Abstract
As the largest basin on Mars, Utopia Planitia has both experienced and recorded variations of the Martian palaeoclimate. Layered subsurface structures have been identified by ground-penetrating radar in southern Utopia Planitia but lateral variations of the subsurface, potentially linked to the Martian palaeoclimatic evolution, have not been investigated. Here we report the lateral frequency-variation patterns of Zhurong radar reflections and interpret them as buried polygonal terrain below a depth of 35 m. Sixteen polygonal wedges were identified within ∼1.2 km distance, suggesting a wide distribution of such terrain under Utopia Planitia. The contrast above and below ∼35 m depth represents a notable transformation of aqueous activity or thermal conditions in the Late Hesperian–Early Amazonian. The interpreted buried polygons, possibly generated by freeze–thaw cycles, imply that there was a strong palaeoclimatic variability at low-to-mid latitudes (∼25° N), potentially due to the high obliquity of ancient Mars.
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Main
Utopia Planitia, the largest impact basin in the northern hemisphere of Mars1, is considered to be a Late Hesperian lowland unit2 (Fig. 1a). The northern lowlands were largely filled with materials of the Vastitas Borealis Formation (VBF)3 as a sublimation residue from frozen ponded bodies of water4 and subsequently modified by Amazonian resurfacing5, such as long-term weathering, aeolian deposition6,7 and impact remixing8. A large number of orbital and in situ geomorphometry measurements show that polygonal terrain9,10 (Fig. 1c–f) and other periglacial features11,12 are extensively distributed in southern and western Utopia Planitia, indicating the occurrence of water-related or ice-related activities13,14. Viking 2, a previous ground-based probe in northern Utopia Planitia (Fig. 1a), identified troughs that probably form a polygonal network15. In 2021, two rovers, Perseverance and Zhurong (Fig. 1a and Extended Data Fig. 1), landed on Mars almost simultaneously16,17. Both rovers are equipped with ground-penetrating radar (GPR), operating at a frequency range of 150–1,200 MHz for Perseverance and 15–95 MHz (low-frequency channel) and 450–2,000 MHz (high-frequency channel) for Zhurong18,19. These can detect, for the first time, the high-resolution subsurface structures of Jezero crater20 and southern Utopia Planitia21,22, respectively. As an important complement to orbital radar explorations23,24, in situ GPR surveying can provide critical local details of shallow structures and composition within approximately 100 m depth along a rover traverse.
The Zhurong landing site is thought to be one of the best places for detecting ground ice at low-to-mid latitudes on Mars25. The GPR onboard Zhurong rover, thus, provides an unprecedented opportunity to illuminate subsurface structures and to investigate geological processes, particularly those associated with ancient or current water-related activities in southern Utopia Planitia. Subsurface layering in Utopia basin of Mars has been revealed by the radar of the Zhurong rover21,22, indicating the presence of sedimentation due to episodic hydraulic flooding that is interpreted to represent the basin infilling of Utopia Planitia during the Late Hesperian to Amazonian. However, previous works mainly focused on the vertically layered subsurface structure and less attention has been paid to lateral variations along the Zhurong radar profile.
Subsurface features potentially revealed in lateral variations are equally critical compared with the vertical layered structures for discovering the geological evolution of Mars. However, in the presence of strong scattering effects, preliminary attempts to extract features from the lateral variation of the Zhurong GPR profile proved unsuccessful. In an effort to unveil potential characteristics of the lateral variation of the subsurface surrounding the landing site, we conducted a comprehensive time–frequency analysis (Methods) of the Zhurong GPR data (Extended Data Figs. 2 and 3). We identified 16 nearly vertical bands dominated by anomalous low-frequency components at depths of 35–65 m along the rover traverse (Fig. 1b), which probably formed on ancient Mars and were buried by later geological processes.
Palaeo-polygons detected by the GPR on the Zhurong rover
Figure 2a shows the frequency distribution in the depth domain after random noise attenuation26 and time-to-depth conversion using the velocity model of ref. 21 (Methods). According to the features in the frequency variation with increasing depth, the subsurface structure can be divided into three layers: (1) the first layer (0–35 m) has uniformly distributed energy, indicating relatively homogeneous media; (2) the second layer (35–65 m) has a series of vertical bands with anomalous low-frequency components, indicating strong lateral variations; and (3) the third layer (65–80 m) is dominated by strong random noise, where the frequency increases anomalously and precludes further interpretation. The most notable feature in the GPR profile is the alternating occurrence of high- and low-frequency bands within the depth range 35–65 m in the second layer (Fig. 2a). The dominant frequency of these low-frequency bands (∼45 MHz) is ∼7 MHz lower than that of the background (∼52 MHz) (Extended Data Fig. 3). Along the 1.2-km-long rover traverse, as many as 16 such low-frequency bands were identified (Figs. 1b and 2b).
