Robotic magnetic mapping with the Kapvik planetary micro-rover

Abstract

Geomagnetic data gathering by micro-rovers is gaining momentum both for future planetary exploration missions and for terrestrial applications in extreme environments. This paper presents research into the integration of a planetary micro-rover with a potassium total-field magnetometer. The 40 kg Kapvik micro-rover is an ideal platform due to an aluminium construction and a rocker-bogie mobility system, which provides good manoeuvrability and terrainability. A light-weight GSMP 35U (uninhabited aerial vehicle) magnetometer, comprised of a 0.65 kg sensor and 0.63 kg electronics module, was mounted to the chassis via a custom 1.21 m composite boom. The boom dimensions were optimized to be an effective compromise between noise mitigation and mechanical practicality. An analysis using the fourth difference method was performed estimating the magnetic noise envelope at ±0.03 nT at 10 Hz sampling frequency from the integrated systems during robotic operations. A robotic magnetic survey captured the total magnetic intensity along three parallel 40 m long lines and a perpendicular 15 m long tie line over the course of 3.75 h. The total magnetic intensity data were corrected for diurnal variations, levelled by linear interpolation of tie-line intersection points, corrected for a regional gradient, and then interpolated using Delaunay triangulation to lead a residual magnetic intensity map. This map exhibited an anomalous linear feature corresponding to a magnetic dipole 650 nT in amplitude. This feature coincides with a storm sewer buried approximately 2 m in the subsurface. This work provides benchmark methodologies and data to guide future integration of magnetometers on board planetary micro-rovers.

Robotic astrobiology – prospects for enhancing scientific productivity of mars rover missions

“…It was deployed to investigate multiple scientific instrument-based operations in Mars-like geological sites pertinent to serpentine rock (Qadi et al 2015), which has potential astrobiological significance (Parnell et al 2010). It has been deployed with a magnetometer to investigate rover-deployed magnetic measurements (Hay et al 2017).…”

“…It has been deployed with a magnetometer to investigate rover-deployed magnetic measurements (Hay et al . 2017).…”

Instrumentation and application of unmanned ground vehicles for magnetic surveying

“…The interpolated residual magnetic intensity map ( Figure 26) Previously a magnetic survey of the Carleton University campus was completed with the Kapvik micro-rover at a similar location (Hay et al, 2017). The results generated by the two surveys are summarized in Table 9.…”

“…A robotic magnetic survey was performed with the Husky UGV in an area of the Carleton University campus previously surveyed by the Kapvik planetary exploration micro-rover (Hay et al, 2017). In addition, a walking ground survey with human operator was also conducted at this site but due to high field gradients and the variable L 0N, L 3N, L 6N, L12N)…”