Underground Robot Localization Based on Ground-Penetrating Radar

In order to solve the localization problem in long-term and large-scale scenes in the lunar subsurface denial environment, this paper proposes an underground robot localization method combining global localization and precise local localization. In the local positioning, the ground penetrating radar is used to accurately locate the robot underground to correct the errors generated in the global positioning and ensure that the positioning of the underground robot does not diverge in a long-term, large-scale environment. Through simulation experiments, it can be found that the above method is relatively stable, can effectively reduce the positioning error of the robot, and improve the robot's ability to perceive the position and attitude in the lunar underground environment.