We conducted a series of analyses to make sure that these low-frequency bands were not artefacts (Methods). First, the time-varying average frequency of the original GPR data without random noise attenuation (Extended Data Fig. 2c) shows similar low-frequency bands. Second, different denoising methods (Extended Data Fig. 2d, ref. 27) and segmentation methods (Extended Data Fig. 4) show consistent low-frequency bands (Fig. 2a), suggesting that none of these low-frequency bands is an artefact from improper data processing. Additionally, the low-frequency bands generally start from a depth of ∼35 m, not from the surface, indicating that they are associated with underground structures rather than surface objects. Furthermore, the positions of these low-frequency bands along the rover traverse (green segments in Fig. 1b) do not show any correlation with the distribution of dunes or rocks on the surface (Extended Data Fig. 1), suggesting that the low-frequency bands are not caused by surface-related features. Therefore, we can confirm that the low-frequency bands faithfully reflect the lateral variations of subsurface structures. Considering that these anomalous structures systematically occur every few tens of metres and are nearly vertical in orientation (Fig. 2), we interpret them as the infilled wedges between columns of a polygonal terrain buried under ∼35 m of overlying materials (Fig. 3).
Tens of giant troughs have been identified near the Zhurong landing site28. These troughs are part of the polygonal trough system in southern Utopia Planitia29. Compared to polygonal terrain that is in the form of a network, isolated troughs usually exhibit linear shapes. Several isolated troughs have been observed with widths >100 m around the Zhurong landing site (Extended Data Fig. 5). However, no polygonal terrain has been identified from surface observations or orbital imagery (Fig. 1b) within several kilometres of the Zhurong landing site (Extended Data Fig. 1). Thus, the buried polygons observed here from the GPR profile exclusively represent a palaeo-polygonal terrain. The average polygon diameter extracted from the GPR profile (Fig. 2c,d) is ∼67 m (Fig. 2e), which is within the typical range of previously reported Martian polygons (Fig. 2f) and is comparable to that of the surface polygons observed in western Utopia Planitia (Fig. 1c–f) within the latitudinal range between 40° and 50° (Methods and Extended Data Figs. 6 and 7). Considering that the direction of the rover track could be randomly oriented either perpendicular, parallel or oblique to the orientation of the polygon wedges (Extended Data Fig. 8), the average apparent width of the polygon wedges (∼27 m) is regarded as an overestimate so that the actual average width should be narrower. The average height of the polygon wedges (the absolute elevation difference between the bottom of a wedge and the shoulder of a polygon) is ∼30 m, corresponding to a polygon diameter/wedge height ratio of ∼2.2, which is generally consistent with the theoretical polygon diameter/wedge height ratio (∼3.0) of polygonal terrain30. The materials within the polygon wedges, possibly unconsolidated soil-rock mixtures, are more likely to absorb or scatter high-frequency components of radar waves, thus producing local low-frequency anomalies. In contrast, the polygon interiors are probably composed of well-consolidated materials, thus the high-frequency components can be well retained (Fig. 2a), leading to a weaker attenuation of radar waves.
Possible origin of the buried polygons
Polygonal terrain has been reported mainly in cold regions on Earth and mid-to-high latitudes on Mars9,11,31,32. Previously, Martian polygonal terrain has been observed only on the surface, mainly distributed at latitudes >30° (Fig. 1c–f; ref. 33), with diameters ranging from centimetres to kilometres9,34. Large Martian polygons (usually kilometre-scale) are widespread in the northern lowlands of Mars35,36. They were potentially caused by contraction jointing from lava cooling, contraction cracking from clay desiccation, thermal contraction, tectonic fracturing or the coalescence of smaller polygons9,37,38. In contrast, small-scale polygonal terrain (centimetres to tens of metres) was first found in situ by Viking 2, where the polygonal diameter near the lander was <10 m (ref. 31).
