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Dust devils are common on Mars and understanding their dynamics is important to gain insights about the meteorology of the planet. Here, the authors show characteristics of a Martian dust devil and its sound from Perseverance rover multi-sensor data combined with modelling.

This paper presents the calibration and validation studies for the Radio Occultation and Heavy Precipitation experiment aboard the PAZ satellite. These studies, necessary to assess and characterize the noise level and robustness of the differential phase shift (ΔΦ) observable of polarimetric radio occultations (PROs), confirm the good performance of the experiment and the capability of this technique in sensing precipitation. It is shown how all the predicted effects that could have an impact into the PRO observables (e.g., effect of metallic structures nearby the antenna, the Faraday rotation at the ionosphere, signal impurities in the transmission, and altered cross-polarization isolation) are effectively calibrated and corrected, and they have a negligible effect on the final observable. The on-orbit calibration, performed using an extensive dataset of free-of-rain and low-ionospheric activity observations, is successfully used to correct all the collected observations, which are further validated against independent precipitation observations confirming the sensitivity of the observables to the presence of hydrometeors. The validation results also show how vertically averaged ΔΦ can be used as a proxy for precipitation.

A positive bias at heights between 3 and 8 km has been observed when comparing the radio-occultation (RO)-retrieved refractivity with that of meteorological analyses and reanalyses in cases where heavy precipitation is present. The effect of precipitation in RO retrievals has been investigated as a potential cause of the bias, using precipitation measurements interpolated into the actual three-dimensional RO ray paths to calculate the excess phase induced by precipitation. The study consisted of comparing the retrievals when such extra delay is removed from the actual measurement and when it is not. The results show how precipitation itself is not the cause of the positive bias. Instead, we show that the positive bias is linked to high specific-humidity conditions regardless of precipitation. This study also shows a regional dependence of the bias. Furthermore, different analyses and reanalyses show a disagreement under high specific-humidity conditions and, in consequence, heavy precipitation.

Global Navigation Satellite System (GNSS) radio occultation (RO) measurements are promising in sensing the vertical structure of the Earth's planetary boundary layer (PBL). However, large refractivity changes near the top of PBL can cause ducting and lead to a negative bias in the retrieved refractivity within the PBL (below ∼ 2 km). To remove the bias, a reconstruction method with assumption of linear structure inside the ducting layer models has been proposed by Xie et al. (2006). While the negative bias can be reduced drastically as demonstrated in the simulation, the lack of high-quality surface refractivity constraint makes its application to real RO data difficult. In this paper, we use the widely available precipitable water (PW) satellite observation as the external constraint for the bias correction. A new framework is proposed to incorporate optimization into the RO reconstruction retrievals in the presence of ducting conditions. The new method uses optimal estimation to select the best refractivity solution whose PW and PBL height best match the externally retrieved PW and the known a priori states, respectively. The near-coincident PW retrievals from AMSR-E microwave radiometer instruments are used as an external observational constraint. This new reconstruction method is tested on both the simulated GNSS-RO profiles and the actual GNSS-RO data. Our results show that the proposed method can greatly reduce the negative refractivity bias when compared to the traditional Abel inversion.

This study describes the first experimental observations showing that hydrometeors induce polarimetric signatures in global navigation satellite system (GNSS) signals. This evidence is relevant to the PAZ low Earth orbiter, which will test the concept and applications of polarimetric GNSS radio occultation (RO) (i.e. ROs obtained with a dual-polarization antenna). A ground field campaign was carried out in preparation for PAZ to verify the theoretical sensitivity studies on this concept (Cardellach et al., 2015). The main aim of the campaign is to identify and understand the factors that might affect the polarimetric GNSS observables. Studied for the first time, GNSS signals measured with two polarimetric antennas (H, horizontal, and V, vertical) are shown to discriminate between heavy rain events by comparing the measured phase difference between the H and V phase delays (ΔΦ) in different weather scenarios. The measured phase difference indicates higher dispersion under rain conditions. When individual events are examined, significant increases in ΔΦ occur when the radio signals cross rain cells. Moreover, the amplitude of such a signal is much higher than the theoretical prediction for precipitation; thus, other sources of polarimetric signatures have been explored and identified. Modelling of other hydrometeors, such as melting particles and ice crystals, have been proposed to explain the obtained measurements, with good agreement in more than 90 % of the cases.

