A vehicle for terrestrial or extraterrestrial use

Abstract

A land utility for a terrestrial body or an extraterrestrial body has a plurality of land mobility units and a driving unit for controllably driving the land mobility units to allow movement of the land utility on the surface of said terrestrial or extraterrestrial body. The land utility is integral with or couplable to a hovering utility that comprises a propulsion system with one or more thrusters for vertical lift and maneuvering while the hovering utility is above the surface. The land utility may also be part of a hybrid exploration system for exploring a terrestrial body or an extraterrestrial body that also has a hovering utility that has a propulsion system with one or more thrusters for vertical lift and maneuvering while the hovering utility is above the surface of said terrestrial or extraterrestrial body.

Description

[0001] A VEHICLE FOR TERRESTRIAL OR EXTRATERRESTRIAL USE

[0002] TECHNOLOGICAL FIELD

[0003] The present disclosure is in the field of vehicles for terrestrial or extraterrestrial use.

[0004] BACKGROUND ART

[0005] References considered to be relevant as background to the presently disclosed subject matter are listed below:

[0006] - US2022135257

[0007] - DE20200004609

[0008] - CN108839822

[0009] - US8353481

[0010] - US11459126

[0011] Schell, Steve et al. “Hopper on wheels: evolving the hopping robot concept.” (2001).

[0012] Acknowledgement of the above references herein is not to be inferred as meaning that these are in any way relevant to the patentability of the presently disclosed subject matter.

[0013] GENERAL DESCRIPTION

[0014] The present disclosure provides a land utility and an exploration system comprising said land utility for terrestrial or extraterrestrial missions on earth or an terrestrial or extraterrestrial body. The land utility is configured to allow mobility on the surface of the terrestrial or extraterrestrial body, typically by wheels. The land utility is either couplable or integral with a hovering utility that is configured to allow hovering mobility over the surface of the terrestrial or extraterrestrial body. By coupling or integrating the land utility and the hovering utility to form an exploration system, a hybrid vehicle is obtained, allowing land mobility and hovering mobility to the hybrid vehicle. Typically, the land mobility is driven by electric power that is consumed, at least partially, from rechargeable batteries that are configured to be recharged by photovoltaic panels that are formed on the exploration system (typically on the land utility). The hovering mobility is typically driven by a propulsion system that consumes fuel.

[0015] Therefore, a first aspect of the present disclosure provides a land utility for allowing locomotion, namely movement based on land mobility units, on a terrestrial or an extraterrestrial body. The land utility comprising a plurality of land mobility units allowing movement on the surface of the terrestrial or extraterrestrial body. A driving unit of the land utility is configured for controllably driving the land mobility units to allow movement of the land utility everywhere on the surface of said terrestrial or extraterrestrial body, including maneuvering of the land utility over the surface towards a desired direction. The land utility is integral with or couplable to a hovering utility that comprises a propulsion system with one or more thrusters, such as thrusters of rocket propulsion system, for allowing vertical lifting and maneuvering while the hovering utility is above the surface, to allow a formation of a hybrid vehicle.

[0016] It is to be noted that any combination of the described embodiments with respect to any aspect of this present disclosure is applicable. In other words, any aspect of the present disclosure can be defined by any combination of the described embodiments.

[0017] In some embodiments, the land utility further comprises a processing circuitry, namely a processor or a processing unit, configured for autonomously controlling at least said driving unit. Namely, the land unit is capable of performing autonomous movement of the surface of the terrestrial or extraterrestrial body. The commands can be transmitted from a remote location, e.g. from a control center on earth, but the execution of these command is performed by the processing circuitry that is comprised in the land unit.

[0018] In some embodiments, the land utility and the hovering utility are independent utilities couplable to one another. The processing circuitry is configured for wireless communication with said hovering utility for allowing exchange of data and / or commands indicative of at least one of: location, power source status of the land utility, power source status of the hovering utility, video stream from the hovering utility to the land utility, or any combination thereof.

[0019] In some embodiments, the land utility further comprises a coupling arrangement, which is typically in fixed association with said plurality of land mobility units, the fixed association may be direct or indirect. Furthermore, the fixed association may form an integral structure or non-integral structure. The coupling arrangement comprises one or more coupling units, each configured for coupling with a respective part of the hovering utility and securing the hovering utility to the coupling arrangement and therefore to the land utility.