For polygons with diameters from centimetres to tens of metres, possible formation mechanisms31,39,40 may include contraction from desiccation of wet sediments producing mud-cracks, contraction from cooling lava producing columnar jointing, faulting creating a jointing system in rock and thermal contraction cracking. Polygonal cracks of desiccation-induced contraction are dominated by the evaporation of water in the soil, usually with a ratio of the crack width to the polygon diameter of <0.1 (refs. 41,42), which is much smaller than 0.4, the ratio of the wedge width (∼27 m) to the polygon diameter (∼67 m) detected in this paper. Consequently, desiccation as a contraction mechanism can be ruled out. In addition, if the buried polygons were caused by the contraction of cooling lava, the reflections from the interfaces between the lava flow(s) and underlying and overlying sediments should be notable due to a strong dielectric contrast43. However, no such strong reflection interfaces were observed in the low-frequency GPR data (Extended Data Fig. 2a) or in the SHARAD data (Extended Data Fig. 9). In addition, there is no evidence for the presence of basaltic extrusions in the Zhurong landing area, suggesting that volcanic columnar jointing is an unlikely explanation. Faulting-generated jointing systems are typically long and linear in shape40. Moreover, the low-frequency bands appear intermittently over relatively short segments of the rover path (such as P10 to P11, P13 to P14, and P14 to P15 in Fig. 1b), instead suggesting a polygonal terrain. Additionally, the lengths and widths of jointing systems due to faulting are usually kilometres in scale, but the SHARAD profile across the Zhurong landing site (Extended Data Fig. 9) does not show any evident reflection in this region. Consequently, fault jointing as a cracking mechanism can also be ruled out. Therefore, by a process of elimination, the buried polygons are interpreted to have most likely formed by thermal contraction cracking. The cracks generated in the ground may be infilled by water or soil material, causing three types of polygonal terrain (ice-wedge, composite-wedge and sand-wedge polygons44, Fig. 3b). Ice-wedge polygons usually develop in permafrost, with ice infilling the wedges45. The ice in a wedge could sublimate and local gravel, sand and clay particles could then partially fill in the wedge46,47, so that composite-wedge polygons form. Sand wedges usually form in cold regions from initial thermal contraction with subsequent aeolian deposition in the wedges48. We next consider the implication of the proposed explanation.
Geological age constraints indicate that the previously reported polygons at the surface of Utopia Planitia mainly formed in the Hesperian3,31. Near the latitude of the Zhurong landing site, polygons possibly formed in the Hesperian and were then covered by materials from the Late Hesperian to Amazonian plains1,2. At the Zhurong landing site, the material at depths of 30–80 m could have formed in the Late Hesperian–Early Amazonian, consistent with crater-counting ages estimated over various spatial ranges in southern Utopia Planitia5,28,29,49. In addition, the dielectric permittivity in this depth range is like that of materials of the VBF, indicating that this layer may represent an upper portion of the VBF deposits21. As the wedges of the polygons occur at depths of 35–65 m (Fig. 2a), the buried polygonal terrain probably developed from the sedimentary materials of the VBF, under dramatic changes in surface temperature on early Mars50. Polygonal terrain is distributed on the surface of present-day Mars mainly in high-latitude regions (generally >30°; ref. 31), whereas the buried polygonal terrain detected by the Zhurong rover occurs at low-to-mid latitudes (25° N; Fig. 3d). This latitudinal contrast may indicate that the Zhurong landing site had a cold environment that is found only at high latitudes on present Mars, but in the Late Hesperian–Early Amazonian, allowing for the formation of the palaeo-polygonal terrain at low-to-mid latitudes.
Implications for the palaeoclimatic conditions on Mars
The above-mentioned formation mechanism for the buried palaeo-polygonal terrain requires a cold environment and might be related to water/ice freeze–thaw processes in southern Utopia Planitia on early Mars. The detected buried polygons, which indicate that freezing occurred at low-to-mid latitudes, require strong palaeoclimatic variability, potentially due to the higher obliquity than today51. The possible presence of water and ice required for the freeze–thaw process in the wedges (Fig. 3a) may have come from cryogenic suction-induced moisture migration from an underground aquifer on Mars52,53,54, snowfall from the air55 or vapour diffusion for pore ice deposition.