Means, standard deviations, homogeneity parameters used in models based on their ratio, and the probability distribution functions (PDFs) of cloud properties from the MODerate resolution Infrared Spectrometer (MODIS) are estimated globally as function of averaging scale varying from 5 to 500 km. The properties – cloud fraction, droplet effective radius, and liquid water path – all matter for cloud-climate uncertainty quantification and reduction efforts. Global means and standard deviations are confirmed to change with scale. For the range of scales considered, global means vary only within 3% for cloud fraction, 7% for liquid water path, and 0.2% for cloud particle effective radius. These scale dependences contribute to the uncertainties in their global budgets. Scale dependence for standard deviations and generalized flatness are compared to predictions for turbulent systems. Analytical expressions are identified that fit best to each observed PDF. While the best analytical PDF fit to each variable differs, all PDFs are well described by log-normal PDFs when the mean is normalized by the standard deviation inside each averaging domain. Importantly, log-normal distributions yield significantly better fits to the observations than gaussians at all scales. This suggests a possible approach for both sub-grid and unified stochastic modeling of these variables at all scales. The results also highlight the need to establish an adequate spatial resolution for two-stream radiative studies of cloud-climate interactions.

Atmospheric turbulence, irregular fluctuations of the fluid state, is studied on Mars. Universality of the turbulence spectrum underpins atmospheric models where computational requirements preclude full fidelity simulations of the smallest scales. However, there are discrepancies among reports on the existence and spectral location of universal scaling in Martian atmospheric data. Here, results indicate the smallest resolvable structures from Martian wind speed data are still associated with the energetic regime, which may ultimately explain why multiple reports have not found a consistent Kolmogorov-like spectral regime on Mars. Universal spectral scaling of wind data from Perseverance's Mars Environmental Dynamics Analyzer is used to estimate the thresholds that separate three turbulence regimes: energetic, inertial, and molecular dissipation. Wind measurements at 2-Hz, the fastest sampling rate for direct wind sensor measurements on Mars, resolves turbulence in the energetic regime and approaches the inertial regime, which is consistent with reported Martian dust devil sizes., Competing Interests: Competing interestsThe authors declare no competing interests., (© The Author(s) 2024.)

Dust devils (convective vortices loaded with dust) are common at the surface of Mars, particularly at Jezero crater, the landing site of the Perseverance rover. They are indicators of atmospheric turbulence and are an important lifting mechanism for the Martian dust cycle. Improving our understanding of dust lifting and atmospheric transport is key for accurate simulation of the dust cycle and for the prediction of dust storms, in addition to being important for future space exploration as grain impacts are implicated in the degradation of hardware on the surface of Mars. Here we describe the sound of a Martian dust devil as recorded by the SuperCam instrument on the Perseverance rover. The dust devil encounter was also simultaneously imaged by the Perseverance rover's Navigation Camera and observed by several sensors in the Mars Environmental Dynamics Analyzer instrument. Combining these unique multi-sensorial data with modelling, we show that the dust devil was around 25 m large, at least 118 m tall, and passed directly over the rover travelling at approximately 5 m s -1 . Acoustic signals of grain impacts recorded during the vortex encounter provide quantitative information about the number density of particles in the vortex. The sound of a Martian dust devil was inaccessible until SuperCam microphone recordings. This chance dust devil encounter demonstrates the potential of acoustic data for resolving the rapid wind structure of the Martian atmosphere and for directly quantifying wind-blown grain fluxes on Mars., (© 2022. The Author(s).)