[0020] In some embodiments of the land utility, each of said coupling units is configured to execute an automatic coupling sequence upon sensing landing of said respective part on a dedicated landing portion associated with the respective coupling unit on said land utility, or in some embodiments on said coupling arrangement.

[0021] In some embodiments of the land utility, said coupling arrangement comprises a coupling platform and said dedicated landing portion is defined on said coupling platform. It is to be noted that the coupling platform can be a continuous or a non- continuous surface.

[0022] In some embodiments of the land utility, each dedicated landing portion comprises a switch that triggers the automatic coupling sequence upon landing of the respective part of the hovering utility thereon.

[0023] In some embodiments of the land utility, said part is a leg of the hovering utility and the coupling arrangement comprises one or more landing platforms configured for receiving the legs of the hovering utility. The legs are configured for stably supporting the hovering utility on the surface of said terrestrial or extraterrestrial body.

[0024] In some embodiments of the land utility, upon coupling of the hovering utility to the land utility, the land utility is configured to execute at least one of (i) charging operation and / or (ii) refueling operation of the hovering utility.

[0025] In some embodiments of the land utility, said execution of at least one of (i) charging operation and / or (ii) refueling operation of the hovering vehicle is triggered by a command transmitted from the hovering utility, either by wireless transmission or by a wired transmission due to the coupling.

[0026] In some embodiments of the land utility, said driving unit is configured to be controlled and operated by a hovering utility processing circuitry upon coupling of the hover utility with the land utility. In other words, the land utility is depended on the processing capabilities of the hovering utility in order to move. Once the hovering utility is coupled to the land utility, the hovering utility can control the movement of the land utility by wireless or wired communication.

[0027] In some embodiments, the land utility further comprises a plurality of thermal protection portions configured to protect essential parts from over-heating by the sun and / or by thrusters of the hovering utility in time of their operation when the hovering utility is coupled to the land utility or airborne in proximity thereto, namely before landing or after taking off from the land utility or in some specific embodiments from coupling platform.

[0028] In some embodiments of the land utility, the land utility and the hovering utility are integrally coupled to form an integral hybrid vehicle. Namely, this embodiment defines that the locomotive vehicle and the hover vehicle are undetachable, and they are one integral vehicle capable of locomotion movement and hovering movement.

[0029] In some embodiments of the land utility, said integral hybrid vehicle comprises a hybrid vehicle processing circuitry configured for selectively and controllably operating the propulsion system and the driving unit, thereby allowing hybrid movement capabilities, i.e. hovering movement with the propulsion system and locomotion movement with the land mobility units.

[0030] In some embodiments, the land utility further comprises a power source and photovoltaic panels for charging said power source.

[0031] In some embodiments of the land utility, the propulsion system is driven by fuel, e.g. chemical fuel or nuclear fuel.

[0032] In some embodiments of the land utility, said driving unit is driven by a rechargeable power source configured to be recharged by solar energy.

[0033] In some embodiments of the land utility, said rechargeable power source stores and outputs electric energy, therefore, the driving unit is driven by electrical power.

[0034] In some embodiments of the land utility, said driving unit is driven by a non- rechargeable battery.

[0035] In some embodiments of the land utility, said land mobility units are wheels.

[0036] In some embodiments, the land utility further comprises a first imaging unit, that can include one or more imagers / cameras, for allowing imaging from the terrestrial or extraterrestrial body and generating first imaging data.

[0037] In some embodiments, the land utility system is for locomoting on a terrestrial body.

[0038] In some embodiments, the land utility system is for locomoting on an extraterrestrial body.

[0039] Yet another aspect of the present disclosure provides a hybrid exploration system for exploring terrestrial or extraterrestrial body. The hybrid exploration system comprises a hovering utility that comprises a propulsion system with one or more thrusters for allowing vertical lifting and maneuvering while the hovering utility is above the surface of said terrestrial or extraterrestrial body. The hybrid exploration system further comprises a land utility couplable to the hovering utility to permit both to move together, the land utility comprises: (i) a plurality of land mobility units for allowing locomotion, namely movement based on land mobility units on said terrestrial or extraterrestrial body, and (ii) a driving unit for controllably driving the land mobility units to allow movement, including maneuvering of the land utility over the surface, of the locomotive utility on the surface of said terrestrial or extraterrestrial body.

