嫦娥三号巡视器遥操作系统设计与实现  

Design and realization for teleoperation system of the Chang'E-3 rover

作　　者：贾阳[1] 张建利[1] 李群智[1] 申振荣[1] 吴克[1] 彭松[1] 温博 张香燕[1] 李清毅[1] 

机构地区：[1]中国空间技术研究院总体部,北京100094

出　　处：《中国科学：技术科学》2014年第5期470-482,共13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：巡视器月面运行过程是一个器地交互、地面持续支持的过程,与国内以往航天器在轨测控工作模式有着明显的不同,技术难度大,具有距离远、任务复杂(模式多、约束多)、探测环境非结构化、地面任务支持频繁且持续时间长、需要进行伴飞仿真模拟验证等特点.设计一种与巡视任务相匹配的在轨运行操作新模式是必须解决的问题.本文从巡视器遥操作系统国内外发展现状、遥操作系统特点、系统设计、系统实现与在轨验证4个方面介绍巡视器遥操作系统设计与实现情况.地面任务支持与遥操作系统的研究与开发,也可以称之为遥操作技术的研究,主要包括绝对定位、相对定位、图像融合、任务规划、机构规划、移动里程、路径规划等技术."主控规范、定位准确、图像清晰、规划到位、验证充分",是该系统在轨工作的核心任务目标.Lunar Rover operation is a complex and incessant progress which contains multi-interactions between the rover and ground teleoperation center. This challengeable remote control working model is obviously different from Chinese previous spacecrafts. The control model of the lunar rover has following features： long distance, complex tasks of multi-model and multi-constrains, un-repeatable, non-structural and un-predictable lunar environment, high frequency and long duration mission supporting operations, requirements of synchronous simulation etc. It is essential to design a novel operational model that matches the exploration mission of the lunar rover. This paper introduces the teleoperation system of the lunar rover by analyzing present situation of rover teleoperation in domestic and overseas, characteristics of rover teleoperation, system design, system implementation and on-orbit test. The teleoperation technology is composed of absolute positioning, relative positioning, image fusion, mission planning, mechanism planning, odometry and path planning.

关 键 词：嫦娥三号巡视器 地面遥操作 系统设计 月面在轨试验 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]