用火星模拟地的雷达数据验证了地下雷达定位技术的可行性
Field Report on Ground Penetrating Radar for Localization at the Mars Desert Research Station
- 在火星模拟环境中采集50条以上雷达轨迹，测试地下雷达定位方法
- 首次在类火星地形中验证雷达用于探测车位姿估计的潜力
- 为未来火星探测器提供新定位思路，适合行星机器人研究者
本实地报告详细记录了我们在火星模拟环境——火星沙漠研究站（MDRS）进行为期两周的野外考察中，收集地面穿透雷达（GPR）数据的经验。目的是验证在崎岖地形中利用GPR进行定位的技术。目前行星探测车已配备GPR用于地质浅层探测，虽然地球上的车辆已成功应用雷达定位，但其作为行星探测车另一模态定位手段尚未被探索。利用GPR进行定位可提升探测车姿态估计的效率与鲁棒性。为验证该技术，我们在此环境中采集了超过50条独立的勘测轨迹，并讨论了方法、经验教训及未来研究方向。
原文摘要 · Abstract (English)
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments. Planetary rovers are already equipped with GPR for geologic subsurface characterization. GPR has been successfully used to localize vehicles on Earth, but it has not yet been explored as another modality for localization on a planetary rover. Leveraging GPR for localization can aid in efficient and robust rover pose estimation. In order to demonstrate localizing GPR in a Mars analog environment, we collected over 50 individual survey trajectories during a two-week period at the Mars Desert Research Station (MDRS). In this report, we discuss our methodology, lessons learned, and opportunities for future work.
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