津田 雄一

JAXA’s asteroid explorer Hayabusa2 completed its operation near the asteroid 162173 Ryugu, which started in June 2018, and carried out a maneuver away from the asteroid on November 13, 2019. In the outbound operation, the total delta-v performed by its ion propulsion was about 1,015 m/s, the space powered flight time reached 6,515 hours, 24 kg of propellant xenon was consumed, and 42 kg remained. On the return trip, 2,400 hours of operation was carried out in two parts, from December 2019 to February 2020 and from May to August 2020. Trajectory correction maneuver TCM-0 was carried out with one ion thruster from September 15 to 17, 2020, which was the last operation of the ion engine system, followed by several TCMs by chemical propulsion. The capsule returned to Earth on December 6, 2020. The total delta-v in the round trip was about 1.3 km/s, and the powered flight time was 9,398 hours. After consuming 31 kg of propellant xenon, 35 kg remained, a series of close flyby with an L-type asteroid 2001 CC21 in 2026 and rendezvous with a fast rotator asteroid 1998 KY26 in 2031 has been proposed as an extended mission of Hayabusa2 and its ion engine were restarted on January 5, 2021. The cumulative operating times for the four ion thrusters are 6,996, 2,880, 9,220, and 8,941 hours, respectively. 12,632-hour powered flight by the ion engine system produced about 1.7 km/s delta-v. An engineering model of Hayabusa2 neutralizer has been subjected to ground durability tests since the summer of 2012 prior to launch. 75,277 hours have passed by the end of September 2021, and it is still operating without failure and testing is ongoing.

Hayabusa2 came back to Earth and the sample return capsule landed in Woomera Prohibited Area (WPA), Australia as planned on December 6, 2020. In the recovery operation all the function of the capsule system and finding system worked fine. The recovery operation teams found and recovered the capsule smoothly. After gas collection from the sample container, the capsule was quickly transported to Extraterrestrial Sample Curation Center in Sagamihara, Japan. The sample container was carefully opened, and 5.4g of C-type asteroid material was first confirmed in the world. Before these operations, the recovery operation team discussed with the government about the transport procedure and the environment impact even in the off-nominal cases with supported by Australian Space Agency (ASA). With reflecting the discussion, the recovery operation plan was applied to Australian government with safety plan and emergency plan in August 2019. However, the COVID-19 pandemic was increased in early 2020. It made the situation difficult. The entry to Australia was restricted and the regular international flight was almost suspended. After many discussions, the counter measure plan was added on the operation plan and we finally obtained Authorisation of Return of Overseas-Launched Space Object (AROLSO) in August 2020.

The Hayabusa2 is an asteroid sample return mission. It returned to Earth on 5 Dec. 2020 and released the sample return capsule containing a confirmed 5.4 g sample. The AOCS (Attitude and Orbit Control System) then changed its trajectory and attitude for the capsule re-entry. This operation continued for about 24 hours and included six sequential attitude maneuvers. There was only one chance for this procedure to succeed, and it could not be aborted. The accurate estimation of this subsystem's operation was one of the most critical factors in the mission's success. The main difficulties were to realize several attitude maneuvers under control that had to be exceptionally strict because of the significant attitude disturbances Hayabusa2 was subjected to the sizable magnetic moment due to the Ion Engine System (IES) and the Earth's magnetic field, and the aerodynamic torque around the perigee point. The authors devised a precise timing control mode for switching and selection of RW unloading. This paper describes AOCS operation, the simulation model, and the results of an analysis of the re-entry operation. AOCS planning is described in detail, as are a comparison of actual operation results and planning.

Hayabusa2, a Japanese asteroid sample return probe, was launched on December 3, 2014, and arrived at Ryugu, a C-Type asteroid, on June 27, 2018. It left Ryugu on November 13, 2019, after completing its 1.5-year asteroid proximity phase operation, including sample collections and a kinetic impact experiment. The propulsive return cruise with the ion thrusters began on December 3, 2019, and in October 2020, the spacecraft entered the precise guidance phase, in which the trajectory corrections with the chemical thrusters were conducted. After several trajectory correction maneuvers, the spacecraft was precisely guided to the landing point of the sample return capsule, and its reentry capsule entered Earth s atmosphere and successfully landed on December 5, 2020. The capsule recovery team immediately found and retrieved the capsule. This paper describes the results of Hayabusa2 Earth return and capsule reentry, including the cruising and precise guidance phase and capsule release operation.

This study experimentally investigated the cause and the scattering mechanism of the phenomenon in which a celestial surface object scattered by a thruster injection has a spacecraft direction component. The phenomenon was first observed by Hayabusa2 touchdown. One of the mechanisms by which objects on the surface of the asteroid are scattered toward the spacecraft is the making crater by the thruster injection. We investigated the trends in the direction and amount of scattering of surface objects by injecting thrusters into a sandbox created in a vacuum chamber.

© 2021, The Author(s), under exclusive licence to Springer Nature Limited. Analyses of meteorites and theoretical models indicate that some carbonaceous near-Earth asteroids may have been thermally altered due to radiative heating during close approaches to the Sun1–3. However, the lack of direct measurements on the subsurface doesn’t allow us to distinguish thermal alteration due to radiative heating from parent-body processes. In April 2019, the Hayabusa2 mission successfully completed an artificial impact experiment on the carbonaceous near-Earth asteroid (162173) Ryugu4,5, which provided an opportunity to investigate exposed subsurface material and test potential effects of radiative heating. Here we report observations of Ryugu’s subsurface material by the Near-Infrared Spectrometer (NIRS3) on the Hayabusa2 spacecraft. Reflectance spectra of excavated material exhibit a hydroxyl (OH) absorption feature that is slightly stronger and peak-shifted compared with that observed for the surface, indicating that space weathering and/or radiative heating have caused subtle spectral changes in the uppermost surface. The strength and shape of the OH feature suggests that the subsurface material experienced heating above 300 °C, similar to the surface. In contrast, thermophysical modelling indicates that radiative heating cannot increase the temperature above 200 °C at the estimated excavation depth of 1 m, even at the smallest heliocentric distance possible for Ryugu. This supports the hypothesis that primary thermal alteration occurred on Ryugu’s parent body.

