水野 貴秀

Abstract Japanese asteroid explorer Hayabusa2 arrived at C-type asteroid 162,173 Ryugu in June 2018. The laser altimeter (LIDAR) onboard Hayabusa2 measured its own transmitted laser and returned pulse intensities from a Ryugu surface until November 2019. Because the Ryugu surface is extremely rough, topography dominates over the material properties in the conventional derivation of normal albedo. Thus, we developed a method to retrieve the normal albedo from the rough surface of a C-type asteroid at a LIDAR laser wavelength of 1.064 μm. The albedo map covering an equatorial band between – 40° and + 20° in latitude was created with 3˚-by-3˚ resolution using the intensity data obtained before the conjunction of the spacecraft with the Sun. The average of the normal albedo is 0.0405 $$\pm$$ 0.0027, whereas approximately half of the 3°-by-3° grids are between 0.04 and 0.045. The low and uniform normal albedo feature is common to other remote-sensing observations of Ryugu by visible and near-infrared cameras onboard Hayabusa2. Graphical Abstract

The Jupiter Icy Moons Explorer (JUICE) is a science mission led by the European Space Agency, being developed for launch in 2023. The Ganymede Laser Altimeter (GALA) is an instrument onboard JUICE, whose main scientific goals are to understand ice tectonics based on topographic data, the subsurface structure by measuring tidal response, and small-scale roughness and albedo of the surface. In addition, from the perspective of astrobiology, it is imperative to study the subsurface ocean scientifically. The development of GALA has proceeded through an international collaboration between Germany (the lead), Japan, Switzerland, and Spain. Within this framework, the Japanese team (GALA-J) is responsible for developing three receiver modules: the Backend Optics (BEO), the Focal Plane Assembly (FPA), and the Analog Electronics Module (AEM). Like the German team, GALA-J also developed software to simulate the performance of the entire GALA system (performance model). In July 2020, the Proto-Flight Models of BEO, FPA, and AEM were delivered from Japan to Germany. This paper presents an overview of JUICE/GALA and its scientific objectives and describes the instrumentation, mainly focusing on Japan's contribution.

<title>Abstract</title>An altimeter is a critical instrument in planetary missions, for both safe operations and science activities. We present required specifications and link budget calculations for light detection and ranging (LIDAR) onboard the Martian Moons Exploration (MMX) spacecraft. During the mission phase, this LIDAR will continuously measure the distance between the spacecraft and its target. The time-series distance provides important diagnostic information for safe spacecraft operations and important information for geomorphological studies. Because MMX is a sample return mission, its LIDAR must accommodate physical disturbances on the Martian satellite surface. This resulted in changes to the optical system design. <bold>Graphical abstract</bold>

<title>Abstract</title>In this study, we determined the alignment of the laser altimeter aboard Hayabusa2 with respect to the spacecraft using in-flight data. Since the laser altimeter data were used to estimate the trajectory of the Hayabusa2 spacecraft, the pointing direction of the altimeter needed to be accurately determined. The boresight direction of the receiving telescope was estimated by comparing elevations of the laser altimeter data and camera images, and was confirmed by identifying prominent terrains of other datasets. The estimated boresight direction obtained by the laser link experiment in the winter of 2015, during the Earth’s gravity assist operation period, differed from the direction estimated in this study, which fell on another part of the candidate direction; this was not selected in a previous study. Assuming that the uncertainty of alignment determination of the laser altimeter boresight was 4.6 pixels in the camera image, the trajectory error of the spacecraft in the cross- and/or along-track directions was determined to be 0.4, 2.1, or 8.6 m for altitudes of 1, 5, or 20 km, respectively.