The contrast in the lateral frequency-variation patterns above and below ∼35 m depth (Fig. 2a) suggests that for the polygons to form and become buried, there was a critical transformation of aqueous activity or thermal conditions in the Late Hesperian–Early Amazonian. This stark environmental transition at ∼35 m, thus, may indicate both the cessation of an ancient wet environment (Fig. 3c) as well as that unknown notable geological events occurred after the formation of the polygonal terrain56. The depositional thickness and the age of the present surface materials at the Zhurong landing site could be roughly estimated by a geological survey of this region5. However, the role of erosion in the area is difficult to constrain. The continued acquisition of in situ data by the Zhurong rover will help better constrain the local dynamics of deposition and erosion. The tops of the polygons are at different depths (Fig. 2a), and smooth lateral changes in depth from the top of one polygon to the next exhibit broad peaks and valleys that may imply erosion before they were buried. Whether the buried polygonal terrain experienced subsequent erosion or not, the ∼35-m-thick overlying materials provide a new constraint for estimating the deposition rate in southern Utopia Planitia.
Lateral variations in the subsurface structure at the Zhurong landing site provide evidence of a buried palaeo-polygonal terrain that formed in the Late Hesperian–Early Amazonian from periglacial processes. Occurring at low latitudes (∼25° N), the polygonal terrain, which is interpreted as having most likely formed by thermal contraction cracking, makes a compelling case for the high obliquity of early Mars. The subsurface structure with the covering materials overlying the buried palaeo-polygonal terrain suggests that there was a notable palaeoclimatic transformation some time thereafter.
Methods
Time–frequency analysis and time-varying average frequency
GPR is an ideal instrument for exploring subsurface structures on Earth and extraterrestrial bodies. Electromagnetic waves are emitted on the surface and reflections are received from subsurface interfaces where the dielectric permittivity or conductivity changes. Although rover-based GPR has a limited detection range and penetrating depth, it is an effective tool for detecting shallow subsurface structures and has been successfully applied to both the near and far sides of the Moon57,58. The GPR data employed in this study are the low-frequency channel data with a frequency range of 15–95 MHz, which can penetrate a depth of 80 m below the Martian surface. The local time–frequency decomposition method is an effective form of time–frequency analysis. It has a higher temporal resolution than the widely used short-time Fourier transform method and S-transform method59. The main idea of local time–frequency decomposition is to use a Fourier basis to match nonstationary signals by solving a regularized least-squares minimization problem. A casual nonstationary signal f(t), t ∈[0, L], can be expressed as a Fourier series as follows:
where An(t) are the Fourier coefficients and \({\psi }_{n}({\rm{t}})\,{={\rm{e}}}^{i(2\pi nt/L)}\). We can obtain An(t) by solving the least-squares minimization problem:
However, the minimization problem is ill-posed because it is severely underconstrained. To solve this problem, a regularization term is needed. After adding a regularization operator R, the formal solution \({\tilde{A}}_{n}(t)\) is given by:
The absolute value of \({\tilde{A}}_{n}(t)\) is the time–frequency representation of the signal f(t), which we refer to as the time–frequency map. Additionally, the time–frequency map can be converted to a time-varying average frequency according to
where fa(t) is the time-varying average frequency, F(f,t) is the time–frequency map, and f and t are the frequency and time, respectively. The time-varying average frequency can show well the spatial-temporal distribution characteristics of the main frequency components and, thus, is widely used to extract subsurface attributes60,61,62.
Potential causes of the anomalous low-frequency bands
To ensure that the identification of the anomalous low-frequency bands (Fig. 2a) was robust, we consider all their potential causes in this section. There are three possibilities for a horizontal discontinuity of the time-varying average frequency: (1) numerical artefacts caused by improper data processing, (2) an energy change in the GPR profile caused by surface anomalies, such as undulating terrain or surface rocks and (3) subsurface high-frequency-absorbing materials with an uneven transverse distribution. To avoid potential numerical artefacts and maintain the original proportion of the GPR profile energy in the horizontal direction during data processing, we used the same data processing methods, such as decoding, denoising and amplitude compensation, for all GPR data. The f–x regularized nonstationary autoregression method26 and the streaming orthogonal prediction filter method27 are both commonly used denoising methods in exploration seismic data processing, as they are effective in suppressing random noise and preserving weak signals. Therefore, item (1) should not be the case.