[0040] In some embodiments of the exploration system, the land utility is as defined in any one of the above-described embodiments.

[0041] In some embodiments of the exploration system, the hovering utility comprises a payload-carrying arrangement for carrying one of a variety of payloads depending on the mission. For example, where the exploration system is intended for terrestrial use, the payload may be a drone or another unmanned aerial vehicle (UAV) and said arrangement may include a coupling utility for coupling to and securing the drone or UAV onto a carrying platform and for controllably releasing it according to mission requirement.

[0042] In some embodiments of the exploration system intended for terrestrial use, the hovering utility comprises a hybrid propulsion system comprising a rocket propulsion system and one or both of propeller-driven or jet-driven propulsion system.

[0043] In some embodiments of the exploration system, the hovering utility comprises a second imaging unit, that can include one or more imagers / cameras, for allowing imaging from and / or of the terrestrial or extraterrestrial body and generating second imaging data.

[0044] In some embodiments of the exploration system, the hovering utility comprises a hovering processing circuitry configured to control the propulsion system to perform autonomous exploration missions.

[0045] In some embodiments of the exploration system, said processing circuitry is configured for guidance, navigation and control (GNC) operation to execute said exploration missions.

[0046] Typically, the hovering utility is configured for performing Guidance, Navigation & controlled (GNC) flight by using multiple thrusters and sensors.

[0047] The navigation function may be performed by combining star tracking and dual cameras for surface images to estimate the location, orientation and their derivatives with respect to a lunar coordinate system or other navigational means. The images that are taken from the surface can estimate the elevation and the velocity of the hovering utility, while horizon images can find topographic features that can be correlated with a prerecorded images to define the flight / hovering direction. This data, combined with IMU data, can estimate the location of the hovering utility with sufficient accuracies.

[0048] The guidance is performed by the hovering utility processing circuitry, which generates maneuvering commands to a guidance control loop. The guidance loop closes the error between the current state vector and the required state vector that is defined by the mission scenario. This can be performed in multiple ways. For example, the guidance commands may optimize the propellant consumption in order to increase the mission duration time to maximum. This optimization can be performed by deterministic algorithms such as predictive guidance, vector guidance, and neural networks deep learning.

[0049] The control loop is in charge of achieving the guidance commands as smooth and fast as possible, keeping the auto-pilot stable and the LOS of the cameras with minimal perturbations. In order to achieve that the control shall work with the multiple thrusters by using throttling, PWM, and closing some of the thrusters when not required. As the flying utility is losing its propellant mass, the thrust requires to lift the hovering utility is decreased and some of the thrusters can be turned off, or utilized only for control.

[0050] In some embodiments, the exploration system may encounter permanently shadowed region PSR where the cameras-based navigation is challenging. The exploration system may use the irradiation from the thrusters to emit the surface and the imaging units may identify light emitted from the surface due to the irradiation from the thrusters.

[0051] In some embodiments, the exploration system may be used for water searching, which can be in a PSR. By hovering over a location in the PSR and getting close to the surface and heating it with the thrusters, without touching the surface, the water will heat and the cameras can observe the water melting and flowing on the ground and transmit data indicative of such findings.

[0052] In some embodiments of the exploration system, the hovering utility further comprises LIDAR sensor for mapping the surrounding of the hovering utility. By mapping the surrounding, the hover utility can avoid obstacles and better plan its flight path. In some embodiments of the exploration system, said hovering processing circuitry is configured to (i) receive image data indicative of at least one of: star tracking data, imaging of said terrestrial or extraterrestrial body taken from the land utility or the hovering utility, and (ii) process said image data and determine the location of the hovering utility at least with respect to a previous location of the hovering utility and generating location data based thereon. Therefore, the hovering processing circuitry is configured to determine the new location of the hovering utility with respect to a previous location thereof at any time.

[0053] In some embodiments of the exploration system, the processing circuitry is further configured to determine a navigation plan, path or trajectory of the hovering utility based on said location data.

[0054] In some embodiments, the exploration system further comprises a star tracking unit, which can be the same or different from the first and / or second imaging units), for generating said star tracking data. The hovering utility comprises a second imaging unit, that can include one or more imagers / cameras, for allowing imaging from the terrestrial or extraterrestrial body and / or imaging of the terrestrial or extraterrestrial body and generating second imaging data being part of the imaged data.