© 2020, The Author(s), under exclusive licence to Springer Nature Limited. The asteroid (162173) Ryugu and other rubble-pile asteroids are likely re-accumulated fragments of much larger parent bodies that were disrupted by impacts. However, the collisional and orbital pathways from the original parent bodies to subkilometre rubble-pile asteroids are not yet well understood1–3. Here we use Hayabusa2 observations to show that some of the bright boulders on the dark, carbonaceous (C-type) asteroid Ryugu4 are remnants of an impactor with a different composition as well as an anomalous portion of its parent body. The bright boulders on Ryugu can be classified into two spectral groups: most are featureless and similar to Ryugu’s average spectrum4,5, while others show distinct compositional signatures consistent with ordinary chondrites—a class of meteorites that originate from anhydrous silicate-rich asteroids6. The observed anhydrous silicate-like material is likely the result of collisional mixing between Ryugu’s parent body and one or multiple anhydrous silicate-rich asteroid(s) before and during Ryugu’s formation. In addition, the bright boulders with featureless spectra and less ultraviolet upturn are consistent with thermal metamorphism of carbonaceous meteorites7,8. They might sample different thermal-metamorphosed regions, which the returned sample will allow us to verify. Hence, the bright boulders on Ryugu provide new insights into the collisional evolution and accumulation of subkilometre rubble-pile asteroids.

© 2020 Elsevier Ltd Hayabusa-2, a JAXA mission, reached C-type asteroid (162173) Ryugu in June 2018. Hayabusa2 carried MASCOT (Ho et al., 2016), a small lander developed by DLR and CNES. The goal of MASCOT was to perform in situ measurements on the surface of the asteroid by means of its four scientific instruments, substantially contributing in this way to the overall scientific return of Hayabusa2 mission. MASCOT landing occurred the October 3, 2018. After its release by Hayabusa2 spacecraft, the MASCOT lander experienced 17 ​min of descent and bounces. Then after stabilization it collected measurements during 17 ​h, visiting three slightly different sites. A comprehensive knowledge of MASCOT's attitudes on the various moment of its mission is essential for the understanding of the science data gathered by the scout. CNES flight dynamics team was involved in the reconstruction of MASCOT landing trajectory and attitude. This paper presents the attitude reconstruction of MASCOT during its descent and on its second landing site. The reconstruction used as inputs the housekeeping data generated by the 6 Photo Electric Cells of MASCOT, as well as the images acquired by Hayabusa2 ONC camera and the MASCAM camera. The assessment was very complex but we determined the attitude with a mean accuracy around 10° during descent and 8° when MASCOT was stable once the second landing site was successfully reached. Nevertheless, for the other phases - bounces, first landing site and last landing site-the lander attitude is still undetermined.

© 2020 COSPAR Ballistic landers enable orbiting asteroid missions to perform surface science at limited additional cost and risk. Due to asteroids’ weak gravity and irregular terrain, lander deployment trajectories will consist of several chaotic bounces. Although impacts on regolith-covered asteroids are numerically expensive to model, impacts on rocky asteroids can be modeled with simpler, impulsive contact models. One such model is that by Stronge, which was successfully used in large-scale Monte Carlo studies of asteroid lander deployment. This model parameterizes impacts with (fixed) material restitution and friction coefficients, but has not been validated for the low-velocity regime of an assembled, nonspherical body. This paper uses an air-bearing setup to perform 2D experiments of a rectangular floating assembly impacting a concrete block with V⩽25 cm/s. The impact velocity, assembly attitude, and block attitude are varied across 2,400 experimental runs of both normal and tangential impacts. Optical tracking is used to extract the pre- and post-impact velocities of the assembly. In a majority of cases, Stronge's model can be fit to the experiments to extract the corresponding restitution and friction coefficients. We find that the coefficients are not fixed with respect to the impact velocity and attitude, but that their variation is seemingly random. In some tangential impact cases, the model even fails to reproduce the observed behavior althogether. This suggests that there may not be a simple way to reconcile Stronge's fixed-material-coefficient model with reality, although it may retain practical use if the coefficients are randomly varied in each impact of a simulation.

© 2021, The Author(s). 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. [Figure not available: see fulltext.].

© 2020, The Author(s). 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°, respectively. The estimated values of the GM of Ryugu and a correction factor to our initial SRP model are 29.8 ± 0.3 m3/s2 and 1.13 ± 0.16, respectively.[Figure not available: see fulltext.]

© 2020, Tsinghua University Press. The Japanese interplanetary probe Hayabusa2 was launched on December 3, 2014 and the probe arrived at the vicinity of asteroid 162173 Ryugu on June 27, 2018. During its 1.4 years of asteroid proximity phase, the probe successfully accomplished numbers of record-breaking achievements including two touchdowns and one artificial cratering experiment, which are highly expected to have secured surface and subsurface samples from the asteroid inside its sample container for the first time in history. The Hayabusa2 spacecraft was designed not to orbit but to hover above the asteroid along the sub-Earth line. This orbital and geometrical configuration allows the spacecraft to utilize its high-gain antennas for telecommunication with the ground station on Earth while pointing its scientific observation and navigation sensors at the asteroid. This paper focuses on the regular station-keeping operation of Hayabusa2, which is called “home position” (HP)-keeping operation. First, together with the spacecraft design, an operation scheme called HP navigation (HPNAV), which includes a daily trajectory control and scientific observations as regular activities, is introduced. Following the description on the guidance, navigation, and control design as well as the framework of optical and radiometric navigation, the results of the HP-keeping operation including trajectory estimation and delta-V planning during the entire asteroid proximity phase are summarized and evaluated as a first report. Consequently, this paper states that the HP-keeping operation in the framework of HPNAV had succeeded without critical incidents, and the number of trajectory control delta-V was planned efficiently throughout the period.

