matrix in abrasion patches. Spectral variations correlate with morphological variations, from recessive layers that produce a regolith lag in lower Maaz, to weathered polygonally fractured paleosurfaces and crater-retaining massive blocky hummocks in upper Maaz. The Maaz members were likely separated by one or more extended periods of time, and were subjected to variable erosion, burial, exhumation, weathering, and tectonic modification. The two unique samples from the Maaz formation are representative of this diversity, and together will provide an important geochronological framework for the history of Jezero crater.

Images from the Mars Science Laboratory (MSL) mission of lacustrine sedimentary rocks of Vera Rubin ridge on “Mt. Sharp” in Gale crater, Mars, have shown stark color variations from red to purple to gray. These color differences cross-cut stratigraphy and are likely due to diagenetic alteration of the sediments after deposition. However, the chemistry and timing of these fluid interactions is unclear. Determining how diagenetic processes may have modified chemical and mineralogical signatures of ancient martian environments is critical for understanding the past habitability of Mars and achieving the goals of the MSL mission. Here we use visible/near-infrared spectra from Mastcam and ChemCam to determine the mineralogical origins of color variations in the ridge. Color variations are consistent with changes in spectral properties related to the crystallinity, grain size, and texture of hematite. Coarse-grained gray hematite spectrally dominates in the gray patches and is present in the purple areas, while nanophase and fine-grained red crystalline hematite are present and spectrally dominate in the red and purple areas. We hypothesize that these differences were caused by grain size coarsening of hematite by diagenetic fluids, as observed in terrestrial analogs. In this model, early primary reddening by oxidizing fluids near the surface was followed during or after burial by bleaching to form the gray patches, possibly with limited secondary reddening after exhumation. Diagenetic alteration may have diminished the preservation of biosignatures and changed the composition of the sediments, making it more difficult to interpret how conditions evolved in the paleolake over time.

Observations by several cameras on the Perseverance rover showed a 22° scattering halo around the Sun over several hours on the morning of sol 292 (15 December 2021). Such a halo has not previously been seen off Earth. The halo occurred during the aphelion cloud belt season and the cloudiest time yet observed from the Perseverance site. The halo required crystalline water-ice cloud particles in the form of hexagonal columns large enough for refraction to be significant, at least 11 µm in diameter and length. Near 44 km altitude, fall speeds would have been 0.3-1 m/s for the smallest allowed particles. Over the 3.3-hour duration of the halo, particles could have fallen 3-12 km, causing downward transport of water and dust. Halo-forming clouds are likely rare due to the high supersaturation of water that is required but may be more common in northern subtropical regions during mid-northern summer.

The Mars Science Laboratory (MSL) Curiosity rover has explored over 400 meters of vertical stratigraphy within Gale crater to date. These fluvio-deltaic, lacustrine, and aeolian strata have been well-documented by Curiosity’s in-situ and remote science instruments, including the Mast Camera (Mastcam) pair of multispectral imagers. Mastcam visible to near-infrared (VNIR) spectra can broadly distinguish between iron phases and oxidation states, and in combination with chemical data from other instruments, Mastcam spectra can help constrain mineralogy, depositional origin, and diagenesis. However, no traverse-scale analysis of Mastcam multispectral data has yet been performed. We compiled a database of Mastcam spectra from >600 multispectral observations and 1 quantified spectral variations across Curiosity’s traverse through Vera Rubin ridge (sols 0-2302). From principal component analysis and an examination of spectral parameters, we identified 9 rock spectral classes and 5 soil spectral classes. Rock classes are dominated by spectral differences attributed to hematite and other oxides (due to variations in grain size, composition, and abundance) and are mostly confined to specific stratigraphic members. Soil classes fall along a mixing line between soil spectra dominated by fine-grained Fe-oxides and those dominated by olivine-bearing sands. By comparing trends in soil vs. rock spectra, we find that locally derived sediments are not significantly contributing to the spectra of soils. Rather, varying contributions of dark, mafic sands from the active Bagnold Dune field is the primary spectral characteristic of soils. These spectral classes and their trends with stratigraphy provide a basis for comparison in Curiosity’s ongoing exploration of Gale crater.

The Mastcam-Z radiometric calibration targets mounted on the NASA’s Perseverance rover proved to be effective in the calibration of Mastcam-Z images to reflectance (I/F) over the first 350 sols on Mars. Mastcam-Z imaged the calibration targets regularly to perform reflectance calibration on multispectral image sets of targets on the Martian surface. For each calibration target image, mean radiance values were extracted for 41 distinct regions of the targets, including patches of color and grayscale materials. Eight strong permanent magnets, placed under the primary target, attracted magnetic dust and repelled it from central surfaces, allowing the extraction of radiance values from eight regions relatively clean from dust. These radiances were combined with reflectances obtained from laboratory measurements, a one-term linear fit model was applied, and the slopes of the fits were retrieved as estimates of the solar irradiance and used to convert Mastcam-Z images from radiance to reflectance. Derived irradiance time series are smoothly varying in line with expectations based on the changing Mars-Sun distance, being only perturbed by a few significant dust events. The deposition of dust on the calibration targets was largely concentrated on the magnets, ensuring a minimal influence of dust on the calibration process. The fraction of sunlight directly hitting the calibration targets was negatively correlated with the atmospheric optical depth, as expected. Further investigation will aim at explaining the origin of a small offset observed in the fit model employed for calibration, and the causes of a yellowing effect affecting one of the calibration targets materials.