[0055] In some embodiments, the exploration system further comprises a first imaging unit, that can include one or more imagers / cameras, for allowing imaging from the terrestrial or extraterrestrial body and generating first imaging data being part of the imaged data.

[0056] In some embodiments, the exploration system further comprises an Inertial Measurement Unit (IMU) configured to generate IMU data, wherein said hovering processing circuitry is configured to receive said IMU data and generate said location data based on a combination of the IMU data and the imaged data.

[0057] Yet another aspect of the present disclosure provides a hybrid exploration system for exploring a terrestrial or an extraterrestrial body. The hybrid exploration system comprises a hovering utility that comprises a propulsion system with one or more thrusters for allowing vertical lifting and maneuvering while the hovering utility is above the surface of said terrestrial or extraterrestrial body. The hybrid exploration system further comprises a land utility, being integral with said hovering utility and comprises: (i) a plurality of land mobility units for allowing locomotion, namely movement based on land mobility units, on said terrestrial or extraterrestrial body, and (ii) a driving unit for controllably driving the land mobility units to allow movement, including maneuvering, of the land utility on the surface of said terrestrial or extraterrestrial body.

[0058] In some embodiments, the exploration system is for exploring a terrestrial body.

[0059] In some embodiments, the exploration system is for exploring an extraterrestrial body.

[0060] In some embodiments, the exploration system further comprises a hybrid processing circuitry configured for selectively and controllably operating the propulsion system and the driving unit, thereby allowing hybrid movement capabilities, i.e. hovering movement with the propulsion system and locomotion movement with the land mobility units.

[0061] In some embodiments, the exploration system further comprises a plurality of thermal protection portions configured to protect essential parts from over-heating by the sun and / or the thrusters.

[0062] In some embodiments, the exploration system further comprises a rechargeable power source and photovoltaic panels for solar energy charging of said rechargeable power source.

[0063] In some embodiments of the exploration system, the propulsion system is driven by fuel, e.g. chemical fuel or nuclear fuel.

[0064] In some embodiments of the exploration system, said driving unit is driven by a rechargeable power source configured to be recharged by photovoltaic panels.

[0065] In some embodiments of the exploration system, said rechargeable power source stores and outputs electric energy, therefore, the driving unit is driven by electrical power.

[0066] In some embodiments of the exploration system, said driving unit is driven by a non-rechargeable power source.

[0067] In some embodiments of the exploration system, said land mobility units are wheels.

[0068] In some embodiments of the exploration system, said one or more thrusters are rocket-based thrusters. A rocket-based thruster is a propulsion device that generates thrust by expelling high-speed exhaust gases through a nozzle, using the principle of Conservation of Momentum. It typically consists of a combustion chamber where a propellant (fuel and oxidizer) is ignited, producing hot gases that are expelled to create forward motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to better understand the subject matter that is disclosed herein and to exemplify how it may be carried out in practice, embodiments will now be described, by way of non-limiting example only, with reference to the accompanying drawings, in which:

[0070] Figs. 1A-1B are schematic illustrations of different views of a non-limiting example of an embodiment of a land utility according to an aspect of the present disclosure. Fig. 1A is top view; and Fig. IB is a side view.

[0071] Fig- 2 is a schematic illustration of a side-view of a non-limiting example of the exploration system according to an aspect of the present disclosure, including the land utility coupled to the hovering utility, either through coupling / decoupling system or by integration thereto.

[0072] Figs. 3A-3B are block diagrams exemplifying different embodiments of nonlimiting examples of the exploration system according to an aspect of the present disclosure

[0073] DETAILED DESCRIPTION

[0074] The following figures are provided to exemplify embodiments and realization of the invention of the present disclosure.

[0075] Reference is first being made to Figs. 1A-1B, which are schematic illustrations of different views of a non-limiting example of an embodiment of a land utility according to an aspect of the present disclosure. The land utility 100 comprises a land utility body 102 that is mounted on wheels 104 for allowing movement of the land utility 100 over an extraterrestrial body surface. It is to be noted that throughout the detailed description, the reference is made to an extraterrestrial body, while it can apply also to a terrestrial body, such as earth. The land utility 100 comprises a driving unit (not shown) that is configured to control the wheels 104 to allow the land utility 100 a controlled movement and / or maneuvering over the surface. The land utility 100 further comprises rechargeable batteries 106 and photovoltaic panels 108 that are configured to convert solar energy into electricity and recharge the batteries 106. The batteries 106 supply energy for the driving unit for its operation.

