Robotic deployment of electromagnetic sensors for meteorite search

摘要

This paper describes the development and implementation of a combined metal and magnetic sensor suite for the detection of meteorites from a mobile robot. The relative disposition of the sensors and the overall configuration of the sensor suite with respect to the rover are such that clean measurements are achieved and interference is minimized. We validated the combined electromagnetic sensors in laboratory and field tests on a variety of stony and iron meteorites. Experiments show that both sensing modalities (eddy current and magnetic) are necessary to achieve comprehensive readings from meteorites. The sensors have detected meteorites smaller than 2 cm in size. The sensor suite is configured to allow in-situ, autonomous calibration of the sensors and to mitigate noise from the electrical components of the robot that deploys them.