Radar sensor for an autonomous antarctic explorer

• Main Authors: Alex Foessel, Dimi Apostolopoulos, William “red Whittaker
• Other Authors: The Pennsylvania State University CiteSeerX Archives
• Format: Text
• Language: English
• Published: 1999
• Subjects: Antarctica; GPR; robotic explorers; meteorite search; Antarctic; Patriot Hills; Antarc*
• Online Access: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.70.3082; http://www.ri.cmu.edu/pub_files/pub2/foessel_alex_1999_1/foessel_alex_1999_1.pdf

The localization and identification of antarctic meteorites is a task of great scientific interest and with implications to planetary exploration. Autonomous search for antarctic meteorites presents a profound technical challenge. Ground Penetrating Radar (GPR) holds the prospect to safeguard antarctic robot from terrain dangers and detect subsurface objects. In January 1998, we validated a 500 MHz GPR sensor as part of as field robotic technology demonstration at Patriot Hills, Antarctica. We deployed the sensor from a sled and integrated with position and attitude instruments to perform field measurements. Data was acquired under different conditions and in multiple locations. The radar detected hidden crevasses from 50 cm. distance, thus showing its merit as a rover safeguarding device. It also localized 5 cm. rocks in snow and ice. Moreover, the radar data was used to characterize snow/ice/bedrock stratigraphy. GPS position measurements enabled ground truth and mapping of the location of hazards and interesting subsurface objects and features. This paper summarizes the experiments performed and discusses on the utility of the GPR sensor for autonomous antarctic robots.