嫦娥三号巡视器GNC及地面试验技术  

Guidance, navigation and control technologies of Chang'E-3 lunar rover

作　　者：陈建新[1] 邢琰[1] 滕宝毅[1] 毛晓艳[1] 刘祥[1] 贾永[1] 张晋[1] 王磊[1] 

机构地区：[1]北京控制工程研究所,北京100190

出　　处：《中国科学：技术科学》2014年第5期461-469,共9页Scientia Sinica(Technologica)

基　　金：国家中长期科技发展规划重大专项资助项目

摘　　要：嫦娥三号巡视器是我国首个实现地外天体表面巡视探测的航天器,其制导导航控制(GNC)技术与地球卫星和飞船等全然不同.嫦娥三号巡视器GNC系统突破了月面自主导航定姿定位和协调运动控制、基于双目立体视觉的自主环境感知、基于地形通过性量化分析的路径规划、基于主动结构光被动视觉的激光探测避障以及地面试验验证等关键技术.在轨飞行试验结果表明,GNC系统实现了既定任务目标,为未来火星等深空巡视探测任务奠定了技术基础.本文对巡视器GNC系统的任务要求、系统组成、功能实现方案及关键技术、工作模式、地面试验验证及在轨飞行情况等方面进行了系统介绍.The jade rabbit lunar rover of Chang＇E-3 probe was the first explorer of China roaming on the surface of extratellurian celestials, which had the totally different guidance, navigation and control （GNC） technologies from the earth orbital spacecrafts. Several key technologies had been broken in GNC system of Chang＇E-3 lunar rover, such as autonomous position and attitude determination, multi-wheel motion control on lunar surface, binocular stereo visio based autonomous environment perception, traversibility quantitative analysis based path planning, structure-light vision based obstacle avoidance for emergence case, and experimentation on earth. Since December 14, 2013 the Chang＇E-3 probe landed successfully on the moon, the GNC system of jade rabbit lunar rover had been working well all the time, and accomplished the set mission. The GNC technologies employed in Chang＇E-3 Lunar Rover laid foundation for future space exploration. The mission requirement, system component, key technologies, work modes and so forth of GNC system were discussed systematically in this paper.

关 键 词：巡视器 月面定姿定位 运动控制 路径规划 自主避障 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]