Despite the importance of sand and dust to Mars geomorphology, weather, and exploration, the processes that move sand and that raise dust to maintain Mars' ubiquitous dust haze and to produce dust storms have not been well quantified in situ, with missions lacking either the necessary sensors or a sufficiently active aeolian environment. Perseverance rover's novel environmental sensors and Jezero crater's dusty environment remedy this. In Perseverance's first 216 sols, four convective vortices raised dust locally, while, on average, four passed the rover daily, over 25% of which were significantly dusty ("dust devils"). More rarely, dust lifting by nonvortex wind gusts was produced by daytime convection cells advected over the crater by strong regional daytime upslope winds, which also control aeolian surface features. One such event covered 10 times more area than the largest dust devil, suggesting that dust devils and wind gusts could raise equal amounts of dust under nonstorm conditions.

Before the Perseverance rover landing, the acoustic environment of Mars was unknown. Models predicted that: (1) atmospheric turbulence changes at centimetre scales or smaller at the point where molecular viscosity converts kinetic energy into heat 1 , (2) the speed of sound varies at the surface with frequency 2,3 and (3) high-frequency waves are strongly attenuated with distance in CO 2 (refs.  2-4 ). However, theoretical models were uncertain because of a lack of experimental data at low pressure and the difficulty to characterize turbulence or attenuation in a closed environment. Here, using Perseverance microphone recordings, we present the first characterization of the acoustic environment on Mars and pressure fluctuations in the audible range and beyond, from 20 Hz to 50 kHz. We find that atmospheric sounds extend measurements of pressure variations down to 1,000 times smaller scales than ever observed before, showing a dissipative regime extending over five orders of magnitude in energy. Using point sources of sound (Ingenuity rotorcraft, laser-induced sparks), we highlight two distinct values for the speed of sound that are about 10 m s -1 apart below and above 240 Hz, a unique characteristic of low-pressure CO 2 -dominated atmosphere. We also provide the acoustic attenuation with distance above 2 kHz, allowing us to explain the large contribution of the CO 2 vibrational relaxation in the audible range. These results establish a ground truth for the modelling of acoustic processes, which is critical for studies in atmospheres such as those of Mars and Venus., (© 2022. The Author(s).)

The Radiation and Dust Sensor is one of six sensors of the Mars Environmental Dynamics Analyzer onboard the Perseverance rover from the Mars 2020 NASA mission. Its primary goal is to characterize the airbone dust in the Mars atmosphere, inferring its concentration, shape and optical properties. Thanks to its geometry, the sensor will be capable of studying dust-lifting processes with a high temporal resolution and high spatial coverage. Thanks to its multiwavelength design, it will characterize the solar spectrum from Mars' surface. The present work describes the sensor design from the scientific and technical requirements, the qualification processes to demonstrate its endurance on Mars' surface, the calibration activities to demonstrate its performance, and its validation campaign in a representative Mars analog. As a result of this process, we obtained a very compact sensor, fully digital, with a mass below 1 kg and exceptional power consumption and data budget features.

Nine simulations are used to predict the meteorology and aeolian activity of the Mars 2020 landing site region. Predicted seasonal variations of pressure and surface and atmospheric temperature generally agree. Minimum and maximum pressure is predicted at Ls ∼ 145 ∘ and 250 ∘ , respectively. Maximum and minimum surface and atmospheric temperature are predicted at Ls ∼ 180 ∘ and 270 ∘ , respectively; i.e., are warmest at northern fall equinox not summer solstice. Daily pressure cycles vary more between simulations, possibly due to differences in atmospheric dust distributions. Jezero crater sits inside and close to the NW rim of the huge Isidis basin, whose daytime upslope (∼east-southeasterly) and nighttime downslope (∼northwesterly) winds are predicted to dominate except around summer solstice, when the global circulation produces more southerly wind directions. Wind predictions vary hugely, with annual maximum speeds varying from 11 to 19 ms - 1 and daily mean wind speeds peaking in the first half of summer for most simulations but in the second half of the year for two. Most simulations predict net annual sand transport toward the WNW, which is generally consistent with aeolian observations, and peak sand fluxes in the first half of summer, with the weakest fluxes around winter solstice due to opposition between the global circulation and daytime upslope winds. However, one simulation predicts transport toward the NW, while another predicts fluxes peaking later and transport toward the WSW. Vortex activity is predicted to peak in summer and dip around winter solstice, and to be greater than at InSight and much greater than in Gale crater., Supplementary Information: The online version contains supplementary material available at 10.1007/s11214-020-00788-2., (© The Author(s) 2021.)