© 2020, Tsinghua University Press. Subsurface exploration is one of the most ambitious scientific objectives of the Hayabusa2 mission. A small device called small carry-on impactor (SCI) was developed to create an artificial crater on the surface of asteroid Ryugu. This enables us to sample subsurface materials, which will provide a window to the past. The physical properties of the resulting crater are also useful for understanding the internal structure of Ryugu. Accurate understanding of the crater and ejecta properties, including the depth of excavation of subsurface materials, requires accurate information on impact conditions. In particular, the impact angle is a critical factor because it greatly influences the size and shape of the crater. On April 5, 2019, the Hayabusa2 spacecraft deployed the SCI at 500 m of altitude above the asteroid surface. The SCI gradually reduced its altitude, and it shot a 2 kg copper projectile into the asteroid 40 min after separation. Estimating the position of the released SCI is essential for determining the impact angle. This study describes the motion reconstruction of the SCI based on the actual operation data. The results indicate that the SCI was released with high accuracy.

© 2020, The Author(s). In late 2018, the asteroid Ryugu was in the Sun’s shadow during the superior solar conjunction phase. As the Sun-Earth-Ryugu angle decreased to below 3°, the Hayabusa2 spacecraft experienced 21 days of planned blackout in the Earth-probe communication link. This was the first time a spacecraft had experienced solar conjunction while hovering around a minor body. For the safety of the spacecraft, a low energy transfer trajectory named Ayu was designed in the Hill reference frame to increase its altitude from 20 to 110 km. The trajectory was planned with the newly developed optNEAR tool and validated with real time data. This article shows the results of the conjunction operation, from planning to flight data.

© 2020, Tsinghua University Press. The deep-space multi-object orbit determination system (DMOODS) and its application in the asteroid proximity operation of the Hayabusa2 mission are described. DMOODS was developed by the Japan Aerospace Exploration Agency (JAXA) for the primary purpose of determining the trajectory of deep-space spacecraft for JAXA’s planetary missions. The weighted least-squares batch filter is used for the orbit estimator of DMOODS. The orbit estimator supports more than 10 data types, some of which are used for relative trajectory measurements between multiple space objects including natural satellites and small bodies. This system consists of a set of computer programs running on Linux-based consumer PCs on the ground, which are used for orbit determination and the generation of radiometric tracking data, such as delta differential one-way ranging and doppler tracking data. During the asteroid proximity phase of Hayabusa2, this system played an essential role in operations that had very strict navigation requirements or operations in which few optical data were obtained owing to special constraints on the spacecraft attitude or distance from the asteroid. One example is orbit determination during the solar conjunction phase, in which the navigation accuracy is degraded by the effect of the solar corona. The large range bias caused by the solar corona was accurately estimated with DMOODS by combining light detection and ranging (LIDAR) and ranging measurements in the superior solar conjunction phase of Hayabusa2. For the orbiting operations of target markers and the MINERVA-II2 rover, the simultaneous estimation of six trajectories of four artificial objects and a natural object was made by DMOODS. This type of simultaneous orbit determination of multi-artificial objects in deep-space has never been accomplished before.

© 2020, Tsinghua University Press. The asteroid explorer Hayabusa2 carries multiple rovers and separates them to land on an asteroid surface. One of these rovers, called MASCOT, was developed under the international cooperation between the Deutsches Zentrum für Luft- und Raumfahrt and the Centre National d’Etudes Spatiales. This rover was designed to be separated to land and perform several missions on an asteroid surface. To support these missions, the mother ship Hayabusa2 must separate this rover at a low altitude of approximately 50 m and hover at approximately 3 km after separation to achieve are liable communication link with MASCOT. Because the on-board guidance, navigation, and control (GNC) does not have an autonomous hovering function, this hovering operation is performed by ground-based control. This paper introduces the GNC operation scheme for this hovering operation and reports on its flight results.

© 2020, Tsinghua University Press. Hayabusa2 is a Japanese sample return mission from the asteroid Ryugu. The Hayabusa2 spacecraft was launched on 3 December 2014 and arrived at Ryugu on 27 June 2018. It stayed there until December 2019 for in situ observation and soil sample collection, and will return to the Earth in November or December 2020. During the stay, the spacecraft performed the first touchdown operation on 22 February 2019 and the second touchdown on 11 July 2019, which were both completed successfully. Because the surface of Ryugu is rough and covered with boulders, it was not easy to find target areas for touchdown. There were several technical challenges to overcome, including demanding guidance, navigation, and control accuracy, to realize the touchdown operation. In this paper, strategies and technical details of the guidance, navigation, and control systems are presented. The flight results prove that the performance of the systems was satisfactory and largely contributed to the success of the operation.

