142 results about "Planet Mars" patented technology

The invention discloses a Mars transverse wind ridging few-sample remote sensing interpretation method and system based on an SAM model. According to the method, contrast stretching preprocessing is carried out on an original Mars image, a dual-branch feature fusion framework based on VIT and CNN is constructed to extract and fuse image features, a position coding generator is introduced to support input of any size, a fine-tuning SAM strategy of a selective freezing encoder and a trainable mask decoder is adopted, and LoRA low-rank adaptation optimization calculation is combined, so that the Mars image is obtained. And a double-branch prompt generation module is used for fusing labeled and unlabeled data to generate a high-precision prompt, and finally, an interpretation result is output through a mask decoder and connected component analysis is carried out, so that instance-level labeling is realized. The system comprises an image preprocessing module, a double-branch feature extraction and fusion module, an image embedding generation module, a model fine tuning module, a prompt embedding generation module and an interpretation module. According to the method, the recognition precision and robustness of the mars transverse wind ridge formation under the condition of few samples are effectively improved.

The invention relates to a method for verifying a Mars sky radiance simulation result based on a Mars real-shot photo, and belongs to the technical field of Mars sky background radiance. Comprises: image acquisition; performing radiation calibration; correcting dark current; performing flat field correction; converting a radiation value; and geometric correction. The Mars sky radiance simulation method breaks through the dependence of an existing model on idealized hypothesis, performs dynamic verification by using actual shot image data, remarkably improves the authenticity and reliability of a Mars sky radiance simulation result, and effectively solves the problem of systematic deviation under a specific wave band; by constructing a complete process from image acquisition, radiation calibration, geometric modeling to brightness inversion and comparison verification, dynamic feedback and closed-loop correction of a theoretical radiation model are realized, model adaptability is improved, and fine modeling under multi-temporal and multi-meteorological conditions is supported; the method can be applied to an existing Mars rover navigation camera and an image processing link of the Mars rover navigation camera, does not need additional modification, has good engineering practicability and task compatibility, and is convenient to popularize and apply.

The invention provides a Mars mineral abundance inversion method and system. The Mars mineral abundance inversion method comprises the steps of firstly obtaining target Mars hyperspectral reflectivity data; and then generating simulated Mars hyperspectral image data based on the target Mars hyperspectral reflectivity data. Secondly, training the constructed mineral abundance inversion deep learning model based on the simulated Mars hyperspectral image data, and determining the trained mineral abundance inversion deep learning model; thirdly, acquiring to-be-processed Mars hyperspectral image data, and performing preprocessing; and finally, performing mineral abundance inversion on the preprocessed to-be-processed Mars hyperspectral image data through the trained mineral abundance inversion deep learning model to obtain a mineral abundance inversion result. Therefore, the weight distribution of each wave band of the hyperspectral image can be enhanced through the mineral abundance inversion deep learning model, and the non-linear modeling capability and the wave band characteristic response capability of abundance inversion are improved, so that the accuracy and the efficiency of Mars mineral abundance inversion can be effectively improved.

The invention discloses a cross-scale planet impact crater detection method and system, and belongs to the technical field of remote sensing image intelligent identification. The method comprises the following steps: collecting and preprocessing a planet surface remote sensing image, and constructing an impact crater detection data set; a Transform-based detection model is constructed, the model comprises a multi-scale attention gating fusion feature extraction backbone module, a small target feature enhancement pyramid module and a target detection module, and the detection capability of the small-size impact crater is improved through multi-scale feature fusion and detail enhancement; pre-training the model by using the universal target detection data, and performing fine tuning optimization on the impact crater data; and finally deploying the model to an edge computing device or a remote sensing terminal to realize real-time detection. The method solves the problem of insufficient precision in cross-scale and weak texture impact crater detection of a traditional method, has the advantages of end-to-end and no need of post-processing, and is suitable for automatic image analysis of planet surfaces such as the moon and the Mars.

The application relates to a deformable wheel with non-pneumatic load bearing intended to equip a vehicle for rolling under extreme conditions such as those encountered on the Moon and on Mars, comprising a hub, an annular tread intended to be in contact with the soil, positioned around the hub which is concentric therewith and comprising a layer of composite material coated with at least one protective layer, and a plurality of metal cables whose outer diameter is comprised between 0.2 mm and 5 mm, each cable connecting the hub to the tread while being fixed, on the one hand by an external end to the tread, and on the other hand by an internal end to the hub by an elastic member making it possible to modulate the radial stiffness of the cables, each elastic member being associated with an abutment able to limit its deformation.

