Meteoroid impacts shape planetary surfaces by forming new craters and alter atmospheric composition. During atmospheric entry and impact on the ground, meteoroids excite transient acoustic and seismic waves. However, new crater formation and the associated impact-induced mechanical waves have yet to be observed jointly beyond Earth. Here we report observations of seismic and acoustic waves from the NASA InSight lander’s seismometer that we link to four meteoroid impact events on Mars observed in spacecraft imagery. We analysed arrival times and polarization of seismic and acoustic waves to estimate impact locations, which were subsequently confirmed by orbital imaging of the associated craters. Crater dimensions and estimates of meteoroid trajectories are consistent with waveform modelling of the recorded seismograms. With identified seismic sources, the seismic waves can be used to constrain the structure of the Martian interior, corroborating previous crustal structure models, and constrain scaling relationships between the distance and amplitude of impact-generated seismic waves on Mars, supporting a link between the seismic moment of impacts and the vertical impactor momentum. Our findings demonstrate the capability of planetary seismology to identify impact-generated seismic sources and constrain both impact processes and planetary interiors.

流星体通过形成新的陨石坑和改变大气成分来塑造行星表面。在进入大气层和撞击地面期间，流星体会激发瞬态声波和地震波。然而，尚未在地球以外共同观察到新的陨石坑形成和相关的撞击引起的机械波。在这里，我们报告了来自 NASA InSight 着陆器地震仪的地震和声波观测结果，我们将这些观测结果与航天器图像中观察到的四个火星上的流星体撞击事件联系起来。我们分析了地震波和声波的到达时间和极化来估计撞击位置，随后通过相关陨石坑的轨道成像证实了这一点。陨石坑尺寸和流星体轨迹估计与记录的地震图的波形建模一致。通过确定的震源，地震波可用于约束火星内部的结构，证实先前的地壳结构模型，并约束火星上撞击产生的地震波的距离和幅度之间的比例关系，支持地震之间的联系冲击时刻和垂直冲击动量。我们的研究结果证明了行星地震学能够识别撞击产生的震源并限制撞击过程和行星内部。支持地震冲击力矩和垂直冲击动量之间的联系。我们的研究结果证明了行星地震学能够识别撞击产生的震源并限制撞击过程和行星内部。支持地震冲击力矩和垂直冲击动量之间的联系。我们的研究结果证明了行星地震学能够识别撞击产生的震源并限制撞击过程和行星内部。