© 2020, Tsinghua University Press. This paper describes the orbit design of the deployable payload Rover 2 of MINERVA-II, installed on the Hayabusa2 spacecraft. Because Rover 2 did not have surface exploration capabilities, the operation team decided to experiment with a new strategy for its deployment to the surface. The rover was ejected at a high altitude and made a semi-hard landing on the surface of the asteroid Ryugu after several orbits. Based on the orbital analysis around Ryugu, the expected collision speed was tolerable for the rover to function post-impact. Because the rover could not control its position, its motion was entirely governed by the initial conditions. Thus, the largest challenge was to insert the rover into a stable orbit (despite its large release uncertainty), and avoid its escape from Ryugu due to an environment strongly perturbed by solar radiation pressure and gravitational irregularities. This study investigates the solution space of the orbit around Ryugu and evaluates the orbit’s robustness by utilizing Monte Carlo simulations to determine the orbit insertion policy. Upon analyzing the flight data of the rover operation, we verified that the rover orbited Ryugu for more than one period and established the possibility of a novel method for estimating the gravity of an asteroid.

© 2020 Elsevier Inc. The Near-Earth Asteroid 162173 Ryugu (1999 JU3) was investigated by the JAXA Hayabusa2 mission from June 2018 to November 2019. The data acquired by NIRS3 spectrometer revealed a dark surface with a positive near-infrared spectral slope. In this work we investigated the spectral slope variations across the Ryugu surface, providing information about physical/chemical properties of the surface. We analysed the calibrated, thermally and photometrically corrected NIRS3 data, and we evaluated the spectral slope between 1.9 μm and 2.5 μm, whose values extend from 0.11 to 0.28 and the mean value corresponds to 0.163±0.022. Starting from the mean value of slope and moving in step of 1 standard deviation (0.022), we defined 9 “slope families”, the Low-Red-Slope families (LR1, LR2 and LR3) and the High-Red-Sloped families (HR1, HR2, HR3, HR4, HR5, HR6). The mean values of some spectral parameters were estimated for each family, such as the reflectance factor at 1.9 μm, the spectral slope, the depth of bands at 2.7 μm and at 2.8 μm. A progressive spectral reddening, darkening and weakening/narrowing of OH bands is observed moving from the LR families to the HR families. We concluded that the spectral variability observed among families is the result of the thermal metamorphism experienced by Ryugu after the catastrophic disruption of its parent body and space weathering processes that occurred on airless bodies as Ryugu, such as impact cratering and solar wind irradiation. As a consequence, the HR1, LR1, LR2 and LR3 families, corresponding to equatorial ridge and crater rims, are the less altered regions on Ryugu surface, which experienced the minor alteration and OH devolatilization; the HR2, HR3, HR4, HR5 families, coincident with floors and walls of impact craters, are the most altered areas, result of the three processes occurring on Ryugu. The strong reddening of the HR6 family (coincident with Ejima Saxum) is likely due to the fine-sized material covering the large boulder.

<p>JAXA’s Hayabusa2 is a sample-return mission was launched on Dec. 3, 2014 for bringing back first samples from a C-complex asteroid [1,2]. It arrived at asteroid Ryugu on June 27, 2018 and left for Earth on Nov. 13, 2019 after conducting global remote-sensing observations, two touchdown sampling operations, rover deployments, and an artificial impact experiment. We review our science results and update the mission status of Hayabusa2 in this presentation. </p> <p>The global observations revealed that Ryugu has a top-shaped body with very low density (1.19±0.02 g/cc) [3], spatially uniform Cb-type spectra without strong Fe-rich serpentine absorption at 0.7-um [4], and a weak but significant OH absorption at 2.7 um [5]. Based on these observations, we proposed that Ryugu materials may have experienced aqueous alteration and subsequent thermal metamorphism due to radiogenic heating [4]. However, other scenarios, such as impact-induced thermal metamorphism and extremely primitive carbonaceous materials before extensive alteration, were also considered because there were many new properties of Ryugu whose origins are unclear. Also, numerical calculations show that impact heating can raise the temperatures high enough to dehydrate serpentine at typical collision speed in the asteroid main belt [6].  </p> <p>Further analysis using high-resolution data obtained at low-altitude descents for both rehearsal and actual touchdown operations as well as the artificial impact experiment by small carryon impactor (SCI) and landers observations the Ryugu surface on allowed us to find out what caused the properties of Ryugu. For example, subtle but distinct latitudinal variation of spectral slope in optical wavelengths found in the initial observations [4] turned out be caused by solar heating or space weathering during orbital excursion toward the Sun and subsequent erosion of the equatorial ridge owing to slowdown in Ryugu’s spin rate [7]. The SCI impact created a very large (~17 m in crest diameter) crater consistent with gravity-controlled scaling showing that Ryugu surface has very low intra-boulder cohesion and the Ryugu surface is very young and well mixed [8].</p> <p>Furthermore, the MASCOT lander also showed that typical boulders on Ryugu is not covered with a layer of fine regolith [9] and yet possess very low thermal inertia (282+93/-35 MKS) consistent with highly porous structure [10]. This value is consistent with the global values or Ryugu [4, 11], suggesting that the vast majority of boulders on Ryugu are very porous. However, thermal infrared imager (TIR) also found that Ryugu has a number of “dense boulders” with high thermal inertia (>600 MKS) consistent with typical carbonaceous chondrites, showing that Ryugu’s parent body must have had a large enough gravity and pressure to compress the constituent materials [11]. This observation supports that Ryugu originated from a large parent body, such as proto-Polana and proto-Eulalia, which are estimated to be ~100 km in diameter.</p> <p>Some of the dense boulders were also covered by multi-band images of optical navigation camera (ONC-T) and turned out to have C-type spectra with albedos much higher than the Ryugu average [12]. These spectra and albedos are similar to carbonaceous chondrites heated at low temperatures. Although the total mass of these high-albedo boulders on Ryugu is estimated to be very small (< 1%), the spectral and albedo varieties are much greater than the bulk Ryugu surface and approximately follow the dehydration track of carbonaceous chondrites [12]. These spectral match supports that Ryugu materials experienced aqueous alteration and subsequent thermal metamorphism. The dominance of a high-temperature component and scarcity of lower temperature components are consistent with radiogenic heating in a relatively large parent body because large bodies would have only thin low-temperature thermal skin and large volume of high-temperature interior. </p> <p>If radiogenic heating is really responsible for Ryugu’s moderate dehydration, this may place a very important constraint on the timing of the formation of Ryugu’s parent body. Because the radiogenic heat source for most meteorite parent bodies are likely extinct species, such as 26Al, the peak temperature is chiefly controlled by the timing of accretion [13]. Thus, high metamorphism temperatures (several hundred degrees in Celsius) of Ryugu’s bulk materials inferred from spectral comparison with laboratory heated CM and CI meteorites [4, 12] require Ryugu’s parent body formed early in the Solar System. Because Ryugu’s parent body contained substantial amount of water at the time of formation, it must have been formed outside the snowline. Thus, the birth place of Ryugu’s parent body would be a high-accretion-rate location outside the snowline.</p> <p>Recent high-precision measurements of stable isotopes of meteorites have found that there is a major dichotomy between carbonaceous chondrites (CCs) and some iron meteorites, which formed outside Jupiter’s orbit, and non-carbonaceous meteorites (NCs), which formed inside Jupiter’s orbit [e.g., 14]. If Ryugu belongs to CCs, then Ryugu materials could be form near Jupiter, where accretion could occur early. Thus, measurements of stable isotopes of elements, such as Cr, Ti and Mo, of Ryugu samples to be returned to Earth by the end of 2020 would be highly valuable for constraining the original locations of Polana or Eulalia, among the largest C-complex asteroids in the inner main belt. </p> <p><strong>Acknowledgements:</strong> This study was supported by JSPS Core-to-Core program “International Network of Planetary Sciences”, CNES, and Univ. Co?te d’Azur. </p> <p><strong>References:</strong>  [1] Watanabe et al., SSR, 208, 3-16, 2017. [2] Tsuda et at., Acta Astronaut. 91, 356-363, 2013. [3] Watanabe et al., Science, 364, 268-272, 2019. [4] Sugita et al., Science, 364, eaaw0422, 2019. [5] Kitazato et al., Science, 364, 272-275, 2019. [6] Michel et al., Nature Comm., 11, 5184, 2020. [7] Morota et al., Science, 368, 654-659, 2020. [8] Akarawa et al. Science, 368, 67-671, 2020. [9] Jaumann et al. Science, 365, 817-820, 2019.  [10] Grott et al., Nature Astron. 3, 971-976, 2019.  [11] Okada et al., Nature, 579, 518-522, 2020. [12] Sugimoto et al. 51st LPSC, #1770, 2020.  [13] Grimm and McSween, Science, 259, 653-655, 1993.  [14] Kruijer et al., PNAS, 114, 6712-6716, 2017. </p>

