Ingenuity (helicopter)

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Ingenuity
Part of Mars 2020
Mars helicopter on sol 46.png
Ingenuity helicopter as seen by the Mars 2020 Perseverance rover on sol 46 after
its deployment on Martian surface at Ingenuity helicopter drop site, part from self
portrait taken by the rover
Other name(s)
Mars 2020 helicopter
Ginny
Type UAV helicopter
Manufacturer Jet Propulsion Laboratory (NASA)
Registration IGY
Technical details
Dimensions
Fuselage (body): 13.6 cm � 19.5 cm � 16.3 cm (5.4 in � 7.7 in � 6.4 in)[1]
Landing legs: 0.384 m (1 ft 3.1 in)[1]
Diameter Rotors: 1.2 m (4 ft)[1][2][3]
Height 0.49 m (1 ft 7 in)[1]
Landing mass
Total: 1.8 kg (4.0 lb)[1][3]
Batteries: 273 g (9.6 oz)
Power 350 watts[1][4]
Flight history
First flight
19 April 2021
Launch date 30 July 2020, 11:50:00 UTC
Launch site Cape Canaveral, SLC-41
Landing date 18 February 2021, 20:55 UTC
Landing site 18.4447�N 77.4508�E
Jezero crater
Octavia E. Butler Landing
Status
Operational (Deployed from Perseverance on 3 April 2021)[5][6][7][8]
Maiden flight � 19 April 2021
Instruments
Inertial sensorsLaser altimeterTwo navcams
Mars Helicopter JPL insignia.svg
JPL's Mars Helicopter insignia
Ingenuity is a small robotic helicopter located on Mars since February 18, 2021.
The first aircraft on the planet, it successfully completed the first known powered
atmospheric flight, from vertical takeoff to landing, on any planet beyond Earth,
on April 19, 2021.[9][10] Part of NASA's Mars 2020 mission, the small coaxial,
drone rotorcraft is serving as a technology demonstrator for the potential use of
flying probes on other worlds, and will have the potential to scout locations of
interest and support the future planning of driving routes for Mars rovers.[11][12]
[1]

Ingenuity was attached to the underside of the Perseverance rover when it landed.
It deployed on April 3, 2021,[5][6][7] about 60 days after Perseverance's landing
at the Octavia E. Butler Landing site in Jezero crater. First takeoff was attempted
on 19 April 2021 at 07:15 UTC, with livestreaming 3 hours later at 10:15 UTC
confirming the flight.[13][14][15][16][17][18] After unloading the drone, the
Perseverance rover drove approximately 100 m (330 ft) away to allow it a safe
"buffer zone" in which it made its first flight.[19][20]

Ingenuity is expected to fly up to five times during its 30-day test campaign
scheduled early in the rover's mission. Primarily technology demonstrations,[1][21]
each flight is planned to fly at altitudes ranging from 3�5 m (10�16 ft) above the
ground for up to 90 seconds each.[1] Ingenuity, which can travel up to 50 m (160
ft) downrange and then back to the starting area,[1] will use autonomous control
during its short flights, which will be telerobotically planned and scripted by
operators at Jet Propulsion Laboratory (JPL). It will communicate directly with the
Perseverance rover after each landing. Its rotor blades were successfully unlocked
on April 8, 2021, days after it detached from Perseverance.[22][23]

If Ingenuity works as expected, NASA may build on its design to extend the aerial
component of future Mars missions.[24] The project is led by MiMi Aung at JPL.[25]
Other contributors include AeroVironment, Inc., the NASA Ames Research Center, and
the NASA Langley Research Center.[26]

Ingenuity carries a piece of fabric from the wing of the 1903 Wright Flyer, the
Wright Brothers' airplane, humanity's first controlled powered flight on Earth.