[0076] A landing platform 110 is defined on the land utility body 102 designed to allow landing of a hovering utility thereon. The landing platform comprises a plurality of coupling units 112, each is configured to be coupled with a respective leg of the hovering utility. Upon landing of the hovering utility on the platform, namely that the legs of the hovering utility are positioned in dedicated landing areas on the landing platform 110, the coupling units 112 are configured to identify or sense the presence of the legs on the dedicated landing areas and execute a coupling process to couple and secure the hovering utility to the land utility 100.

[0077] The land utility 100 further comprises fuel containers 114 (can be seen in Fig. IB) that are intended for refueling the hovering utility, when it is coupled the land utility 100. Upon coupling of the hovering utility to the land utility 100, the land utility 100 is configured to execute refueling process to the hovering utility, namely transferring fuel from the fuel containers 114 of the land utility 100 to fuel tanks of the hovering utility.

[0078] The land utility 100 may be further configured to execute electrical charging process upon coupling to the hovering utility. Namely, upon coupling of the hovering utility to the land utility 100, batteries of the hovering utility are electrically coupled to the land utility batteries 106 and / or to the photovoltaic panels 108 to allow electrical charging of the hovering utility batteries.

[0079] In the figures throughout the application, like elements of different figures were given similar reference numerals shifted by the number of hundreds corresponding to the number of the respective figure. For example, element 200 in Fig. 2 serves the same function as element 100 in Figs. 1A-1B.

[0080] Reference is now being made to Fig. 2, which is a schematic illustration of a nonlimiting example of the exploration system according to an aspect of the present disclosure. The exploration system 250 comprises a land utility 200 that is similar to that described with respect to Figs. 1A-1B. a hovering utility 252 is coupled with the land utility 200 via the coupling units 112. The hovering utility 252 comprises a propulsion system 254 that includes a plurality of thrusters 256 for allowing hovering capabilities to the hovering utility 252. The propulsion system 254 is driven at least mainly by fuel, i.e. by a consumable energy resource. The coupling of the hovering utility with the land utility forms a hybrid exploration vehicle that is capable to (i) move on the surface of the extraterrestrial body with wheels that are driven by electrical energy and (ii) hover over the surface of the extraterrestrial body with the propulsion system that is driven by fuel.

[0081] The hovering utility 252 comprises fuel tanks 258 for storing fuel for the propulsion system 254. The fuel tanks 258 can be refilled with fuel from the fuel containers of the land utility 200 when the hovering utility 252 is coupled to the land utility 200.

[0082] It is to be noted that the land utility and the hovering utility can be integrally coupled to one another, making the coupling units redundant.

[0083] Reference is now being made to Figs. 3A-3B, which are block diagrams of different embodiments of non-limiting examples of the exploration system according to an aspect of the present disclosure. The exploration system 350 comprises a star tracking imaging unit 364 for allowing stars imaging from the extraterrestrial body and generating star tracking data STD based thereon. The exploration system 350 further comprises an imaging unit 366 for allowing imaging from the extraterrestrial body and generating imaging data ID, which includes topographic imaging of the extraterrestrial body either taken from the surface, when the exploration system is on the ground, or from above the surface, when the exploration system hovers above the surface of the extraterrestrial body. The exploration system 350 further comprises an Inertial Measurement Unit (IMU) 368 configured to generate inertial measurement data IMD being experienced on the exploration system.

[0084] A processing circuitry 360 of the exploration system 350 is configured to control the propulsion system 354 and the driving unit 362 so as to move the exploration system from one location to the other according to a desired profile that includes a combination of hovering path over the surface and land path. The processing circuitry 360 is further configured to receive the (i) star tracking data STD, (ii) imaging data ID, and (iii) inertial measurement data IMD and to generate location data based on a combination thereof. Based on said location data, the processing circuitry 360 determines a navigation plan according to a desired location to be reached by the exploration system. According to the navigation plan, the processing circuitry 360 transmits operative instructions OI to the propulsion system 354 and the driving unit 362 to allow the performance of autonomous exploration missions.