© 2020, Springer Nature B.V. One of the primary goals of Hayabusa2 is to land on the asteroid Ryugu to collect its surface materials. The key for a successful touchdown is to find a promising landing site that meets both scientific and engineering requirements. Due to the limited availability of pre-arrival information about Ryugu, the landing site selection (LSS) must be conducted based on proximity observations over a limited length of time. In addition, Ryugu was discovered to possess an unexpectedly high abundance of boulders with an absence of wide and flat areas, further complicating the LSS. To resolve these problems, we developed a systematic and stepwise LSS process with a focus on the surface topography of Ryugu and the associated touchdown safety. The proposed LSS scheme consists of two phases: Phase-I LSS, a comprehensive survey of potential landing areas at the 100-m scale based on the global mapping of Ryugu, and Phase-II LSS, a narrowing-down process of the candidate landing sites at the 10-m scale using high-resolution images and a local terrain model. To verify the feasibility of a precision landing at the target site, we also investigated the landing dispersion via a Monte Carlo simulation, which incorporates the effect of the irregular surface gravity field. One of the major characteristics of the Hayabusa2 LSS developed in this study is the iterative feedback between LSS analyses on the ground and actual spacecraft operations near the target asteroid. Using the newly developed method, we chose a landing site with a radius of 3 m, and Hayabusa2 successfully conducted its first touchdown on February 21, 2019. This paper reports the methodology and results of the stepwise iterative LSS for the first Hayabusa2 touchdown. The touchdown operation results reconstructed from flight data are also provided, demonstrating the validity of the adopted LSS strategy.

© 2020 IAA Hayabusa2 is a Japanese interplanetary probe launched on December 3, 2014, which arrived at asteroid Ryugu on June 27, 2018. During its stay around Ryugu, it completed several challenging operations, including deploying two rovers and a lander, conducting two sample collections, and performing a kinetic impact experiment. The kinetic impact experiment was one of the biggest challenges of the Hayabusa2 mission. Investigating the physical and chemical properties of asteroid internal materials and structures is an important scientific objective for small body exploration. We developed a small kinetic impactor called the SCI (Small Carry-on Impactor) to achieve this objective. The SCI is a compact kinetic impactor designed to remove a small region of Ryugu's uppermost surface regolith layer and create an artificial crater. The spacecraft deployed the SCI on April 5, 2019, successfully creating an artificial crater with a diameter of 15 m. This paper describes the operational planning of the kinetic impact experiment and summarizes the operation results.

