Discoveries of the InSight seismic investigation on Mars' surface
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摘要: “洞察”号任务是火星探测历史上一次巨大的飞跃. 本文从介绍“洞察”号的科学目标和火星表面地震观测实验出发，展示“洞察”号地震数据中的发现. 受益于“维京”2号的火星探测经验，“洞察”号首次成功监测到了火星震信号，并由此得到了火星壳结构的衰减特征. 火星的地震数据中检测到了由气压引起的地表形变和HP3打孔信号，并用于约束登陆点附近表面土层的物理性质和地下结构的反演. 此外，使用在2.4 Hz处出现的结构响应能够辨别自然响应和登陆器自振等机械振动. 火星的地震数据中也检测出了Glitch和Donk等噪声信号，我们总结了其特征和形成原因. “洞察”号对火星壳的探测比较成功，但是由于缺乏大震级的火星震和陨石撞击事件的记录，对火星深部的了解依然比较有限.Abstract: The InSight mission is a great milestone in the history of Mars' seismic exploration after the Viking 2 lander. We first review the scientific goals of the InSight mission and its seismic observation experiment on Mars' surface. We then present the discoveries in the InSight seismic data. Both the pressure-induced ground deformation and the HP3 self-hammering signals were detected by the InSight seismic instrument. These data are further used to constrain the physical properties of the surface regolith and the inversion of the underground structure at the InSight landing site. Besides, the structural resonance around 2.4 Hz allows us to distinguish the natural response from the mechanical vibration such as the lander mode. Non-seismic noise like the glitches and donks were also found in Mars' seismic data, and their characteristics and possible origins will be summarized. The InSight mission has successfully explored the structure of Mars' crust, while the exploration of Mars' deep interior is still limited because there lacks large-magnitude Marsquakes and meteorite impact events.
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Key words:
- Mars /
- InSight /
- planetary interior structure /
- Marsquake /
- non-seismic noise
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图 1 “洞察”号着陆点附近地形图. “洞察”号（星号标识）着陆于一个古老的火山平原上，该平原位于埃律西昂山火山以南、火星赤道以北. “勇气”号、“精神”号和“维京”2号的位置以及主要的地质特征都显示在地形图上（修改自Banerdt et al., 2020）
Figure 1. The topographic map at the InSight landing site. InSight (shown as a star) landed on an ancient volcanic plain south of Elysium Mons and north of the Martian hemispheric dichotomy. The locations of the Curiosity and Spirit rovers, and the Viking 2 lander, along with major geologic features are shown on the map (modified from Banerdt et al., 2020)
图 2 火星震与地震信号之间的对比. 顶部是两个火星震信号的垂向位移记录，滤波范围0.033～0.5 Hz. S0235b具有清晰的P波和S波到时. S0105a是一个低信噪比火星震事件的示例，它的P波和S波到时是通过功率谱密度的包络线来确定的. 注意两个事件的振幅不同. 底部是两个震中距近似的地震事件的垂直分量，滤波范围0.125～0.5 Hz. 发生在希腊的浅源地震中存在面波，而深源地震和火星震中没有发现面波（修改自Banerdt et al., 2020）
Figure 2. Comparison between Marsquake and earthquake signals. The upper panel is the vertical displacement time series for two Marsquake signals, filtered between 0.033 and 0.5 Hz. S0235b shows clear P- and S-wave arrivals. S0105a is an example of a lower-SNR event, whose P- and S-wave arrivals are determined using power density function envelopes. Note the different amplitude scales. The lower panel shows the vertical components of two earthquake signals at a similar distance. The shallow earthquake in Greece has visible surface waves. However, surface waves, are not detectable for either the deep earthquake on Earth or Marsquakes (modified from Banerdt et al., 2020)
图 3 火星高程图上显示的火星全球地震活动图. 白色阴影条带显示了震中距范围. 红色至黄色椭球体是S0173a和S0235b事件的估计震中位置. S0183a的估计震中用两个阴影椭圆显示，表示距离不确定性为5°和10°的定位情况. 右侧插图显示了三个事件相对于“洞察”号登陆点（黄色三角形）的震中区域的视图. 黑色和红色线条分别表示主要的逆断层和正断层（修改自Giardini et al., 2020）
Figure 3. Global seismicity of Mars shown on Mars elevation map. White shaded bands show the range of epicentral distances. Red to yellow ellipsoids are the estimated locations of events S0173a and S0235b. The estimated location of S0183a is displayed with two shaded ellipses, representing distance uncertainties of 5° and 10°. The inset on the right shows a map view of the epicentral area of the three event locations relative to the InSight landing site (yellow triangle). Black and red lines are main reverse and normal faults, respectively (modified from Giardini et al., 2020)