Furthermore, the travel path of the Zhurong rover was generally flat in terms of topography63. Within the first kilometre of the rover traverse, the fluctuation (within the local 3 m area covered by the rover) was no more than 0.1 m (Extended Data Fig. 1; ref. 64). Moreover, the engineering team guiding the rover tried to avoid rocks, grooves, pits and other terrain during path planning, so the impact of surface rocks and undulating terrain was mostly eliminated. The images taken by the Navigation and Terrain Camera (NaTeCam)65 show no evident variation in the terrain along the rover path except for several relatively bright white dune structures. This analysis shows that the horizontal discontinuity of the GPR profile was negligibly affected by data processing and surface factors, so that it faithfully reflects the high-frequency attenuation or absorbing effects of subsurface materials.
Determination of the polygon diameters
To determine the polygon diameters in the GPR profile (Fig. 2a), the recognition process was based on the width of the anomalous low-frequency bands as follows. Step 1: According to Fig. 2a, the depth range of these anomalous low-frequency bands is roughly 35–65 m. Thus, the frequency values within this depth range were stacked and smoothed to obtain a stacked amplitude spectrum by summing the time-varying average frequency (Fig. 2a). Step 2: Local minima in the stacked amplitude spectrum curve were identified. The left and right boundaries of the low-frequency bands were determined using the frequency distribution diagram in Fig. 2a. Step 3: The polygon diameter and the width of the wedge between two adjacent polygons were calculated using the left and right boundaries of the low-frequency bands. The diameter of a polygon was defined as the distance between the middle positions of two adjacent low-frequency bands (Fig. 2b), and the width of the wedge between the polygons is the width of a low-frequency band.
For the High Resolution Imaging Science Experiment (HiRISE) images (Extended Data Fig. 6), the polygons were recognized using the following five steps. Step 1: Calibrate the scale of the HiRISE images. Step 2: Identify the boundaries of polygons in the HiRISE images. Step 3: Mark the polygons using the imaging processing technology of the crack network to quantify crack patterns66,67. Step 4: Calculate the average diameter (unit: pixel) by averaging the maximum and minimum Feret diameters68 of each polygon cell. Step 5: Calculate the normal distribution statistics for the diameters of all polygons to obtain their mean value and standard deviation (Extended Data Fig. 6).
Data availability
The Mars Rover Penetrating Radar data used in this study are available from the Lunar and Planetary Data Release System (https://clpds.bao.ac.cn/web/enmanager/home). Path to access the data: Home Page>Scientific Data>Mars. HiRISE images used in this paper are publicly available on NASA’s Planetary Data System website (https://pds.nasa.gov). The SHARAD data used in this study are part of the Reduced Data Records produced by the US SHARAD Science Team and are available from the Planetary Data System (http://pds-geosciences.wustl.edu/missions/mro/SHARAD.htm). Other datasets generated and analysed in this study are available from the corresponding author upon reasonable request. Source data are provided with this paper.
Code availability
The codes used in this study are available to interested researchers upon request.
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Acknowledgements
We acknowledge the China National Space Administration, China’s first Mars exploration mission (Tianwen-1) team, the Ground Research and Application System and the payload team for the GPR. We also thank the Ground Research and Application System of China’s Lunar and Planetary Exploration Program for processing and producing this dataset. We are grateful to R. Zhang, Y. Geng, J. Li and J. Huang for discussions. This study is supported by the National Natural Science Foundation of China (42325406, 41941002, 42204178, 42304187, 42022026 and 41974062), a Key Research Program of the Chinese Academy of Sciences (ZDBS-SSWTLC001), a Key Research Program of the Institute of Geology and Geophysics, Chinese Academy of Sciences (202102 and 201904), and the Pre-research project on Civil Aerospace Technologies funded by China National Space Administration (D020102).
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J.Z. conceptualized the project. C.L., L.Z., J.Z., B.Z., Yike Liu, X.Z., J.H., Y.Z., Y. Wang, X.W., W. Lv, Yang Li, H. Lan, Yuxi Li, W.W., G.F. and Z.Y. were responsible for the methodology. L.Z., C.L., J.Z., Y.S.Z., Yang Liu, K.D., R.N.M., J.L., Z.Z., Lin Chen, X.L., W.S., C.X., P.Z., Yang Li, H. Lin, P.F., W. Lin, Y. Wei, Ling Chen, Y. Lu and Y.P. interpreted the results. L.Z., C.L. and J.Z. carried out the investigation. L.Z., C.L. and J.Z. were responsible for visualization. J.Z. and Y.P. supervised the project. L.Z., C.L. and J.Z. wrote the original draft. All authors were involved in writing, reviewing and editing the final paper.