© 2020 Elsevier Inc. TIR, the thermal infrared imager on Hayabusa2, acquired high-resolution thermal images of the asteroid 162173 Ryugu for one asteroid rotation period on August 1, 2018 to investigate the thermophysical properties of the asteroid. The surface temperatures of Ryugu suggest that the surface has a low thermal inertia, indicating the presence of porous materials. Thermophysical models that neglect or oversimplify surface roughness cannot reproduce the flat diurnal temperature profiles observed during daytime. We performed numerical simulations of a thermophysical model, including the effects of roughness on the diurnal brightness temperature, the predictions of which successfully reproduced the observed diurnal variation of temperature. The global thermal inertia was obtained with a standard deviation of 225 ± 45 J m−2 s−0.5 K−1, which is relatively low but still within the range of the value estimated in our previous study (Okada et al., Nature 579, 518–522, 2020), confirming that the boulders on Ryugu are more porous in nature than typical carbonaceous chondrites. The global surface roughness (the ratio of the variance of the height relative to a local horizontal surface length) was determined as 0.41 ± 0.08, corresponding to a RMS surface slope of 47 ± 5°. We identified a slightly lower roughness distributed along the equatorial ridge, implying a mass movement of boulders from the equatorial ridge to the mid-latitudes.

© 2020 Hayabusa2 is a Japanese sample return mission from the near-Earth asteroid Ryugu. The Hayabusa2 spacecraft was launched on December 3, 2014, and arrived at Ryugu on June 27, 2018. It stayed there until November 13, 2019 for in situ observation and soil sample collection, and will return to the Earth in November or December 2020. During the stay at the asteroid, the spacecraft performed a touchdown operation successfully for the first time in February 2019. Since the surface of Ryugu was rough and full of boulders, a targeted area finally found had a radius of only 3 m. There were several technical challenges to overcome including demanding guidance, navigation and control accuracy to realise the touchdown operation. In this paper, strategies and technical details of the guidance, navigation and control systems are presented. The flight results prove that the performance of the systems was satisfactory and largely contributed to the success of the operation.

© 2020, The Author(s). Hayabusa2 is the ongoing JAXA’s sample and return mission to the asteroid Ryugu. In late 2018, Ryugu was in superior solar conjunction with the Earth. It is the first time that a spacecraft experiences the blackouts in the communication link with the Earth while hovering around a small celestial body. In this article, the design of the nominal conjunction trajectory flown by the Hayabusa2’s spacecraft is presented. The requirements for the conjunction trajectory were (1) to guarantee a low fuel consumption, (2) to ensure the visibility of the asteroid by the spacecraft’s wide angle camera (60 ∘ FoV), and (3) to increase the spacecraft altitude to a safety location (∼109km) from the nominal BOX-A operation of 20 km (Home Position - HP). Finally, (4) to return at BOX-A after the conjunction phase. Given the mission constraints, the designed conjunction trajectory appears to have a fish-shape in the Hill coordinates therefore we renamed it as “ayu” (sweetfish in Japanese) trajectory. The optNEAR tool was developed for the guidance (Δ Vs planning) and navigation design of the Hayabusa2’s conjunction mission phase. A preliminary sensitivity analysis in the Hill reference frame proved that the ayu trajectory is a good candidate for the conjunction operation of hovering satellite. The solution in the Hill coordinates is refined in the full-body planetary dynamics (optNEAR Tool) before flight. The ayu conjunction trajectory requires (a) two deterministic Δ Vs at the Conjunction Orbit Insertion (COI) point and at the Home-position Recovery Maneuver (HRM) point respectively. (b) Two stochastic Δ Vs , known as Trajectory Correction Manoeuvres (TCMs), before and after the deep conjunction phase are also required. The constraint linear covariance analysis in the full-body dynamics is here derived and used for the preliminary guidance and navigation planning. The results of the covariance analysis were validated in a nonlinear sense with a Monte Carlo approach which proved the validity of the semi-analytic method for the stochastic Δ Vs planning derived in this paper.

© 2019, Tsinghua University Press. The solar power sail is an original Japanese concept in which electric power is generated by thin-film solar cells attached on the solar sail membrane. Japan Aerospace Exploration Agency (JAXA) successfully demonstrated the world’s first solar power sail technology through IKAROS (Interplanetary Kite-craft Accelerated by Radiation of the Sun) mission in 2010. IKAROS demonstrated photon propulsion and power generation using thin-film solar cells during its interplanetary cruise. Scaled up, solar power sails can generate enough power to drive high specific impulse ion thrusters in the outer planetary region. With this concept, we propose a landing or sample return mission to directly explore a Jupiter Trojan asteroid using solar power sail-craft OKEANOS (Oversize Kite-craft for Exploration and AstroNautics in the Outer Solar System). After rendezvousing with a Trojan asteroid, a lander separates from OKEANOS to collect samples, and perform in-situ analyses in three proposed mission sequences, including sending samples back to Earth. This paper proposes a system design for OKEANOS and includes analyses of the latest mission.

© 2020, Tsinghua University Press. Hayabusa2 is an asteroid sample return mission carried out by the Japan Aerospace Exploration Agency. The spacecraft was launched in 2014 and arrived at the target asteroid Ryugu on June 27, 2018. During the 1.5-year proximity phase, several critical operations (including two landing/sampling operations) were successfully performed. They were based on autonomous image-based descent and landing techniques. This paper describes an imagebased autonomous navigation scheme of the Hayabusa2 mission using artificial landmarks named target markers (TMs). Its basic algorithm, and the in-flight results of the first touchdown and its rehearsal, are shown.