The embodiment of the invention discloses an automatic rock extraction method and system based on deep learning and Mars rover camera images, and aims to solve the problems that an existing Mars rock segmentation algorithm is insufficient in generalization ability under a complex earth surface background, high in model calculation load and difficult to deploy on satellite-borne edge equipment. The core of the method is that a lightweight encoder-decoder network is constructed, and the network integrates three key modules: a frequency-assisted enhancement Mama module, which accurately captures rock texture and contour by fusing the global sequence modeling capability of Mama and the frequency domain enhancement of wavelet transform; the multi-scale feature intensifier is used for adaptively fusing multi-level features by using a parallel double attention mechanism; and the boundary perception auxiliary branch improves the integrity of the segmented contour through an explicit edge supervision and feature decoupling mechanism. According to the method, the rock extraction precision is remarkably improved, meanwhile, the model complexity and the calculation overhead are greatly reduced, the method is suitable for outer space exploration scenes with limited communication bandwidth and calculation resources such as Mars rovers, and effective balance of high precision and light weight is achieved.

The invention belongs to the technical field of data processing, and discloses a Mars probe temperature monitoring method and system based on time control factor optimization, and the method comprises the steps: obtaining simulated fire soil, and carrying out the screening processing and dense state preparation processing, and obtaining a plurality of relatively dense state samples; performing simulated temperature monitoring on the plurality of samples in the relatively dense state to obtain a plurality of temperature-time curves, and performing piecewise linear fitting to obtain thermal response characteristics of the simulated fire soil; performing optimal monitoring time period analysis and optimal monitoring duration analysis according to the thermal response characteristics to obtain an optimal passive monitoring time window and duration strategy; and determining target to-be-monitored fire soil, and performing real temperature monitoring on the target to-be-monitored fire soil according to the optimal passive monitoring time window and the duration strategy to obtain an optimal temperature monitoring result. According to the invention, the temperature of the fire soil to be measured can be accurately monitored, so that the assessment precision of the passing ability of the Mars rover is effectively improved, and the driving safety of the Mars rover is ensured.

A deformable wheel with non-pneumatic load bearing intended to equip a vehicle for rolling under extreme conditions such as those encountered on the moon and on Mars, includes a hub, a laminated annular strip including a plurality of concentric ferrules which are assembled with the interposition of interposing layers each composed of a material whose Young's modulus is 600,000 to 1,000 times lower than that of the ferrules, and a plurality of metal cables. Each cable connects the hub to the laminated strip while being fixed, on the one hand by an external end to the laminated strip, and on the other hand by an internal end to the hub by means of an elastic member making it possible to modulate the radial stiffness of the cables. Each elastic member is associated with an abutment able to limit its deformation.

The invention relates to the technical field of planet remote sensing data processing and three-dimensional reconstruction, and discloses a Mars three-dimensional terrain reconstruction method based on feature enhancement and multi-view stereo matching, which comprises the following steps: firstly, obtaining and preprocessing Mars stereo image data; secondly, extracting texture features based on a gray-level co-occurrence matrix, and performing region segmentation by using local entropy to distinguish a high texture region from a low texture region; then, parameters such as the size of a matching block and a similarity threshold value are adaptively adjusted according to a segmentation result, and a multi-dimensional mixed feature descriptor is generated to perform homonymy point matching; a coupling threshold model of the solar incident angle and the terrain roughness is constructed, and parallax calculation of the shadow and the steep terrain is optimized; and finally, combining cross-scale parallax propagation and global bundle adjustment to reconstruct a three-dimensional terrain model. According to the method, the technical problems that the matching reliability of areas such as weak textures and shadows on the surface of Mars is insufficient and the model is discontinuous are solved, and the integrity, the self-adaptability and the global precision of the reconstruction model are improved.