[0085] Fig. 3B exemplifies an embodiment that differs from that of Fig. 3A by that the land utility 300 and the hovering utility 352 are independent entities, each comprising different components of the system. In particular the imaging unit is practically divided into two sub-units, a first imaging unit 370 that is included in the land utility 300 and the second imaging unit 372 that is included in of the hovering utility 352. Each of the first and second imaging units 370 and 372 are configured to allow imaging from the extraterrestrial body or imaging of parts of the extraterrestrial body. The first imaging unit 370 generates first imaging data FID and the second imaging unit 372 generates second imaging data SID, both imaging data are transmitted to the processing circuitry 360 to be processed thereby. Furthermore, the IMU 368, the processing circuitry 360 and the propulsion system 354 are all included in the hovering utility 352. It is to be noted that the star tracking imaging unit 364 can be included in either the land utility 300, the hovering utility 352 or in both of them and that in some embodiments, the processing circuity 360 may also be included in the land utility 300.

Claims

CLAIMS:

1. A land utility for allowing locomotion on a terrestrial body or an extraterrestrial body, comprising: a plurality of land mobility units; a driving unit for controllably driving the land mobility units to allow movement of the land utility on the surface of said terrestrial or extraterrestrial body; the land utility being integral with or couplable to a hovering utility that comprises a propulsion system with one or more thrusters for vertical lift and maneuvering while the hovering utility is above the surface.

2. The land utility of claim 1, comprising a processing circuitry configured for autonomously controlling at least said driving unit.

3. The land utility of claim 2, wherein the land utility and the hovering utility are independent utilities couplable to one another, said processing circuitry is configured for wireless communication with said hovering utility for allowing exchange of data indicative of at least one of: location, power source status of the land utility, power source status of the hovering utility, video stream from the hovering utility to the land utility, or any combination thereof.

4. The land utility of any one of claims 1-3, comprising a coupling arrangement that comprises one or more coupling units, each configured for coupling with a respective part of the hovering utility and securing the hovering utility to the coupling arrangement.

5. The land utility of claim 4, wherein each of said coupling units is configured to execute an automatic coupling sequence upon sensing landing of said respective part on a dedicated landing portion associated with the respective coupling unit.

6. The land utility of claim 5, wherein said coupling arrangement comprises a coupling platform and said dedicated landing portion is defined on said coupling platform.

7. The land utility of claim 5 or 6, wherein each dedicated landing portion comprises a switch that triggers the automatic coupling sequence upon landing of the respective part of the hovering utility thereon.

8. The land utility of any one of claims 4-7, wherein said part is a leg of the hovering utility and the coupling arrangement comprises one or more landing platforms configured for receiving the legs of the hovering utility; said legs are configured for stably supporting the hovering utility on the surface of said terrestrial or extraterrestrial body.

9. The land utility of any one of claims 1-8, wherein upon coupling of the hovering utility to the land utility, the land utility is configured to execute at least one of (i) charging operation and / or (ii) refueling operation of the hovering utility.

10. The land utility of claim 9, wherein said execution of at least one of (i) charging operation and / or (ii) refueling operation of the hovering vehicle is triggered by a command transmitted from the hovering utility.

11. The land utility of any one of claim 4-10, wherein said driving unit is configured to be controlled and operated by a hovering utility processing circuitry upon coupling of the hover utility with the land utility.

12. The land utility of any one of claims 1-11, comprising a plurality of thermal protection portions configured to protect essential parts from over-heating by the thrusters in time of their operation when the hovering utility is coupled to the land utility or airborne in proximity thereto.

13. The land utility of any one of claims 1-3, wherein the land utility and the hovering utility are integrally coupled to form an integral hybrid vehicle.

14. The land utility of claim 13, wherein said integral hybrid vehicle comprises a hybrid vehicle processing circuitry configured for selectively and controllably operating the propulsion system and the driving unit, thereby allowing hybrid movement capabilities.

15. The land utility of any one of claims 1-14, comprising a power source and photovoltaic panels for charging said power source.

16. The land utility of any one of claims 1-15, wherein the propulsion system is driven by fuel.

17. The land utility of any one of claims 1-16, wherein said driving unit is driven by a rechargeable power source configured to be recharged by solar energy.