The precise orbit of the Hayabusa2 spacecraft with respect to asteroid Ryugu is dynamically determined using the data sets collected by the spacecraft's onboard laser altimeter (LIght Detection And Ranging, LIDAR) and automated image tracking (AIT). The LIDAR range data and the AIT angular data play complementary roles because LIDAR is sensitive to the line-of-sight direction from Hayabusa2 to Ryugu, while the AIT is sensitive to the directions perpendicular to it. Using LIDAR and AIT, all six components of the initial state vector can be derived stably, which is difficult to achieve using only LIDAR or AIT. The coefficient of solar radiation pressure (SRP) of the Hayabusa2 spacecraft and standard gravitational parameter (GM) of Ryugu can also be estimated in the orbit determination process, by combining multiple orbit arcs at various altitudes. In the process of orbit determination, the Ryugu-fixed coordinate of the center of the LIDAR spot is determined by fitting the range data geometrically to the topography of Ryugu using the Markov Chain Monte Carlo method. Such an approach is effective for realizing the rapid convergence of the solution. The root mean squares of the residuals of the observed minus computed values of the range and brightness-centroid direction of the image are 1.36 m and 0.0270 degrees, respectively. The estimated values of the GM of Ryugu and a correction factor to our initial SRP model are 29.8 +/- 0.3 m(3)/s(2) and 1.13 +/- 0.16, respectively.

Explorers attempting to land on a lunar or planetary surface must use three-dimensional image sensors to measure landing site topography for obstacle avoidance. Requirements for such sensors are similar to those mounted on vehicles and include the need for time synchronization within one frame. We introduce a 1K (32 x 32)-pixel three-dimensional image sensor using an array of InGaAs Geiger-mode avalanche photodiodes capable of photon counting in eye-safe bands and present evaluation results for sensitivity and resolution.

The near-Earth asteroid (162173) Ryugu is thought to be a primitive carbonaceous object that contains hydrated minerals and organic molecules. We report sample collection from Ryugu’s surface by the Hayabusa2 spacecraft on 21 February 2019. Touchdown images and global observations of surface colors are used to investigate the stratigraphy of the surface around the sample location and across Ryugu. Latitudinal color variations suggest the reddening of exposed surface material by solar heating and/or space weathering. Immediately after touchdown, Hayabusa2’s thrusters disturbed dark, fine grains that originate from the redder materials. The stratigraphic relationship between identified craters and the redder material indicates that surface reddening occurred over a short period of time. We suggest that Ryugu previously experienced an orbital excursion near the Sun.

Precise information of spacecraft position with respect to target body is of importance in terms of scientific interpretation of remote sensing data. In case of Hayabusa2, a sample return mission from asteroid Ryugu, such information is also necessary for landing site selection activity. We propose a quick method to improve the spacecraft trajectory when laser altimeter range measurements and a shape model are provided together with crude initial trajectory, spacecraft attitude information, and asteroid spin information. We compared topographic features contained in the altimeter data with those expressed by the reference shape model, and estimated long-period trajectory correction so that discrepancy between the two topographic profiles was minimized. The improved spacecraft positions are consistent with those determined by image-based stereophotoclinometry method within a few tens of meters. With such improved trajectory, the altimeter ranges can be converted to Ryugu's topographic profiles that are appropriate for geophysical interpretation. We present a geophysical application that invokes possibility of impact-induced formation of the Ryugu's western bulge.

Three-dimensional (3D) image sensors have many applications, including enabling autonomous vehicles to avoid obstacles and providing guidance, navigation, and control for spacecraft immediately before landing on a celestial body. Flash LIDAR is a system that can acquire a 3D image by emitting a diffuse pulsed laser beam, and hence is suitable for both obstacle detection and terrain measurement. In the 3D image sensors used for Flash LIDAR, a photosensor array and time measurement integrated circuit are vertically bonded. Here, we report the results of a detailed evaluation of the principles, functions, sensitivity, and time measurement accuracy of a prototype 1-k pixel (32 x 32 pixels) 3D image sensor based on a multi-pixel photon counting avalanche photodiode. By counting photons, a 3D image sensor is realized that has both high sensitivity and the ability to measure light intensity.

The near-Earth carbonaceous asteroid 162173 Ryugu is thought to have been produced from a parent body that contained water ice and organic molecules. The Hayabusa2 spacecraft has obtained global multi-color images of Ryugu. Geomorphological features present include a circum-equatorial ridge, east/west dichotomy, high boulder abundances across the entire surface, and impact craters. Age estimates from the craters indicate a resurfacing age of <inline-formula><m:math xmlns:m="http://www.w3.org/1998/Math/MathML" overflow="scroll"><m:mrow><m:mo>≲</m:mo><m:msup><m:mrow><m:mn>10</m:mn></m:mrow><m:mn>6</m:mn></m:msup></m:mrow></m:math></inline-formula> years for the top 1-meter layer. Ryugu is among the darkest known bodies in the Solar System. The high abundance and spectral properties of boulders are consistent with moderately dehydrated materials, analogous to thermally metamorphosed meteorites found on Earth. The general uniformity in color across Ryugu’s surface supports partial dehydration due to internal heating of the asteroid’s parent body.