The application relates to a Mars spacecraft temperature control system and method, and relates to a temperature control system and method. In order to solve the problem that an existing Mars spacecraft temperature control system cannot guarantee accurate planning and flexible operation of the Mars spacecraft under the condition of limited energy budget, cannot maximize temperature control energy, and cannot meet the corresponding allowable temperature limit of different temperature control modes in a variable temperature control scene, the temperature control system comprises a base station subsystem, a spacecraft subsystem and an operating environment system; the base station subsystem is composed of a first temperature measurement module, a first temperature adjustment module and a base station control module; and the spacecraft subsystem is composed of a second temperature control module, a second temperature adjustment module and a spacecraft control module. The application belongs to the technical field of spacecraft thermal management.

The present invention relates to a method and device for identifying Martian mineral spectra based on deep learning. The Martian mineral spectra identification method based on deep learning uses four-dimensional constraints, namely, standard deviation, spectrum length, absorption depth, and overall reflectivity, to adaptively identify background spectra in images, and calculate ratio spectra based on dynamic background spectra, effectively eliminating interference from non-target factors such as atmospheric scattering and instrument noise. By directly extracting endmember spectra from hyperspectral images and combining the second ratio spectrum with a preset standard spectrum library, a mixed spectrum library containing Martian-specific minerals is constructed, thereby making up for the lack of data in the preset standard spectrum library and avoiding the problem of poor regional adaptability of directly using the preset standard spectrum library, that is, directly using the Earth spectrum library may not accurately reflect the surface characteristics of Mars, thereby improving the adaptability of the model to the Martian surface and ensuring that the model has higher recognition accuracy in the specific environment of Mars.

The application provides a device and a method for in-situ preparation of methane propellant applied to a Mars surface. The device for in-situ preparation of methane propellant comprises a gas distribution system, a reaction gas pretreatment system, a Sabatier reaction system and a product collection system. The gas distribution system is used for conveying carbon dioxide and hydrogen gas prepared on the Mars surface to the reaction gas pretreatment system after pretreatment; the reaction gas pretreatment system is used for mixing and heating the carbon dioxide and the hydrogen gas to form preheated mixed reaction gas and conveying the preheated mixed reaction gas to the Sabatier reaction system; the Sabatier reaction system is used for generating methane and water through a Sabatier reaction of the preheated mixed reaction gas, and the Sabatier reaction system comprises a Sabatier reactor and a circulating air assembly for stabilizing a temperature field in the Sabatier reactor; and the product collection system is used for separating and collecting the methane and the water generated through the Sabatier reaction. The Sabatier reactor is equipped with the circulating air assembly for stabilizing the temperature field in the Sabatier reactor, so that the Sabatier reactor has a stable temperature field and a flow field under different reaction gas flow rates.

The invention relates to a deformable wheel (2) with non-pneumatic load bearing intended to equip a vehicle for driving under extreme conditions, such as those encountered on the moon and Mars, comprising: a hub (4), an annular tread (6) intended to come into contact with the soil, and a plurality of metal cables (8), the invention relates to a pneumatic tire comprising a hub (4), an annular tread arranged around the hub concentric therewith and comprising a layer of composite material coated with at least one protective layer, a plurality of metal cables having an outer diameter of between 0.2 mm and 5 mm, each cable connecting the hub (4) to the tread, each cable being fixed to the tread by an outer end (8a), and each cable being fixed to the tread by an outer end (8b). On the other hand, the cable is fixed to the hub by means of an inner end (8b) by means of an elastic member (18) capable of adjusting the radial stiffness of the cables, each elastic member being associated with a stop surface (12, 14) capable of limiting its deformation.

The application provides a hybrid control method for a six-bar tensegrity robot for Mars surface exploration, which firstly models the six-bar tensegrity robot used, defines the coordinates and adjacency relationship of each face, and pre-establishes an energy landscape graph. Then in the process of controlling the six-bar tensegrity robot, the environment data is synchronously collected, and the rolling or jumping mode is switched according to the robot state and the environment data. In the rolling mode, the A algorithm is used to search for an energy-optimal face conversion sequence, and based on the adaptive thrust of the quadratic programming, the optimal motor thrust distribution is obtained by solving a constrained optimization problem for each face conversion in the face conversion sequence. In the jumping mode, a safe margin height is reserved, the size and angle of the motor thrust are adjusted to overcome the Mars gravity, and the terrain adaptability of the six-bar tensegrity robot is improved. The combination of the two solves the problems of low marching efficiency, high energy loss and weak maneuverability of the prior art on the complex surface of Mars.