18. The land utility of claim 17, wherein said rechargeable power source stores and outputs electric energy.

19. The land utility of any one of claims 1-18, wherein said land mobility units are wheels.

20. The land utility of any one of claims 1-19, comprising a first imaging unit for allowing imaging from the terrestrial or extraterrestrial body and generating first imaging data.

21. A hybrid exploration system for exploring a terrestrial body or an extraterrestrial body, comprising: a hovering utility that comprises a propulsion system with one or more thrusters for vertical lift and maneuvering while the hovering utility is above the surface of said terrestrial or extraterrestrial body; and a land utility couplable to the hovering utility to permit both to move together, that comprises(i) a plurality of land mobility units for allowing locomotion on said terrestrial or extraterrestrial body, and(ii) a driving unit for controllably driving the land mobility units to allow movement of the locomotive utility on the surface of said terrestrial or extraterrestrial body.

22. The exploration system of claim 21, wherein the land utility is as defined in any one of claims 1-20.

23. The hybrid exploration system of claim 21 or 22, wherein the hovering utility comprises a second imaging unit for allowing imaging from the terrestrial or extraterrestrial body and generating second imaging data.

24. The hybrid exploration system of any one of claims 21-23, wherein the hovering utility comprises a hovering processing circuitry configured to control the propulsion system to perform autonomous exploration missions.

25. The hybrid exploration system of claim 24, wherein said processing circuitry is configured for guidance, navigation and control (GNC) operation to execute said exploration missions.

26. The hybrid exploration system of claim 25, wherein said hovering processing circuitry is configured to (i) receive image data indicative of at least one of: star tracking data, imaging of said terrestrial or extraterrestrial body taken from the land utility or the hovering utility, and (ii) process said image data and determine the location of the hovering utility at least with respect to a previous location of the hovering utility and generating location data based thereon.

27. The hybrid exploration system of claim 26, wherein the processing circuitry is further configured to determine a navigation plan based on said location data.

28. The hybrid exploration system of claim 26 or 27, comprising star tracking unit for generating said star tracking data;wherein the hovering utility comprises a second imaging unit for allowing imaging from the terrestrial or extraterrestrial body and generating second imaging data.

29. The hybrid exploration system of any one of claims 26-28, comprising a first imaging unit for allowing imaging from the terrestrial or extraterrestrial body and generating first imaging data.

30. The hybrid exploration system of any one of claims 26-29, comprising an Inertial Measurement Unit (IMU) configured to generate IMU data, wherein said hovering processing circuitry is configured to receive said IMU data and generate said location data based on a combination of the IMU data and the imaged data.

31. The hybrid exploration system of any one of claims 21-30, wherein said one or more thrusters are rocket-based thrusters.

32. A hybrid exploration system for exploring a terrestrial body or an extraterrestrial body, comprising: a hovering utility that comprises a propulsion system with one or more thrusters for vertical lift and maneuvering while the hovering utility is above the surface of said terrestrial or extraterrestrial body; and a land utility, being integral with said hovering utility and comprises(i) a plurality of land mobility units for allowing locomotion on said terrestrial or extraterrestrial body, and(ii) a driving unit for controllably driving the land mobility units to allow movement of the land utility on the surface of said terrestrial or extraterrestrial body.

33. The hybrid exploration system of claim 32, comprising a hybrid processing circuitry configured for selectively and controllably operating the propulsion system and the driving unit, thereby allowing hybrid movement capabilities.

34. The hybrid exploration system of any one of claims 32 or 33, comprising a plurality of thermal protection portions configured to protect essential parts from overheating by the thrusters.

35. The hybrid exploration system of any one of claims 32-34, comprising a rechargeable power source and photovoltaic panels for solar energy charging of said rechargeable power source.

36. The hybrid exploration system of any one of claims 32-35, wherein the propulsion system is driven by fuel.

37. The hybrid exploration system of any one of claims 32-36, wherein said driving unit is driven by a rechargeable power source configured to be recharged by photovoltaic panels.

38. The hybrid exploration system of claim 37, wherein said rechargeable power source stores and outputs electric energy.

39. The hybrid exploration system of any one of claims 32-38, wherein said land mobility units are wheels.

40. The hybrid exploration system of any one of claims 32-39, wherein said one or more thrusters are rocket-based thrusters.

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