Contents
1 Name
2 Design
3 Development
3.1 Preliminary tests on Earth
3.2 Future Mars rover design iteration
4 Mission profile
5 Operational history
6 Commemorative artifact
6.1 Tribute to Wright Brothers
7 List of flights
8 Gallery
8.1 Videos
8.2 Flight tests on Mars
8.3 Flight operations on Mars
8.4 Images by Ingenuity
8.5 Self-portraits
9 See also
10 References
11 External links
Name
The vehicle was named Ingenuity by Vaneeza Rupani, a girl in the 11th grade at
Tuscaloosa County High School in Northport, Alabama, who submitted an essay into
NASA's "Name the Rover" contest.[27][28] Known in planning stages as the Mars
Helicopter Scout,[29] or simply the Mars Helicopter[3] the nickname Ginny later
entered use in parallel to the parent rover Perseverance being affectionately
referred to as Percy.[30]

Design
Diagram showing the components of Ingenuity
Flight characteristics of Ingenuity
Rotor speed 2400 rpm[1][3]
Blade tip speed <0.7 Mach[29]
Operational time 1 to 5 flights within 30 sols[1][4]
Flight time Up to 90 seconds per flight[1]
Maximum range, flight 50 m (160 ft)[1]
Maximum range, radio 1,000 m (3,300 ft)[24]
Maximum planned altitude 5 m (16 ft)[1]
Maximum speed
Horizontal: 10 m/s (33 ft/s)[26]
Vertical: 3 m/s (9.8 ft/s)[26]
Battery capacity 35�40 Wh (130�140 kJ)[31]
Because the atmosphere of Mars is only about ?1/100 as dense as that of Earth at
surface level,[32] it is much harder for an aircraft to generate lift, a difficulty
only partially offset by Mars' lower gravity (about a third of Earth's).[11]
Liftoff from Mars' surface has been described as equivalent to flying at 100,000 ft
(30,000 m) above Earth, an altitude that has never been reached by existing
helicopters.[11]

Ingenuity is designed to be a technology demonstrator by JPL to assess whether this

technology can fly safely, and provide better mapping and guidance that would give
future mission controllers more information to help with travel routes planning and
hazard avoidance, as well as identifying points of interest for the rover.[33][34]
[35] The helicopter is designed to provide overhead images with approximately ten
times the resolution of orbital images, and will provide images of features that
may be occluded from the cameras of the Perseverance rover.[36] It is expected that
such scouting may enable future rovers to safely drive up to three times as far per
sol.[37]

The helicopter uses contra-rotating coaxial rotors about 1.2 m (4 ft) in diameter.
Its payload is a high resolution downward-looking camera for navigation, landing,
and science surveying of the terrain, and a communication system to relay data to
the Perseverance rover.[38] Although it is an aircraft, it was constructed to
spacecraft specifications in order to endure the g-force and vibration during
launch.[39] It also includes radiation-resistant systems capable of operating in
the frigid environment of Mars. The inconsistent Mars magnetic field precludes the
use of a compass for navigation, so it uses a solar tracker camera integrated to
JPL's visual inertial navigation system. Some additional inputs include gyros,
visual odometry, tilt sensors, altimeter, and hazard detectors.[40] It was designed
to use solar panels to recharge its batteries, which are six Sony Li-ion cells with
35�40 Wh (130�140 kJ) of battery energy capacity[31] (nameplate capacity of 2 Ah).
[24]

The helicopter uses a Qualcomm Snapdragon 801 processor with a Linux operating
system.[41] Among other functions, this processor controls the visual navigation
algorithm via a velocity estimate derived from features tracked with a black-and-
white downward-facing navigation camera or horizon-facing terrain camera.[24] The
Qualcomm processor is connected to two flight-control microcontroller units (MCUs)
to perform the necessary flight-control functions.[24] It also carries an IMU and a
Garmin LIDAR Lite v3 laser altimeter.[41] Communications with the rover are through
a radio link using low-power Zigbee communication protocols, implemented via 900
MHz SiFlex 02 chipsets mounted in both the rover and helicopter.[24] The
communication system is designed to relay data at 250 kbit/s over distances of up
to 1,000 m (3,300 ft).[24]