In this paper, a signal-processing method for a lunar lander using deep learning is proposed. The ability for pinpoint soft landing on a lunar/planetary surface broadens the range of scientific and exploration missions. To perform pinpoint landing, measurement of the relative velocity with respect to the surface is essential. Landing radar is a sensor that measures the relative velocity. To measure the velocity, the landing radar irradiates the surface with a pulse wave and observes the Doppler shift. High-precision measurement on complex terrains, a crater, or a slope has always been the problem of landing radar because the irradiated terrains strongly affect the accuracy. We propose a measurement system that performs with high accuracy on complex terrains using convolutional neural networks. Moreover, we confirm that the proposed method could improve the measurement accuracy compared with the existing method.

© 2017 The Author(s). We report results of a laser link experiment between a laser altimeter called light detection and ranging (LIDAR) aboard Hayabusa2 and ground-based satellite laser ranging stations conducted when the spacecraft was near the Earth before and after the gravity assist operation. Uplink laser pulses from a ground station were successfully detected at a distance of 6.6 million km, and the field of view direction of the receiving telescope of the LIDAR was determined in the spacecraft frame. The intensities of the received signals were measured, and the link budget from the ground to the LIDAR was confirmed. By detecting two successive pulses, the pulse intervals from the ground-based station were transferred to the LIDAR, and the clock frequency offset was thus successfully calibrated based on the pulse intervals. The laser link experiment, which includes alignment measurement of the telescopes, has proven to be an excellent method to confirm the performance of laser altimeters before they arrive at their target bodies, especially for deep space missions.[Figure not available: see fulltext.]

The Japanese asteroid explorer Hayabusa2 was launched at the end of 2014. Hayabusa2 is supposed to observe the near-Earth C-type asteroid 162173 Ryugu (1999 JU3) and bring surface material samples back to Earth in 2020. It is equipped with Light Detection and Ranging (LIDAR) instrument for laser ranging which can be used to measure the intensities of transmitted and received pulses. The intensity data can be used to estimate the normal albedo of Ryugu at a laser wavelength of 1.064 mu m. To perform this estimation, we determined the transfer functions of the laser module and receiver to convert the intensity data into pulse energies, along with the utilization ratio of the returned pulse energy, through verification tests of the LIDAR flight model. Then, we evaluated the error of the normal albedo. This error is affected not only by the performance of the LIDAR but also by the slope and roughness of the asteroid's surface. In this paper, we focus on the error in the normal albedo due only to the instrument error, which will be 18.0 % in an observation at a nominal altitude of 20 km.

<p>The moon and asteroids are known to be covered with dust grains. Since dust grains are thought to travel over the surface of these bodies, they are potentially hazardous for spacecraft, and especially for sample-return missions. However, dust grains detached from the surface are not easy to detect. We have provided the light detection and ranging (LIDAR) system on board Hayabusa2 with a new operational mode, the "dust count mode," in which LIDAR evaluates whether or not each return pulse from 50 continuous observational ranges exceeds a threshold value. Once Hayabusa2 arrives at its target body of Ryugu, we will make observations with various threshold values in order to detect dust distribution.</p>

Recently small satellites start playing important roles in earth observation missions. It, however, is true that small satellites have drawbacks of sensor resolutions and down link data rate. As a solution to the latter drawback, we have developed novel communications system for 320Mbps down link with 16QAM for small satellites with 50kg class. We developed a new GaN HEMT X-band amplifier with high efficiency and small distortion, digital filter and pre-distortion processing with relatively low clock frequency in FPGAs, and small X-band on-board antennas. As ground segments, we are developing a compact S/X dual band ground antenna station and a high performance demodulator with turbo equalizer/decoder based on CCSDS high rate telemetry standard. These technologies will be demonstrated in 2014 by Japanese Hodoyoshi-4 satellite with 50 kg mass.