The invention discloses a Mars surface flight-oriented ornithopter attitude estimation method, which comprises the following steps: sensor data acquisition: acquiring original data of a Mars ornithopter through a sensor; sensor data filtering processing: carrying out data filtering processing on the original data acquired by the sensor; preprocessing sensor data, performing complementary filtering processing on the filtered data, and taking an obtained attitude quaternion as an estimation reference of an attitude estimation algorithm; attitude estimation: fusing the preprocessed sensor data by adopting an improved self-adaptive gradient descent algorithm to obtain a final attitude estimation result; and attitude description and updating: updating the attitude of the Mars flapping-wing aircraft by adopting a quaternion method, and converting the attitude into attitude angle information as attitude description. Through data preprocessing and an improved gradient descent algorithm, rapid and accurate convergence of attitude estimation is ensured, and the real-time performance of the system is ensured.

The application provides a Mars crater detection method and system, relates to the technical field of planetary remote sensing image processing and target detection, and comprises the following steps: constructing a CAFE-Net network based on a YOLO single-stage detection model, integrating a multi-scale context perception module, a feature enhancement unit and an efficient feature fusion network, training the model after pre-processing MDCD and DACD data sets, and outputting visualized and structured detection results through model inference and non-maximum suppression post-processing, so that the problems of high false detection rate of craters and dome structures and high missing detection rate of small craters in the prior art are effectively solved, the precision and recall rate are improved, the method is suitable for deep space exploration scenes such as Mars probe landing site selection and Mars geological age determination, and can be automatically processed in an end-to-end mode and is convenient to deploy.

A multifunctional integrated Mars reentry detector relates to the technical field of Mars detection and mainly comprises a detector body, a rotor wing, a nose cone cover, a rotating device, a heat shield and the like. During launching, the rotor wings are in a compressed and folded state, and the detector body, the nose cone cover and the heat-proof cover serve as a whole device fairing. In the initial stage of reentry, the heat shield is used for protecting the rotor blade from pneumatic heating, can be further unfolded to a certain angle after descending at a certain speed, and serves as a speed brake for further speed reduction. And when the speed is reduced to subsonic speed, the rotor blades are unlocked and released, the blades are unfolded through an internal telescopic mechanism, the blades are driven to rotate by utilizing relative incoming flow, and rotation kinetic energy is converted into electric energy to be stored while lift force is provided for deceleration. In the landing stage, the rotor wings are switched to an active working mode, stored electric energy is used for providing rotating power for the rotating device, and autonomous hovering and obstacle avoidance are achieved; and the heat shield is completely unfolded to provide stable support and buffer for the detector body.

This invention is embodied in a system and device for transporting assets (small satellites, commodities, or other payloads) in space. The preferred system comprises a scaffold of relay stations strategically orbiting one or more celestial bodies. The orbits are complimentary to each other so that the relay stations can transfer mass from one station to another. In this way, the system can support different logistical networks connecting the space between orbits such as Low Earth orbit (LEO), geostationary orbit (GEO), and Low Lunar orbit (LLO), and even between Earth and Mars.

The invention provides a ventilation wall test system and method for Mars aircraft testing, and the system comprises a space environment simulator which can simulate the low-pressure and low-temperature environment of Mars, a gravity unloading device which is installed in the space environment simulator, a ventilation wall assembly which is used for generating a controllable simulation wind field, and a ventilation wall driving device. The wind wall assembly is arranged in a wind guide structure of the space environment simulator and comprises a plurality of fan array units, each fan array unit is of a multi-layer series connection structure, the distance between the adjacent fan array units can be adjusted according to the wind speed of the controllable simulation wind field, and each fan array unit comprises a plurality of fans arranged at non-equal intervals. The Mars transient wind field where the to-be-tested unmanned aerial vehicle is located is accurately simulated, and accurate simulation of distribution of the Mars wind field in time and space and low gravity of the Mars is achieved.

The invention discloses a Mars in-situ carbon dioxide cooling supply nuclear energy power generation system, belongs to the technical field of nuclear energy power generation systems, and particularly relates to an extraterrestrial celestial body in-situ resource utilization (ISRU) nuclear energy power generation technology. The problems that an existing Mars closed Brayton cycle nuclear power generation subsystem is difficult in heat dissipation and difficult in working medium supply are solved. The system comprises a carbon dioxide liquefaction subsystem and a closed Brayton cycle nuclear power generation subsystem. The Mars in-situ carbon dioxide cooling replenishment nuclear energy power generation system is suitable for deep space exploration and extraterrestrial energy utilization.