Development
NASA's JPL and AeroVironment published the conceptual design in 2014 for a scout
helicopter to accompany a rover.[26][42][43] By mid 2016, US$15 million was being
requested to keep development of the helicopter on track.[44] By December 2017,
engineering models of the vehicle had been tested in a simulated Martian
atmosphere[24][2] and models were undergoing testing in the Arctic, but its
inclusion in the mission had not yet been approved nor funded.[45] The United
States federal budget, announced in March 2018, provided US$23 million for the
helicopter for one year[46][47] and it was announced on 11 May 2018 that the
helicopter could be developed and tested in time to be included in the Mars 2020
mission.[48] The helicopter underwent extensive flight-dynamics and environment
testing,[24][49] and was then mounted on the underside of the Perseverance rover in
August 2019.[50] Its mass is just under 1.8 kg (4.0 lb)[49] and JPL has specified
that it is planned to have a design life of five flights on Mars.[51][48] NASA has
invested about US$80 million to build Ingenuity and about US$5 million to operate
the helicopter.[52]

Preliminary tests on Earth

In 2019, preliminary designs of Ingenuity were tested on Earth in simulated Mars
atmospheric and gravity conditions. For flight testing, a large vacuum chamber was
used to simulate the very low atmospheric pressure of Mars � filled with carbon
dioxide to approximately 0.60% (about ?1/160) of standard atmospheric pressure at
sea level on Earth � which is roughly equivalent to a helicopter flying at 34,000 m
(112,000 ft) altitude in the atmosphere of Earth. In order to simulate the much
reduced gravity field of Mars (38% of Earth's), 62% of Earth's gravity was offset
by a line pulling upwards during flight tests. [31] A "wind-wall" consisting of
almost 900 computer fans was used to provide wind in the chamber.[53]
[54]:1:08:05�1:08:40

Future Mars rover design iteration

The Ingenuity technology demonstrator could form the foundation on which more
capable aircraft might be developed for aerial exploration of Mars and other
planetary targets with an atmosphere.[33][24][55] The next generation of rotorcraft
could be in the range between 5 and 15 kg (11 and 33 lb) with science payloads
between 0.5 and 1.5 kg (1.1 and 3.3 lb). These potential aircraft could have direct
communication to an orbiter and may or may not continue to work with a landed
asset.[20] Future helicopters could be used to explore special regions with exposed
water ice or brines, where Earth microbial life could potentially survive. Mars
helicopters may also be considered for fast retrieval of small sample caches back
to a Mars ascent vehicle for return to Earth such as the one to be launched in
2026.[52][24]

Mission profile
After deployment, the rover is expected to drive approximately 100 m (330 ft) away
from the drone to allow it a safe "buffer zone" in which it will attempt to fly in
April 2021.[56][20] The Ingenuity helicopter is expected to fly up to five times
during its 30-day test campaign starting in April 2021, early in the rover's
mission.[1][21]

Each flight is planned to be at altitudes ranging from 3�5 m (10�16 ft) above the
ground.[1] In a NASA press conference on April 9, 2021, Operations Lead Tim Canham
and Aung said that the first flight is planned to be a stationary hover at an
altitude of 3 m (9.8 ft), lasting about 40 seconds and including taking a picture
of the rover, with subsequent flights being increasingly ambitious.
[54]:0:24:49�0:25:29,1:22:21�1:22:55 Aung also explained that the flights would get
more ambitious as experience is gained and the allotted time for operating the
helicopter dwindles, and that the mission may end before the 30-day period is up,
in the likely event that the helicopter crashes.[54]:0:49:50�0:51:40 In up to 90
seconds per flight, it could travel as far as 50 m (160 ft) downrange and then back
to the starting area.[1]

It will use autonomous control during its short flights, although flights will be
telerobotically planned and scripted by operators at Jet Propulsion Laboratory
(JPL). It will communicate with the Perseverance rover directly after each landing.
The second flight will occur no earlier than four days after the first, using the
first day after flight to confirm the model of Ingenuity's energy usage; subsequent
flights will be three days apart.[54]:1:20:38�1:22:20