In recent years, LIDAR has been used in remote sensing systems, obstacle avoidance systems on planetary landers, rendezvous docking systems, and formation flight control systems. A wide dynamic range is necessary for LIDAR systems on planetary landers and in rendezvous docking systems. For example, a dynamic range of 60 dB was required for the receiving system used in the Hayabusa mission in order to measure distances between 50 m and 50 km. In addition, an obstacle detection and avoidance system of a planetary lander requires a ranging resolution of better than 10 cm. For planetary landers, ISAS/JAXA is developing a customized integrated circuit (IC) for LIDAR reception. This report introduces the design of the customized IC and reports the results of preliminary experiments evaluating the prototype, LIDARX03.

A radar for navigation in future Japanese lunar/planetary landing missions is being developed in the Japan Aerospace Exploration Agency (JAXA). The C-band pulse radar provides not only altitude information but also relative velocity against the surface. In this paper, detailed design of a Doppler simulator for the landing radar is described. The simulation accompanied with Digital Terrain Models (DTM) is quite effective because it can analyze accuracy of the velocity measurements while taking account of terrain effects. The validity of the simulation is quantified by comparing with the results of actual field experiments. Furthermore, the performance of the landing radar over lunar terrains is evaluated by the simulation with the KAGUYA DTM products of lunar surfaces.

We have developed a novel 2-axis MEMS scanner of the small laser radar for landing to the planet. The scanner has to overcome launching vibration and impact and can be used in harsh environment of the space. ©2010 IEEE.

Hayabusa, launched in May 2003, is the first Japanese spacecraft to have explored the small asteroid Itokawa (1998SF36) and has touched down on Itokawa twice. LIDAR (LIght Detection And Ranging) technology has been developed as an important navigation sensor with the characteristics of light weight (3.7 kg) and wide dynamic range (50 km to 50 m). The performance of LIDAR was perfect in the on-orbit operation and led to Hayabusa successfully touching down on Itokawa. This paper introduces the components of the LIDAR system and discusses ranging results of the onboard operation. For hardware, this paper focuses on the laser module that provided a lot of knowledge and the receiver that is important for evaluating the ranging data. The evaluation is takes particular note of the behavior of the receiver.

In recent years, LIDAR has been used in remote sensing systems, obstacle avoidance systems on planetary landers, rendezvous docking systems, and formation flight control systems. A wide dynamic range is necessary for LIDAR systems on planetary landers and in rendezvous docking systems. For example, a dynamic range of 60 dB (60dB for light, 120dB for electric signal) was required for the receiving system used in the Hayabusa mission in order to measure distances between 50 m and 50 km. In addition, rendezvous docking systems require a ranging resolution of better than 10 cm. For planetary landers and rendezvous docking systems, ISAS/JAXA is developing a customized integrated circuit (IC) for LIDAR reception. This report introduces the design of the customized IC and reports the results of preliminary experiments evaluating the prototype, LIDARX02.

After the success of remotely-sensed global observation by SELENE orbiter, Japan has been focusing on the in-situ exploration of the Moon. To know more about the Moon, numerous missions have to be launched to the Moon for surveying different interesting places. Naturally the cost of single mission must be reduced. Japan has been considering a landing mission for about ten years as a next mission to the Moon. This has a few tons of weight and costs a few million euros including the launch vehicle because it also features the future manned mission. Obviously it is not suitable for scientific in-situ exploration, which must be conducted repeatedly. The authors have been studying a small lander on the Moon or the planets in order to enable the multiple in-situ explorations cheaply. With the technologies developed in our studies, the mission named SLIM (Smart Lander for Investigating Moon) has been proposed to demonstrate an autonomous, accurate and soft landing on the specified place of the Moon. SLIM is also helpful to increase the success probability of the nation-led flagship landing mission when it is conducted as a precursor. This paper describes the proposed SLIM mission.

The Institute of Space and Astronautical Science JAXA is developing a landing radar comprising a radio altimeter and a velocity meter, which are two of the mandatory navigation sensors for a planetary lander. The landing radar employs a pulse-type radar using 4.3GHz C-band microwave radiation. It has a wide beam for measuring the altitude in vertical direction, as well as four narrow tilted beams for measuring the velocity in horizontal direction. A BBM of the landing radar has been evaluated on natural terrains by using a helicopter. This paper introduces the BBM hardware and discusses the dynamic performance in field experiments.