NASA's Mars 2020 (M2020) rover mission includes a suite of sensors to monitor current environmental conditions near the surface of Mars and to constrain bulk aerosol properties from changes in atmospheric radiation at the surface. The Mars Environmental Dynamics Analyzer (MEDA) consists of a set of meteorological sensors including wind sensor, a barometer, a relative humidity sensor, a set of 5 thermocouples to measure atmospheric temperature at ∼1.5 m and ∼0.5 m above the surface, a set of thermopiles to characterize the thermal IR brightness temperatures of the surface and the lower atmosphere. MEDA adds a radiation and dust sensor to monitor the optical atmospheric properties that can be used to infer bulk aerosol physical properties such as particle size distribution, non-sphericity, and concentration. The MEDA package and its scientific purpose are described in this document as well as how it responded to the calibration tests and how it helps prepare for the human exploration of Mars. A comparison is also presented to previous environmental monitoring payloads landed on Mars on the Viking, Pathfinder, Phoenix, MSL, and InSight spacecraft., (© The Author(s) 2021.)

There is currently a gap in satellite observations of the moisture structure during heavy precipitation conditions, since infrared and microwave sounders cannot sense water-vapour structure near the surface in the presence of intense precipitation. Conversely, Global Navigation Satellite System (GNSS) radio occultations (RO) can profile the moisture structure with high precision and vertical resolution, but cannot indicate the presence of precipitation directly. Polarimetric RO (PRO) measurements have been proposed as a method to characterize heavy rain in GNSS RO, by measuring the polarimetric differential phase delay induced by large size hydrometeors. Previous studies have shown that the PRO polarimetric phase shift is sensitive to the path-integrated rain rate under intense precipitation scenarios, but there is no current method to invert PRO measurements into quantitative estimates of the path-averaged rain rate. In this manuscript, a probabilistic inversion approach to the GNSS PRO observables is proposed, where the GPM precipitation products are used for the construction of an a priori look-up table (LUT) database. The performance of the LUTs is assessed for use in the inversion of satellite-based GNSS PRO observations, based on synthetically generated PRO data of actual events, which correspond to co-locations between GNSS RO profiles and the TRMM observations. The synthetic data include end-to-end propagation effects of the polarimetric observables and a simple separation algorithm to isolate the hydrometeor component of the observation. The assessment results in agreement better than ±1 mm/hr between the reference LUT and the actual rain statistics of the synthetic data, proving the suitability of the GPM-based probabilistic inversion tool. These findings indicate that the GNSS PRO products are capable of extending the current GNSS RO ones by associating indications of rain-rate probabilities at different altitudes, at ∼250 m vertical resolution and under intense precipitation scenarios with the standard vertical thermodynamic profiles.

The analysis of the surface energy budget (SEB) yields insights into soil-atmosphere interactions and local climates, while the analysis of the thermal inertia ( I ) of shallow subsurfaces provides context for evaluating geological features. Mars orbital data have been used to determine thermal inertias at horizontal scales of ∼10 4  m 2 to ∼10 7  m 2 . Here we use measurements of ground temperature and atmospheric variables by Curiosity to calculate thermal inertias at Gale Crater at horizontal scales of ∼10 2  m 2 . We analyze three sols representing distinct environmental conditions and soil properties, sol 82 at Rocknest (RCK), sol 112 at Point Lake (PL), and sol 139 at Yellowknife Bay (YKB). Our results indicate that the largest thermal inertia I  = 452 J m -2  K -1  s -1/2 (SI units used throughout this article) is found at YKB followed by PL with I  = 306 and RCK with I  = 295. These values are consistent with the expected thermal inertias for the types of terrain imaged by Mastcam and with previous satellite estimations at Gale Crater. We also calculate the SEB using data from measurements by Curiosity's Rover Environmental Monitoring Station and dust opacity values derived from measurements by Mastcam. The knowledge of the SEB and thermal inertia has the potential to enhance our understanding of the climate, the geology, and the habitability of Mars.