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<p>Autonomous robotic systems will be the future of planetary exploration missions. For autonomous robotic exploration, reliable pose estimation is required. This can be provided by cooperative radio localization, where radio signals are exchanged among the robots and other mission objects. Range and direction information is obtained by measuring the signal round-trip time (RTT) and direction-of-arrival (DoA), which enables position and orientation estimation of the robots. For the first time, we have demonstrated cooperative radio localization within a space-analogue exploration mission with two robotic rovers on the volcano Mt Etna. With this paper, we share our main lessons learned based on a thorough evaluation of measurement data. Thereby we identify estimation biases as the main error source. We then show how to estimate and compensate these biases during the mission by simultaneous localization and calibration (SLAC). We further investigate the impact of the radio signals reflected on the ground and on mission objects on the ranging accuracy. Then, we demonstrate the benefit of cooperation and the feasibility of single-link localization. In addition, we share tangible ranging and DoA estimation error models based on measurements in a realistic environment.</p>

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Radio Localization for Robotic Planetary Exploration: Lessons Learned from a Space-Analogue Mission

  • 期刊论文

  • 出版模式：

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  • 发表日期：

    2025年9月5日

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  • Robert Pöhlmann,
  • Emanuel Staudinger,
  • Siwei Zhang,
  • Armin Dammann

摘要

Autonomous robotic systems will be the future of planetary exploration missions. For autonomous robotic exploration, reliable pose estimation is required. This can be provided by cooperative radio localization, where radio signals are exchanged among the robots and other mission objects. Range and direction information is obtained by measuring the signal round-trip time (RTT) and direction-of-arrival (DoA), which enables position and orientation estimation of the robots. For the first time, we have demonstrated cooperative radio localization within a space-analogue exploration mission with two robotic rovers on the volcano Mt Etna. With this paper, we share our main lessons learned based on a thorough evaluation of measurement data. Thereby we identify estimation biases as the main error source. We then show how to estimate and compensate these biases during the mission by simultaneous localization and calibration (SLAC). We further investigate the impact of the radio signals reflected on the ground and on mission objects on the ranging accuracy. Then, we demonstrate the benefit of cooperation and the feasibility of single-link localization. In addition, we share tangible ranging and DoA estimation error models based on measurements in a realistic environment.