The Institute of Space and Astronautical Science JAXA is developing a landing radar comprising a radio altimeter and a velocity meter, which are two of the mandatory navigation sensors for a planetary lander. A BBM of the landing radar has been evaluated on natural terrains by using a helicopter. This paper introduces the BBM hardware and discusses the dynamic performance in field experiments.

This paper describes the on-orbit results and lessons-learned of the small scientific satellite "INDEX" (REIMEI) for aurora observation and demonstration of advanced satellite technologies. INDEX is a small satellite with 72kg mass, and is provided with three-axis attitude controll capabilities for aurora observation. INDEX was launched into a nearly sun synchronous polar orbit on Aug. 23rd, 2005 (UT) from Baikonur, Kazakhstan by Dnepr rocket. INDEX satellite has been satisfactorily working on the orbit for 24 months at present of August,2007. Three axis control is achieved with accuracy of 0.1 deg(3 σ). Multi-spectrum images of aurora are taken with 8Hz rate and 2 km spatial resolution to investigate the aurora physics. INDEX is performing the simultaneous observation of aurora images and particle measurements. INDEX indicates that even a small satellite launched as a piggy-back can successfully perform unique scientific mission purposes. Copyright IAF/IAA. All rights reserved.

We present an overview of the laser altimeter(LIDAR) results for asteroid 25143 Itokawa. The trace of a 7 × 12-m elliptical beam spot made it possible to determine the local surface topography with an accuracy of a few meters in altitude, from a home position roughly 7 km above the surface. Sequential detection of the altitude of the spacecraft during two orbital spans of descent for sampling allowed determination of the asteroid mass as 3.58 × 10 kg ± 5% and 3.54 × 10 kg ± 6%, which are consistent with the most probable mass estimate of 3.51 × 10 kg ± 3% given by Fujiwara et al. [Fujiwara, A., Kawaguchi, J., Yeomans, D.K. et al., 2006. The rubble-pile asteroid Itokawa as observed by Hayabusa. Science 312, 1330-1334]. Together with the total volume of the asteroid deduced from a shape model (i.e., 1.84 × 10 m ± 3%), this estimate by LIDAR suggests that asteroid Itokawa has a low density of 1.9 g/cm ± 9% and a high bulk porosity of about 40%. © 2007 COSPAR. 10 10 10 7 3 3

The ranging instrument aboard the Hayabusa spacecraft measured the surface topography of asteroid 25143 Itokawa and its mass. A typical rough area is similar in roughness to debris located on the interior wall of a large crater on asteroid 433 Eros, which suggests a surface structure on Itokawa similar to crater ejecta on Eros. The mass of Itokawa was estimated as (3.58 +/- 0.18) x 10(10) kilograms, implying a bulk density of (1.95 +/- 0.14) grams per cubic centimeter for a volume of (1.84 +/- 0.09) x 10(7) cubic meters and a bulk porosity of approximately 40%, which is similar to that of angular sands, when assuming an LL (low iron chondritic) meteorite composition. Combined with surface observations, these data indicate that Itokawa is the first subkilometer-sized small asteroid showing a rubble-pile body rather than a solid monolithic asteroid.

The two-dimensional scanning LIDAR system which used MEMS technology is proposed. The specification of LIDAR under development are measurable range of 50m - 50km, ±5 degrees of scanning angles, 10Hz repetition rate, and ±1m in range finding accuracy. By adopting monolithic YAG laser as a laser source, the tolerance over machine vibration has been improved with volume and weight saving. For a transmitting laser scan, adoption of a magnetic resonance drive type single micro-mirror is considered. In this system, we propose a novel method on the beam scanning mechanism for a receiver telescope with big aperture by using MEMS technology. The scanning optics system of receiver telescope is composed by a telecentric telescope and a micro shutter array. This optical system has achieved a narrow viewing angle corresponding to aperture of the shutter by limiting the view of the telescope that has a wide viewing angle with the shutter. The basic function of the scanning system of receiver optics is already checked experimentally. Copyright © 2006 by ASME.