Operational history
Ingenuity was deployed on April 3, 2021,[8] after landing with the rover
Perseverance in the crater Jezero at Octavia E. Butler Landing on February 18,
2021, and removal of the debris shield on March 21, 2021.[57] The same day, the
small helicopter managed to take a photo of the surface of Mars which was
transmitted back to Earth.[58][59]

Ingenuity performed a low-speed rotor spin test on April 8, 2021 (mission sol 48),
[60] spinning at 50 rpm.[61] A high-speed spin test was attempted on April 9, but
failed due to the expiration of a watchdog timer, a measure to protect the
helicopter from incorrect operation in unforeseen conditions.[62] On April 12, a
software update to correct the problem was announced.[15] On April 17, 2021,
Ingenuity successfully passed the full-speed spin test.[16] The test involved
spinning its rotor blades, while still on the surface, up to full speed at around
2400 rpm for the first time on Mars.[63]

On April 19, 2021 at 11:30 UTC, the helicopter successfully performed the first
powered flight on Mars.[9] Ingenuity's starting "airstrip" was dubbed Wright
Brothers Field and received the commemorative ICAO airport code JZRO,[64] whilst
the drone itself received an ICAO type designator of IGY.[65]

Commemorative artifact
Tribute to Wright Brothers
A small piece of the wing covering from the Wright brothers' 1903 Wright Flyer, the
first powered aircraft on Earth, is attached to a cable underneath Ingenuity's
solar panel.[66] In 1969 Apollo 11's Neil Armstrong carried a similar Wright Flyer
artifact to the Moon in the Lunar Module Eagle. NASA named the site of Ingenuity's
first flight Wright Brothers Field.[67][68]

List of flights
No. Date
(UTC) Duration (seconds) Peak Altitude (meters/feet) Outcome
1[69]
19 April 2021
7:30
39.1
3 m (9.8 ft) (approx.)
Success
2[70]
NET 23 April 2021
TBD
TBD
Planned
3
NET 26 April 2021
TBD
TBD
Planned
4
NET 29 April 2021
TBD
TBD
Planned
5
NET 2 May 2021
TBD
TBD
Planned
Gallery
Videos
File:NASA-MarsIngenuityHelicopter-FirstFlightVideo-20210419.webm
Mars Ingenuity helicopter - First Flight
(video; 00:57; 19 April 2021)
Flight tests on Mars
Mars Ingenuity helicopter tests

Flight zone and rover locations

Flight zone map

Rover view of flight zone

Flight zone activities

Perseverance rover track and Ingenuity helicopter flight zone seen after rover had
reached Van Zyl Overlook
Ingenuity helicopter deployment and from under Perseverance rover and pre-flight
operations

Ingenuity in shield under rover

Debris shield removed

Rover moves away

Deployment begins

Fully vertical

Legs deployed

Successful deployment on Mars

Mars helicopter on sol 46

Ingenuity helicopter rotor blades unlocked for flying

Ingenuity on Sol 48[a]

Ingenuity gives its blades a slow-speed spin up test or 50 rpm test spin on sol 48

Ingenuity helicopter just after its blades completed a high-speed spin up test or
2400 rpm test spin on Sol 55[a]
Flight operations on Mars
Flights on Mars

Ingenuity's first flight captured by MastCam-Z aboard Mars 2020 Perseverance rover

Ingenuity's first flight altimeter data. The sudden increase in the graph indicates
the flight period.

