Table 5.
Mars 2020 Perseverance rover Mastcam-Z instrument characteristics
| Optics | Description | |
|---|---|---|
| Focus | Adjustable; Working distances 0.5–1.0 m to ∞ | |
| MTF | >0.35 at Nyquist (optics + filters + CCD) | |
| Filter bandpasses | Two 8-position filter wheels: see Table 3 | |
| Zoom-Dependent: | Widest Field | Narrowest Field |
| FOV (1600 × 1200 pix) | 25.6° × 19.2° | 6.2° × 4.6° |
| IFOV | 283 μrad | 67.4 μrad |
| Focal ratio | f/6.7 | f/9.5 |
| Effective focal length | 26 mm | 110 mm |
| Detector & Electronics | Description | |
| CCD | ON Semi (Kodak) KAI-2020CM interline transfer | |
| Color | Red, Green, Blue microfilters, Bayer pattern | |
| Array size | 1600 × 1200 photoactive pixels (1648 × 1214 total) | |
| Pixel size | 7.4 μm (square pixels) | |
| Gain, Read Noise, Full Well | 15.6/15.6 e/DN; 22/21 e; 21826/21818 e (Left/Right) | |
| Digitization | 11 bits/pixel; single gain, no offset states | |
| Data Interface | Synchronous LVDS: 8 Mbit/sec | |
| Command Interface | 2 Mbit/sec serial link | |
| Memory | 128 MB SDRAM and 8 GB flash buffer for each camera | |
| Power | 7.5 W standby and 11.8 W imaging, per camera | |
| Exposure | Description | |
| Duration | 0 to 838.8 sec; commanded in units of 0.1 msec | |
| Auto-exposure | Based on MSL and MER auto-exposure algorithm (Maki et al. 2003) | |
| Onboard Compression | Description | |
| Uncompressed | 11-bit data; No compression; No color interpolation | |
| Lossless | ∼1.7:1 lossless compression; no color interpolation | |
| Lossy | Realtime JPEG; color interpolation or grayscale; commandable color subsampling Y:CR:CB (4:4:4 or 4:2:2) and compression quality (1–100) | |
| Video Group of Pictures (GOP) | JPEG-compressed color-interpolated GOPs, ≤2 MB file size and ≤16 frames/GOP; commandable color subsampling and compression quality | |
| Deferred compression | Image can be stored onboard the Mastcam-Z DEA uncompressed; specified compression can be performed at a later time for transmission to Earth | |
| Z-Stacking for focus merges, range mapping | Reduce as many as eight 1600 × 1200 raw images to a single 1600 × 1200 best-focus color JPEG plus a grayscale JPEG range image | |
| Companding | 11-bit to 8-bit square-root encoding/decoding via lookup tables | |
| Physical | Description | |
| DEA Dimensions | 22 × 12 × 5 cm | |
| Camera Head | 11 × 12 × 26 cm (each camera) | |
| Primary Cal Target | 98 × 98 × 8 mm base, plus 37.5 mm high gnomon | |
| Secondary Cal Target | 80 × 30 × 16 mm (width × height × depth) | |
| Stereo Baseline | 24.4 cm; toe-in angle between cameras: 2.3° | |
| Mass: Camera Head | 1.38 kg each | |
| Mass: DEA | 1.47 kg | |
| Mass: Cal Targets | Primary: 103 g; Secondary: 15 g | |