基于视觉闭路的月球车GNC半实物仿真测试平台  

Hardware-in-the-Loop Test-bed for Testing of Lunar Rover GNC Based on Vision-in-the-Loop

作　　者：李志平[1] 张志[1] 陈建新[1] 王磊[1] 居鹤华[2] 

机构地区：[1]北京控制工程研究所,北京100190 [2]北京工业大学电子信息与控制工程学院,北京100022

出　　处：《系统仿真学报》2015年第5期965-972,共8页Journal of System Simulation

基　　金：国家中长期科技发展规划重大专项项目

摘　　要：提出一种基于视觉闭路的月球车GNC(导航制导与控制)分系统测试的半实物仿真平台。对平台的构成与数据流进行设计,完成平台的视觉闭路设计,针对避障相机图像畸变的参数与实际避障相机焦距之间的匹配性问题,对投影图像边缘点的畸变忽略。避障相机成像时接收动力学仿真生成的相机位置、姿态参数,利用多线程方式完成双目视觉模拟,解决了图像与规划路径匹配及快速生成问题,满足闭环测试的需求。该平台可构建多种测试工况,提高分系统测试的覆盖性和测试效率。嫦娥三号巡视器在轨长时间的月面正常行走,表明该测试平台在分系统测试中的有效性。A hardware-in-the-loop and vision-in-the-loop test-bed for the testing of the lunar rover guide navigation control(GNC) subsystem was introduced. The composition of the test-bed and its dataflow were delicately designed. Then the vision-in-the-loop concept was designed. To overcome the problem of matching between the hazard-camera's focus and the images' distortion parameters, the distortion computation on the edge of the image pixels was ignored. Furthermore, to fulfill the closed-loop testing, the stereo vision function was accomplished by using multiple processes that made the images rapidly generated and the cameras' position and attitude parameters were supplied from rover's dynamics. Many testing instances can be constructed by using this test-bed. That will improve the effectiveness and coverage of subsystem testing. The CE-3 lunar rover has been working on the moon flawlessly, which implicates that the test-bed is very effective for the subsystem's grounding test.

关 键 词：月球车 半实物仿真 视觉闭路 GNC 

分 类 号：V216.8[航空宇航科学与技术—航空宇航推进理论与工程]