TL;DR: This paper focuses on the development and test of the IceMole navigation system, which enables precise probe navigation through the ice, which covers dead reckoning using inertial sensors, magnetometers and axial feed information, as well as acoustic positioning and reconnaissance, and sensor fusion.
Abstract: Water filled caverns and crevasses in glaciers are miraculous habitats, which can accommodate highly specialized and adapted microbes and bacteria. The challenge for scientists is to obtain a sample of this water without contaminating it with surface bacteria, as well as to protect the sample from oxygen and sun light. “IceMole” is a combined melting and drilling probe that can drill a bore hole with flexible trajectory under the ice and allows breaking into the crevasse from below or from the side to obtain clean and unaltered sample liquids, unlike standard drilling equipment. For this, the probe can travel distances in the ice of up to 80 m. A complex navigation system is needed to pinpoint the target. This paper focuses on the development and test of the IceMole navigation system, which enables precise probe navigation through the ice. This naviga¬tion system covers dead reckoning (DR) using inertial sensors, magneto¬¬meters and axial feed information, as well as acoustic positioning and reconnaissance, and sensor fusion. Navigation inside of glaciers is a special application of mining and borehole navigation. The special application and combination of the individual parts of the navigation suite make the project unique.
TL;DR: In this article, a system of acoustic transducers has been developed to study the acoustic properties of glacial ice in the Alps and in Antarctica for its acoustical properties, including attenuation, sound speed, and frequency response.
Abstract: Ultra high energy neutrinos may be observed in ice by the emission of acoustic signals. The SPATS detector has investigated the possibility of observing GZK-neutrinos in the clear ice near the South Pole at the IceCube detector site. To explore other potential detection sites glacial ice in the Alps and in Antarctica has been surveyed for its acoustical properties. The purpose of the Enceladus Explorer (EnEx), on the other hand, is the search for extraterrestrial life on the Saturn moon Enceladus. Here acoustics is used to maneuver a subsurface probe inside the ice by trilateration of signals. A system of acoustic transducers has been developed to study both applications. In the south polar region of the moon Enceladus there are secluded crevasses. These are filled with liquid water, probably heated by tidal forces due to the short distance to Saturn. We intend to take a sample of water from these crevasses by using a combination of a melt down and steering probe called IceMole (IM). Maneuvering IM requires a good understanding of ice properties such as the speed of sound, the attenuation of acoustic signals in ice, their directional dependencies and their dependence on different frequencies. The technology developed for this positioning system could also contribute to the design of future large scale acoustic neutrino detectors. We present our analysis methods and the findings on attenuation, sound speed, and frequency response obtained at several sites in the Alps and Antarctica.
TL;DR: In this article, an acoustic positioning system is presented to track the in-ice melting probe up to distances of 100 m in glacier ice, where the head of the IceMole is equipped with acoustic sensors, which receive signals from synchronized acoustic emitters situated at the ice surface.
Abstract: The Enceladus Explorer project is a preparatory study for a future space mission to Saturn’s moon, Enceladus. Its ultimate goal is to probe liquid-water pockets below the ice surface of Enceladus for signatures of life. A probe could be based on the IceMole concept, which melts curved trajectories through the ice. In the Enceladus Explorer project, a specialized IceMole probe for a terrestrial test scenario is in development. The goal of this exploratory study is to probe water from a liquid crevasse close to Blood Falls at Taylor Glacier, Antarctica. To navigate such a probe it is essential to be able to determine its position and monitor its trajectory. Part of the navigation system is the in-ice acoustic positioning system. For this, the head of the IceMole is equipped with acoustic sensors, which receive signals from synchronized acoustic emitters situated at the ice surface. Based on the measured propagation times, the speed of sound in ice and the positions of the emitters at the surface, the position of the IceMole can be determined by trilateration techniques. Here we present the developed acoustic positioning system, which is designed to track the in-ice melting probe up to distances of 100 m in glacier ice. Results from full-system tests in water and a first field test on Morteratschgletscher, Switzerland, are discussed.
TL;DR: The EnEx-IceMole project as discussed by the authors is a lander mission to Enceladus with a maneuverable subsurface ice melting probe for clean sampling and in situ analysis of ice and subglacial liquids.