The application relates to a connecting rod type rope-driven sampler for a Mars spacecraft and belongs to the technical field of space Mars spacecrafts. The sampler solves the problem that a Mars surface sample collecting device cannot be installed at the bottom of a multi-rotor Mars spacecraft, thereby affecting task execution. The sampler comprises a supporting arm mechanism, a wire wheel driving motor, a claw end wire wheel, a claw arm, a motor end wire wheel, a rope, a spring and a wire distribution wheel. One end of the supporting arm mechanism is provided with the motor end wire wheel, the other end of the supporting arm mechanism is provided with the claw end wire wheel, the other end of the supporting arm mechanism is further provided with the wire distribution wheel and the claw arm, one end of the rope is wound on the motor end wire wheel, the other end of the rope is sequentially wound on the claw end wire wheel, the wire distribution wheel and the claw arm, the output end of the wire wheel driving motor is connected with the motor end wire wheel, and the two ends of the spring are respectively connected with the claw arm and the supporting arm mechanism. The sampler has a clever structure, reduces the complexity of controlling the sampler during task execution, is not prone to damage, and provides guarantee for smooth task execution.

The present application belongs to the technical field of Mars radar vehicle data processing, and particularly relates to a double-scale data fusion imaging method for Mars radar vehicle data, which fuses RIMFAX and RoPeR double-source data to realize collaborative imaging of shallow precision and deep thickness in a depth range of more than 100 meters. Through grid alignment and Gaussian weight transition, stitching artifacts are eliminated, and the processing efficiency and imaging quality are significantly improved. The present application can overcome the defects in the existing Mars radar data processing, such as the single load being unable to consider the detection depth and resolution, and the double-source heterogeneous data being difficult to realize collaborative imaging, and provides a double-scale data fusion imaging method. Through differential filtering, unified grid registration and depth domain weighted fusion of RIMFAX shallow high-resolution data and RoPeR deep large-penetration data, integrated imaging of Mars shallow structure from shallow fine to deep profile is realized.

The application is a dynamic charged planet dust life test system. The application relates to the field of planet dust simulation technology, and the application integrates corresponding protocols into a unified sensing system framework to realize comprehensive monitoring of the internal airflow static parameters, dynamic parameters, dust parameters, electromagnetic parameters and mechanical vibration frequency of a Mars atmosphere surface environment simulation cabin. Furthermore, a biological body restraining device can be placed in the container to study the influence of charged planet dust on the biological body.

The invention relates to particular formulations combining a biodegradable matrix and a regolith filler usable in 3D printing, in particular for the manufacture of objects during extraterrestrial missions, for example on the moon or on Mars.

The invention discloses a self-correction state forecasting and fusion estimation method for a Mars pneumatic auxiliary orbit descending model, and belongs to the technical field of deep space exploration. The implementation method comprises the following steps: integrating various perturbation of a detector, and establishing a dynamic model suitable for long-term orbit extrapolation; the orbiter observes a natural large landmark on the surface of the Mars by using a navigation camera to obtain azimuth information of the landmark; when the detector is far away from the Mars, azimuth information of the Mars is obtained through the navigation camera; when the distance is closer to the Mars, observing a satellite surface landmark, and acquiring azimuth information of the landmark; the detector and the orbiter measure the relative distance and orientation through radio, and the measurement information obtained through fusion corrects the extrapolation result of the orbit. When the detector is located in the atmosphere, an accelerometer is used for measuring the external force acceleration of the detector, and inertial navigation is achieved. The atmospheric density is corrected by using the dynamic pressure and the heat flux density, and re-recursion is performed on the state of the detector, so that the state estimation precision of the detector in the Mars atmosphere is improved.

This invention provides a method for screening characteristic bands of Martian surface minerals, comprising: acquiring a standard hyperspectral dataset of Martian minerals, dividing it into a training hyperspectral dataset and a test hyperspectral dataset according to a preset division ratio, and performing data preprocessing on each dataset; constructing a band screening supervised learning network model, iteratively training it on the preprocessed training hyperspectral dataset to obtain an optimized band screening supervised learning network model, and determining the band screening results; performing band screening on the preprocessed test hyperspectral dataset based on the band screening results, and determining the test classification accuracy; and, if the test accuracy meets a preset accuracy condition, performing band screening on the Martian mineral hyperspectral dataset to be screened according to the optimized band screening supervised learning network model to obtain the target screening dataset. This method can accurately screen characteristic bands of Martian surface minerals, thereby improving the accuracy of Martian surface mineral identification and classification.

