Rover-based system for scouting and mapping lava tubes from the Moon's surface using gravimetric surveying

The main objectives of this study were:- To carry out thorough analysis and modeling of the anomalous gravity fields expected from lunar lava tubes and other types of void spaces, of various sizes and depths. This work was carried out by geoscientists from Queen’s University.- To define the mission and system-level requirements for this exploration mission, derived from the scientific analysis of those expected gravity signals, and specifying feasible mission and system-level designs, for a mission to scout the Marius Hills pit crater.- An additional objective was to study the possible inclusion of another, auxiliary geophysical instrument aboard the rover — a Ground Penetrating Radar (GPR) — to produce subsurface imaging signals that would complement the gravity measurements.