图 4 气旋（沙柱）的模拟和观测数据. 顶部3个子图分别表示气旋在北向、东向和垂向的地面运动加速度（修改自Banerdt et al., 2020）
Figure 4. Model data and observed data due to an atmospheric vortex (dust devil). The top three subplots are north, east and vertical components of the ground acceleration due to the vortex pressure (bottom panel), respectively (modified from Banerdt et al., 2020)
图 5 “洞察”号登陆点的地下土层厚度和P波波速的反演结果. 假设顶部0.8 m为压实模型. （a）基岩上方P波波速随深度变化的概率分布函数（PDF）. 黄色和紫色分别代表低概率和高概率；（b）土层—基岩过渡带深度的边缘概率；（c）0.1 m深度处的土层中和基岩中P波波速的边缘概率；（d）基岩中P波波速随土层—基岩过渡带深度变化的标准概率分布函数（修改自Lognonné et al., 2020）
Figure 5. Inversion results of the regolith thickness and VP of the underlying bedrock at the InSight landing site. A compaction-based profile in the top 0.8 m is assumed. (a) The probability density function (PDF) of VP just above the bedrock as a function of depth of the bedrock. Yellow and purple colours are low and high probability, respectively. (b) Marginal probabilities of the regolith-to-bedrock transition depth. (c) Marginal probabilities of VP in the regolith at 0.1 m depth and in the bedrock. (d) Normalized PDF showing VP in the bedrock as a function of the depth of the regolith-to-bedrock transition (modified from Lognonné et al., 2020)
图 6 火星震服务中心（MQS）数据库中包含的非地震事件. Glitch信号为单分量或多分量脉冲. 太阳会合期间（中间的灰色条带）没有返回数据（修改自Ceylan et al., 2020 Preprint）
Figure 6. Non-seismic events in the MQS database. Glitches are shown as either single or multi-component pulses. During solar conjunction (grey shaded band in the middle) no data were retrieved (modified from Ceylan et al., 2020 Preprint)
图 7 包含Glitch信号和去除Glitch信号的地震记录的对比. 顶部是采样率为20 sps的VBB-U分量的原始数据（黑色）和去除Glitch信号后的原始数据（灰色）. 底部与顶部类似，但去除了仪器响应以展示加速度，并随之加了1 Hz低通滤波（二阶巴特沃思滤波器）. 注意原始数据中加速度的阶跃在去除Glitch信号后消失（修改自Lognonné et al., 2020）
Figure 7. Comparison between seismic records with glitches and deglitched records.The upper panel is the 20 sps data of VBB U-component in the original RAW (black) and deglitched RAW (grey). The lower panel is like the upper panel, but with the instrument response removed to show acceleration and subsequent 1 Hz low-pass filtering (second order Butterworth). Note the step in acceleration in the original data that is absent after deglitching (modified from Lognonné et al., 2020)
图 8 100 sps的SP数据中的Donk信号示例. （a）垂直分量的速度谱；（b）在图（a）中用竖直虚线标记的时段内的三分量波形图. 时间尺度为10 s，开始于UTC时间2019-07-30的13:36:00（修改自Ceylan et al., 2020 Preprint）
Figure 8. Examples of donk events as seen on the 100 sps SP data. (a) Velocity spectrogram of the vertical component; (b) Three-component waveforms in the time frame marked with vertical dashed lines in (a). The time axis is 10 s long starting from 2019-07-30 13:36:00 UTC (modified from Ceylan et al., 2020 Preprint)
图 9 VBB和SP记录的速度谱中的Crosstalk信号或Whistling信号. 仪器和分量名称显示在每个图的左下角. （a）100 sps数据中两个清晰的SP模式（A和B，使用虚线标出）. （b）100 sps数据中频率高于1 Hz的不同VBB模式. （c）100 sps数据中频率低于1 Hz的VBB模式，用箭头进行了标注（修改自Ceylan et al., 2020 Preprint）
Figure 9. Crosstalk, or "whistling" signals, as seen in the velocity spectrograms for SP and VBB records. Instrument and channels are shown in the lower-left corner of each panel. (a) Two distinct SP modes from the 100 sps data (A and B; also outlined with dashed lines); (b) Different modes of the 100 sps VBB data at frequencies >1 Hz; (c) Some of the VBB modes that appear in frequencies below 1Hz, marked with arrows (modified from Ceylan et al., 2020 Preprint)
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