© 2020, Tsinghua University Press. The Hayabusa2 asteroid explorer mission focuses principally on the touchdown and sampling on near-Earth asteroid 162173 Ryugu. Hayabusa2 successfully landed on its surface and ejected a projectile for sample collection on February 22, 2019. Hayabusa2 later landed near a crater formed by an impactor and executed the sampling sequence again on July 11, 2019. For a successful mission, a thorough understanding and evaluation of spacecraft dynamics during touchdown were crucial. The most challenging aspect of this study was the modeling of such spacecraft phenomena as the dynamics of landing on a surface with unknown properties. In particular, a Monte Carlo analysis was used to determine the parameters of the operational design for the final descent and touchdown sequence. This paper discusses the dynamical modeling of the simulation during the touchdown of Hayabusa2.

© 2020, Tsinghua University Press. This paper describes the guidance and navigation technique used by Hayabusa2 for the asteroid rendezvous operation to reach Ryugu. The operation results, including the achieved guidance and navigation performance, are also summarized. Multiple assessment and navigation teams worked closely to provide reliable navigation solutions with a short solution delivery cycle. Although the uncertainty of the Ryugu’s ephemeris was considerable before Hayabusa2’s arrival, a combination of radiometric-optical hybrid navigation and a stochastic-constrained optimum guidance method was able to achieve an accuracy of less than 100 m and 1 cm/s, and the arrival was precisely timed.

© 2020, Tsinghua University Press. Hayabusa2 is a Japanese sample return mission from the near-Earth asteroid Ryugu. The Hayabusa2 spacecraft was launched on December 3, 2014, and reached the asteroid on June 27, 2018. It remained there until November 13, 2019 for in situ observation and soil sample collection and will return to the Earth in November or December 2020. During its stay at the asteroid, Hayabusa2 performed descent operations 16 times. This paper presents an overview of a guidance, navigation, and control method used in such descent operations. The method consists of on-board and on-ground guidance systems to control the spacecraft and an image-based navigation technique that uses a shape model and ground control points of the asteroid. Flight results in the first touchdown operation are shown as an example, which demonstrate that the method showed a good performance overall and contributed to the success of the mission.

© 2020 IAA Hayabusa2 arrived at the C-type asteroid Ryugu in June 2018. During one and a half year of the Ryugu-proximity operation, we succeeded in two rovers landing, one lander landing, two spacecraft touchdown/sample collection, one kinetic impact operation and two tiny reflective balls and one rover orbiting. Among the two successful touchdowns, the second one succeeded in collecting subsurface material exposed by the kinetic impact operation. This paper describes the asteroid proximity operation activity of the Hayabusa2 mission, and gives an overview of the achievements done so far. Some important engineering and scientific activities, which have been done in synchronous with the spacecraft operations to tackle with unexpected Ryugu environment, are also described.

© 2020, Tsinghua University Press. In an asteroid sample-return mission, accurate position estimation of the spacecraft relative to the asteroid is essential for landing at the target point. During the missions of Hayabusa and Hayabusa2, the main part of the visual position estimation procedure was performed by human operators on the Earth based on a sequence of asteroid images acquired and sent by the spacecraft. Although this approach is still adopted in critical space missions, there is an increasing demand for automated visual position estimation, so that the time and cost of human intervention may be reduced. In this paper, we propose a method for estimating the relative position of the spacecraft and asteroid during the descent phase for touchdown from an image sequence using state-of-the-art techniques of image processing, feature extraction, and structure from motion. We apply this method to real Ryugu images that were taken by Hayabusa2 from altitudes of 20 km-500 m. It is demonstrated that the method has practical relevance for altitudes within the range of 5-1 km. This result indicates that our method could improve the efficiency of the ground operation in the global mapping and navigation during the touchdown sequence, whereas full automation and autonomous on-board estimation are beyond the scope of this study. Furthermore, we discuss the challenges of developing a completely automatic position estimation framework.

© 2020, Tsinghua University Press. This paper presents the optical navigation results of the asteroid explorer Hayabusa2 during the final rendezvous approach phase with the asteroid Ryugu. The orbit determination of Hayabusa2 during the cruising phase uses a triangulation-based method that estimates the probe and asteroid orbits using the directions from which they are observed. Conversely, the asteroid size is available as optical information just prior to arrival. The size information allows us to estimate the relative distance between the probe and the asteroid with high accuracy, that is strongly related to the success or failure of the rendezvous. In this study, the relative distance and asteroid size in real space are simultaneously estimated in real time by focusing on the rate of change of the asteroid size observed in sequential images. The real-time estimation results coincided with those of precise analyses performed after arrival.

© 2020 American Association for the Advancement of Science. All rights reserved. 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.

© 2020 American Association for the Advancement of Science. All rights reserved. The Hayabusa2 spacecraft investigated the small asteroid Ryugu, which has a rubble-pile structure. We describe an impact experiment on Ryugu using Hayabusa2's Small Carry-on Impactor. The impact produced an artificial crater with a diameter >10 meters, which has a semicircular shape, an elevated rim, and a central pit. Images of the impact and resulting ejecta were recorded by the Deployable CAMera 3 for >8 minutes, showing the growth of an ejecta curtain (the outer edge of the ejecta) and deposition of ejecta onto the surface. The ejecta curtain was asymmetric and heterogeneous and it never fully detached from the surface. The crater formed in the gravity-dominated regime; in other words, crater growth was limited by gravity not surface strength. We discuss implications for Ryugu's surface age.