In-situ novelty-based target selection of scientifically interesting (“novel”) surface features can expedite follow-up observations and new discoveries for the Mars Science Laboratory (MSL) rover and other planetary exploration missions. This study aims to identify which methods perform best for detecting novel surface features in MSL Navcam images for follow-up observations with the ChemCam instrument, as a complement to the existing Autonomous Exploration for Gathering Increased Science (AEGIS) onboard targeting system. We created a dataset of 6630 candidate targets within Navcam grayscale images acquired between sols 1343-2578 using the Rockster algorithm. These were the same target candidates considered by AEGIS, chosen to enable direct comparison to past AEGIS target selections. We employed five novelty detection methods, namely Discovery via Eigenbasis Modeling of Uninteresting Data (DEMUD), Isolation Forest, Principal Component Analysis (PCA), Reed-Xiaoli (RX) detector, and Local RX. To evaluate the algorithm selections, a member of the MSL science operations team independently identified candidate targets that represented example scenarios of novel geology that we would desire an algorithm to identify, such as layered rocks, light-toned unusual textures, and small light-toned veins. We compared these methods to selections made by AEGIS and a random baseline. Initial experiments for three scenarios showed that Local RX most frequently prioritized novel targets, followed by DEMUD and AEGIS. Our next steps in this study include evaluating input feature representations other than pixel intensities (e.g., Histogram of Oriented Gradients features), performing additional experiments to evaluate novel target prioritization performance, and selecting target candidates in Mastcam color images.

Martian atmospheric dust is a major driver of weather, with feedbacks between atmospheric dust distribution, circulation changes from radiative heating and cooling driven by this dust, and winds that mobilize surface dust and distribute it in the atmosphere. Wind-driven mobilization of surface dust is a poorly understood process due to significant uncertainty about minimum wind stress, and whether saltation of sand particles is required. This study utilizes video of six Ingenuity helicopter flights to measure dust lifting during helicopter ascents, traverses, and descents. Dust mobilization persisted on take-off until the helicopter exceeded 3 m altitude, with dust advecting at 4-6 m/s. During landing, dust mobilization initiated at 2.3-3.6 m altitude. Extensive dust mobilization occurred during traverses at 5.1-5.7 m altitude. Dust mobilization threshold friction velocity of rotor-induced winds during landing are modelled at 0.4-0.6 m/s (factor of two uncertainty in this estimate), with higher winds required when the helicopter was over undisturbed terrain. Modeling dust mobilization from >5 m cruising altitude indicates mobilization by 0.3 m/s winds, suggesting non-saltation mechanisms like mobilization and destruction of dust aggregates. No dependence on background winds was seen for the initiation of dust lifting, but one case of takeoff in 7 m/s winds created a track of darkened terrain downwind of the helicopter, which may have been a saltation cluster. When the helicopter was cruising at 5-6 m altitude, recirculation was seen in the dust clouds.

We present a geomorphic map of the Hypanis Valles watershed and a geomorphic map of the Hypanis deposit region at its terminus. We mapped these two regions at different scales: 1:2,000,000 for the catchment map (-5-10° N, 300-315° E) and 1:500,000 for the Hypanis deposit map (10-13.0° N, 313-316.5° E). Our mapping provides new morphologic insights beyond previous efforts which used lower spatial resolution data. We defined units based on morphology, albedo, thermal inertia, elevation, and spectral parameters. We propose that episodic volcanism and aqueous activity filled the Chryse basin from the early Noachian. Hypanis Valles was active during the Noachian, forming the Hypanis terminal deposits in the southern Chryse region. Hundreds of kilometer-sized mounds and cones stratigraphically post-date Hypanis fluvial deposition as these features appear to have erupted or effused through all other major map units. We propose sedimentary diapirism or mud volcanism may be responsible for these features, a hypothesis consistent with the compressional wrinkle ridge tectonism in a sedimentary basin. Future work could further investigate the formation of these cones and mounds and better assess their astrobiologic importance.

Rovers and landers on Mars have experienced local, regional, and planetary-scale dust storms. However, in situ documentation of active lifting within storms has remained elusive. Over 5-11 January 2022 (LS 153°-156°), a dust storm passed over the Perseverance rover site. Peak visible optical depth was ~2, and visibility across the crater was briefly reduced. Pressure tides and temperatures responded to the storm. Winds up to 20 m s-1 rotated around the site before the wind sensor was damaged. The rover imaged 21 dust-lifting events—gusts and dust devils—in one 25-minute period, and at least three events mobilized sediment near the rover. Rover tracks and drill cuttings were extensively modified, and debris was moved onto the rover deck. Migration of small ripples was seen, but there was no large-scale change in undisturbed areas. This work presents an overview of observations and initial results from the study of the storm.