Ingenuity safe after first flight

Images by Ingenuity
Images from Ingenuity helicopter[b]

Ingenuity helicopter's first color image after deployment on April 4, 2021[c]

Ingenuity's first black-and-white image from the air on its first flight, showing
its shadow
Self-portraits
Mars 2020 in Jezero crater on Mars containing Ingenuity helicopter � self-portraits

Ingenuity helicopter drop site

(April 2021)
Please see the difference between the image on high-speed spin up test and the one
on Sol 48, that is the image on Sol 48 has the upper blade in diagonal position
while the high-speed spin up test has lower blade in diagonal position
All images taken by Ingenuity are taken from black-and-white downward-facing
navigation camera or horizon-facing terrain camera .
Ingenuity legs on both sides of the image along with wheels in top corners
See also
ARES � 2008 robotic Mars aircraft proposal
Atmosphere of Mars
Dragonfly � Robotic rotorcraft mission to Saturn's moon Titan, launching in 2027
Sky-Sailor � A 2004 proposal of a robotic Mars aircraft
Vega � the program that included the first atmospheric flight on another planet, in
1985
List of firsts in aviation
Map of Mars
The image above contains clickable linksInteractive image map of the global
topography of Mars, overlain with locations of Mars landers and rovers. Hover your
mouse over the image to see the names of over 60 prominent geographic features, and
click to link to them. Coloring of the base map indicates relative elevations,
based on data from the Mars Orbiter Laser Altimeter on NASA's Mars Global Surveyor.
Whites and browns indicate the highest elevations (+12 to +8 km); followed by pinks
and reds (+8 to +3 km); yellow is 0 km; greens and blues are lower elevations (down
to -8 km). Axes are latitude and longitude; Polar regions are noted.(See also: Mars
map, Mars Memorials, Mars Memorials map) (view � discuss)( Active Rover �
Active Lander � Future )
Beagle 2? Beagle 2 (2003)Bradbury LandingCuriosity (2012) ?Deep Space 2Deep Space 2
(1999) ?Columbia Memorial StationRosalind Franklin rover (2023) ?InSight
LandingInSight (2018) ?Mars 2Mars 2 (1971) ?Mars 3? Mars 3 (1971)Mars 6Mars 6
(1973) ?Mars Polar LanderPolar Lander (1999) ?Challenger Memorial Station?
Opportunity (2004)Mars 2020? Perseverance (2021)Green Valley? Phoenix
(2008)Schiaparelli EDM landerSchiaparelli EDM (2016) ?Carl Sagan Memorial Station?
Sojourner (1997)Columbia Memorial StationSpirit (2004) ?Tianwen-1?Tianwen-1 rover
(2021)Thomas Mutch Memorial StationViking 1 (1976) ?Gerald Soffen Memorial
StationViking 2 (1976) ?
Map of Mars
The image above contains clickable linksInteractive image map of the global
topography of Mars, overlain with locations of memorial sites on Mars. Hover your
mouse over the image to see the names of over 60 prominent geographic features, and
click to link to them. Coloring of the base map indicates relative elevations,
based on data from the Mars Orbiter Laser Altimeter on NASA's Mars Global Surveyor.
Whites and browns indicate the highest elevations (+12 to +8 km); followed by pinks
and reds (+8 to +3 km); yellow is 0 km; greens and blues are lower elevations (down
to -8 km). Axes are latitude and longitude; Polar regions are noted.(See also: Mars
map & Mars Rovers map) (view � discuss)( Named � Debris � Unknown location )
Beagle 2? Beagle 2CuriosityBradbury Landing ?Deep Space 2Deep Space 2 ? ?
InSightInSight Landing ?Mars 2Mars 2 ? ?Mars 3? Mars 3 ?Mars 6Mars 6 ? ?Mars Polar
LanderPolar Lander ? ?Opportunity? Challenger Memorial StationPereverance?Octavia
E. Butler Landing?Wright Brothers FieldPhoenix? Green ValleySchiaparelli EDM
landerSchiaparelli EDM ?Pathfinder?Carl Sagan Memorial StationSpiritColumbia
Memorial Station ?Viking 1Thomas Mutch Memorial Station ?Viking 2Gerald Soffen
Memorial Station ?

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External links
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NASA Mars Helicopter webpage
Mars Helicopter Technology Demonstrator. (PDF) � The key design features of the
prototype drone.
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