An Autonomous Cryobot Synthetic Aperture Radar for Subsurface Exploration of Europa

Abstract:

We present the design and field testing of a forward-looking end-fire synthetic aperture radar (SAR) for the ‘Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer’ (VALKYRIE) ice-penetrating cryobot. This design demonstrates critical technologies that will support an eventual landing and ice penetrating mission to Jupiter’s icy moon, Europa.

Results proving the feasibility of an end-fire SAR system for vehicle guidance and obstacle avoidance in a sub-surface ice environment will be presented. Data collected by the SAR will also be used for constructing sub-surface images of the glacier which can be used for: (i) mapping of englacial features such as crevasses, moulins, and embedded liquid water and (ii) ice-depth and glacier bed analysis to construct digital elevation models (DEM) that can help in the selection of crybot trajectories and future drill sites for extracting long-term climate records.

The project consists of three parts, (i) design of an array of four conformal cavity-backed log-periodic folded slot dipole array (LPFSA) antennas that form agile radiating elements, (ii) design of a radar system that includes RF signal generation, 4x4 transmit-receive antenna switching and isolation and digital SAR data processing and (iii) field testing of the SAR in melt holes. The antennas have been designed, fabricated, and lab tested at the Center for Environmental Technology (CET) at CU-Boulder. The radar system was also designed and integrated at CET utilizing rugged RF components and FPGA based digital processing. Field testing was performed in conjunction with VALKYRIE tests by Stone Aerospace in June, 2015 on Matanuska Glacier, Alaska.

The antennas are designed to operate inside ice while being immersed in a thin layer of surrounding low-conductivity melt water. Small holes in the corners of the cavities allow flooding of these cavities with the same melt-water thus allowing for quarter-wavelength cavity-backed reflection. Testing of the antenna array was first carried out by characterizing their operation inside a large ice block at the Stone Aerospace facility in Austin, TX. The complete radar system was then tested on the Matanuska glacier in Alaska, which is an effective Earth analog to Europan sub-surface exploration.