The invention discloses a Mars surface nuclear energy utilization system for comprehensive thermoelectric hydrogen storage and production, and relates to a Mars surface nuclear energy utilization system. The invention aims to solve the problem that the Mars base needs an efficient and reliable energy system. The system comprises a Brayton thermoelectric conversion device, one side of the Brayton thermoelectric conversion device is connected with a high-temperature electrolytic hydrogen production device, the other side of the Brayton thermoelectric conversion device is connected with a laser wireless energy transmission device, and the Brayton thermoelectric conversion device is further connected with a heat supply device and a Carnot battery energy storage device; the heat supply device provides heat for the Mars base, and the Brayton thermoelectric conversion device provides power for power utilization facilities, the high-temperature electrolytic hydrogen production device and the laser wireless capacity transmission device of the Mars base. The invention belongs to the technical field of nuclear energy comprehensive utilization.

This invention proposes a method and system for classifying Martian impact crater degradation based on a comprehensive analysis of morphology and erosion characteristics, relating to the fields of planetary remote sensing and planetary geomorphology. The method includes acquiring high-resolution Martian remote sensing images, using a three-point circle method to outline impact craters, identifying impact craters in the study area, excluding secondary impact craters in the study area, and selecting ten descriptive factors to describe the impact craters in the study area: impact ejecta, crater rim gap, crater rim sharpness, crater rim damage degree, crater bottom filling material, sand ripple area ratio, crater bottom elevation variation coefficient, depth-to-diameter ratio, crater rim roughness, and abundance of superimposed impact craters. Based on these ten descriptive factors, the method analyzes the grading criteria for impact crater degradation, classifying the Martian impact crater degradation process into seven degradation levels. This invention classifies the degree of impact crater degradation solely based on morphological characteristics, eliminating the need for extensive and complex calculations and remaining unaffected by the heterogeneity of the pre-impact terrain and the irregularity of the impact crater morphology.

The invention discloses a Mars atmosphere braking energy control set prediction correction guidance method in an uncertain environment, and belongs to the technical field of deep space exploration. The implementation method of the invention comprises the following steps: respectively establishing a dynamic model of an atmospheric braking process detector flying outside the atmosphere and a dynamic model of an atmospheric braking process detector flying inside the atmosphere; the influence of environmental parameter uncertainty on a detector reachable set is considered, a reachable set under the influence of different parameter uncertainty is calculated, and a reachable union set is solved. And solving a corresponding near fire point heat flux density set according to the reachable union set, and judging whether the far fire point needs maneuvering or not according to the relationship between the near fire point heat flux density set and the atmospheric braking corridor. The influence of environmental parameter uncertainty on a detector energy control set is considered, an energy control set under the influence of different parameter uncertainty is calculated, and an energy control intersection is solved. And solving a set of far fire point speed increments used for correcting a near fire point state by the energy control intersection, and realizing Mars atmospheric braking energy control set prediction correction guidance in an uncertain environment according to the selected far fire point maneuvering speed increment.

The application belongs to the technical field of data processing, and discloses a Mars probe temperature monitoring method and system based on time control factor optimization, which comprises the following steps: obtaining simulated soil, and performing screening treatment and dense state preparation treatment to obtain a plurality of relatively dense state samples; performing simulated temperature monitoring on the plurality of relatively dense state samples to obtain a plurality of temperature-time curves, and performing piecewise linear fitting to obtain the thermal response characteristics of the simulated soil; performing optimal monitoring time period analysis and optimal monitoring time length analysis according to the thermal response characteristics to obtain an optimal passive monitoring time window and time length strategy; determining a target to-be-measured soil, and performing real temperature monitoring on the target to-be-measured soil according to the optimal passive monitoring time window and time length strategy to obtain the best temperature monitoring result. The application can realize accurate monitoring of the temperature of the to-be-measured soil, thereby effectively improving the evaluation accuracy of the passability of the Mars rover and ensuring the driving safety of the Mars rover.