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Extended data
Extended Data Fig. 1 Topography around the Zhurong landing site.
a, HiRISE image with traverse of the Zhurong rover (similar to Fig. 1b). b, Elevation distribution around Zhurong landing site, obtained from ESP_073225_2055. Image credit of HiRISE: NASA/JPL/University of Arizona.
Extended Data Fig. 2 Low-frequency profile of GPR and its corresponding time-varying average frequency.
a, Before random noise attenuation. b, After random noise attenuation using the streaming orthogonal prediction filter method. c, The corresponding time-varying average frequency of a. d, The corresponding time-varying average frequency of b.
Extended Data Fig. 3 Time-frequency map and time-varying average frequency of a single trace.
a, Time-frequency map (left), and waveform (right) of trace at the distance of 666.5 m (in the polygon interiors, indicated by purple color in Fig. 2c). b, Time-frequency map (left), and waveform (right) of trace at the distance of 712.5 m (at the wedge of polygons, indicated by green color in Fig. 2c). c, Time-varying average frequency of a and b, where the grey arrows indicate the trend of different time-varying average frequencies.
Extended Data Fig. 4 GPR imaging results using total variation (TV) regularization.
a, Original time-varying average frequency profile, the same as Fig. 2a. b, The time-varying average frequency profile after applying TV regularization with a Lagrange multiplier λ = 0.25 (ref. 69). c, The time-varying average frequency profile after applying TV regularization with λ = 0.20. A smaller value of λ implies more aggressive suppression of local variations and tends to produce much larger patches. d-f, The same as a-c but without presenting the outlines of the low-frequency bands (black lines) for comparison.
Extended Data Fig. 5 Distribution of troughs around the Zhurong landing site.
Trough locations are marked with white arrows. The Zhurong rover traverse (∼1.2 km long) is marked as a yellow line. Image credit of HiRISE: NASA/JPL/University of Arizona.
Extended Data Fig. 6 Polygon diameter determination of four local regions with polygonal terrain.
a, HiRISE images (Fig. 1c, PSP_002202_2250) in western Utopia Planitia, with locations marked in Fig. 1a. b, Recognized polygons based on manually mapped wedges of the polygons in a. c, Average diameter of the polygons shown in b using an imaging processing technology of the crack network66,67. The average diameter is defined as average of the maximum and the minimum Feret diameters. d-f, Same as a-c but for the HiRISE image PSP_006962_2215 (Fig. 1d). g-i, Same as a-c but for the HiRISE image PSP_002162_2260 (Fig. 1e). The two craters in the north are not counted for size analysis. j-l, Same as a-c but for the HiRISE image PSP_003177_2275 (Fig. 1f). Image credit: NASA/JPL/University of Arizona.
Extended Data Fig. 8 Illustration of the apparent width of low-frequency band recognized in Fig. 2a.
a, Sketch map of the relative location of the rover track and polygon wedges. b, Histogram of wedge width recognized from Fig. 2b.
Extended Data Fig. 9 Topographic map around the Zhurong landing site and the related SHARAD profile.
a, The elevation distribution around the Zhurong landing site (red cross). An N-S profile of SHARAD data is marked as a white line. b, SHARAD radargram (s_01836701) near the Zhurong landing site. Note that the vertical axis is the depth relative to Point S. The Zhurong landing site is marked as a red arrow.
Source data
Source Data Fig. 2
Calculated source data for Fig. 2.
Source Data Extended Data Fig. 2
Calculated source data for Extended Data Fig. 2.
Source Data Extended Data Fig. 3
Calculated source data for Extended Data Fig. 3.
Source Data Extended Data Fig. 4
Calculated source data for Extended Data Fig. 4.
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Zhang, L., Li, C., Zhang, J. et al. Buried palaeo-polygonal terrain detected underneath Utopia Planitia on Mars by the Zhurong radar. Nat Astron 8, 69–76 (2024). https://doi.org/10.1038/s41550-023-02117-3
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DOI: https://doi.org/10.1038/s41550-023-02117-3