© 2019 Elsevier Inc. Asteroid 162173 Ryugu has numerous craters. The initial measurement of impact craters on Ryugu, by Sugita et al. (2019), is based on Hayabusa2 ONC images obtained during the first month after the arrival of Hayabusa2 in June 2018. Utilizing new images taken until February 2019, we constructed a global impact crater catalogue of Ryugu, which includes all craters larger than 20 m in diameter on the surface of Ryugu. As a result, we identified 77 craters on the surface of Ryugu. Ryugu shows variation in crater density which cannot be explained by the randomness of cratering; there are more craters at lower latitudes and fewer at higher latitudes, and fewer craters in the western bulge (160°E – 290°E) than in the region around the meridian (300°E – 30°E). This variation implies a complicated geologic history for Ryugu. It seems that the variation in crater density indicates that the equatorial ridge located in the western hemisphere is relatively young, while that located in the eastern hemisphere is a fossil structure formed during the short rotational period in the distant past.

© 2019 Elsevier Inc. 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.

Carbonaceous (C-type) asteroids1 are relics of the early Solar System that have preserved primitive materials since their formation approximately 4.6 billion years ago. They are probably analogues of carbonaceous chondrites2,3 and are essential for understanding planetary formation processes. However, their physical properties remain poorly known because carbonaceous chondrite meteoroids tend not to survive entry to Earth's atmosphere. Here we report on global one-rotation thermographic images of the C-type asteroid 162173 Ryugu, taken by the thermal infrared imager (TIR)4 onboard the spacecraft Hayabusa25, indicating that the asteroid's boulders and their surroundings have similar temperatures, with a derived thermal inertia of about 300 J m-2 s-0.5 K-1 (300 tiu). Contrary to predictions that the surface consists of regolith and dense boulders, this low thermal inertia suggests that the boulders are more porous than typical carbonaceous chondrites6 and that their surroundings are covered with porous fragments more than 10 centimetres in diameter. Close-up thermal images confirm the presence of such porous fragments and the flat diurnal temperature profiles suggest a strong surface roughness effect7,8. We also observed in the close-up thermal images boulders that are colder during the day, with thermal inertia exceeding 600 tiu, corresponding to dense boulders similar to typical carbonaceous chondrites6. These results constrain the formation history of Ryugu: the asteroid must be a rubble pile formed from impact fragments of a parent body with microporosity9 of approximately 30 to 50 per cent that experienced a low degree of consolidation. The dense boulders might have originated from the consolidated innermost region or they may have an exogenic origin. This high-porosity asteroid may link cosmic fluffy dust to dense celestial bodies10.

An analytic construction of 1:1 resonances around irregular bodies is here investigated. A SPH-Mas based gravity model allows a semi-analytic expression of the linearised equations around the equilibrium points. Depending on the sphere packing distribution, the SPH-Mas model can retrieve the same dynamical objects common to others gravity models (i.e. spherical harmonics and polyhedron) or for non uniform density objects. This model has the advantage to define the same particles mesh distribution for both astrophysical and astrodynamics tools and it is computationally optimised for Matlab. The Hayabusa2's Small Carry-on Impactor operation is used as a scenario to study the ejecta particle dynamics around an irregular body. The goNEAR tool was used to simulate the impact operation in a non-linear sense when the effect of the solar radiation pressure perturbation is taken into account for particles size of 10 cm, 5 cm, 1 cm and 1 mm in diameter.

© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. Hayabusa2 is an asteroid sample return mission by JAXA. The spacecraft was launched in 2014 and arrived at the target asteroid Ryugu on 27 June 2018. During 1.5-year proximity phase, several critical operations including two landing/sampling operations were successfully performed. They were based on autonomous image-based descent and landing techniques. This paper describes an image-based autonomous navigation of the Hayabusa2 mission using artificial landmarks named target markers (TMs). Its basic algorithm, and in-flight results in the 1st touchdown and its rehearsal are shown.

© 2020, Univelt Inc. All rights reserved. The Hayabusa2 spacecraft successfully landed on the asteroid Ryugu on February 22nd, 2019. Because of the abundance of boulders, the touchdown operation required high accuracy for spacecraft safety. This research, therefore, investigates a precision landing sequence using retroreflective marker tracking. The trajectory for the touchdown operation is computed based on a high-fidelity gravity model to minimize the landing error. This paper provides trajectory reconstruction results based on actual flight data. Consequently, it is demonstrated that a landing accuracy of 3 m can be achieved, resulting in the successful touchdown.

Copyright © 2020 by the International Astronautical Federation (IAF). All rights reserved. During the touchdowns of the "Hayabusa2" spacecraft on the asteroid Ryugu, some of the ejected surface materials were scattered toward the spacecraft. Apart from impact sampling by firing a metallic projectile, another mechanism of this phenomenon is surface material ejecta from formation of a crater by RCS thrusts of the spacecraft during its ascent from the asteroid surface after the touchdown. We conducted ground experiments of gas injection into simulated soil under vacuum in order to investigate the interaction between thruster plume and asteroidal regolith.

© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. Asteroid Explorer Hayabusa2 arrived at asteroid Ryugu in June of 2018. During its stay around Ryugu, Hayabusa2 undertook several challenging missions such as collecting a soil sample and deploying rovers, a lander, and an impactor. The design and success of the final descent from an 8.5-m height above the surface, with subsequent sample collection upon spacecraft touchdown is one of the most important operations in the sampling mission campaign. The spacecraft dynamics estimation is selected for its approach. This estimation is based on dynamics analysis using a precise spacecraft model and an onboard experiment. This paper describes an overview of the sampling mission operation, focusing on the final descent and touchdown, the operational design thereof that includes the spacecraft dynamics analysis and onboard experiment, and the actual results of our first sampling operation.

© 2020, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved. The asteroid exploration spacecraft Hayabusa2 has accomplished Touch-Down, which is main mission of Hayabusa2, on February 21, 2019. Because the sampling target “Ryugu” has rough geography, we have modified operational design for Touch-Down after reaching Ryugu. This paper presents how the touch-down events have been carried out with onboard GNC system and operational design by showing the flight results.