Cosmic Ray Muon Navigation for Subsurface Environments: Technologies and Challenges

The global navigation satellite system (GNSS), using electromagnetic signals, enables continuous positioning throughout the entire surface of the Earth. However, underwater and underground environments significantly restrict the propagation of electromagnetic waves. The sole approach to aid positioning is the utilization of sound signals. Signal blockage in underground and indoor environments demands the accurate location of anchor points for local positioning, which requires previous deployment. Unlike radio waves, the cosmic ray muons are highly reliable natural signal sources for positioning, remaining immune to spoofing and interference. Starting from the standpoint of navigation and positioning, this paper briefly introduces the physical properties of cosmic ray muons and outlines the measurements and positioning principles of muon navigation, including trilateral localization based on the time of flight (TOF) and angular localization based on the angle of arrival (AOA). It subsequently presents the pertinent studies conducted and analyzes the findings. Finally, the challenges of muon navigation are explored from three perspectives: positioning signals, positioning models, and application scenarios. This will offer some new ideas for the domain of localization for further research on muon positioning.