遥感制图与导航定位技术在嫦娥三号遥操作中的应用  

Remote sensing mapping and localization techniques for teleoperation of Chang'e-3 rover

作　　者：刘召芹[1] 万文辉[1] 彭嫚[1] 赵强[1] 徐斌[1] 刘斌 刘一良[1] 邸凯昌[1] 李立春[2] 于天一[2] 王保丰[2] 周建亮[2] 陈宏敏[2] 

机构地区：[1]中国科学院遥感与数字地球研究所遥感科学国家重点实验室,北京100101 [2]北京航天飞行控制中心,北京100094

出　　处：《遥感学报》2014年第5期971-980,共10页NATIONAL REMOTE SENSING BULLETIN

基　　金：国家自然科学基金(编号:41171355;41201480;61305137;61104190)

摘　　要：系统介绍了嫦娥三号遥操作中基于影像的遥感制图与导航定位技术的应用方法。利用降落相机序列影像实现了嫦娥三号着陆器在嫦娥二号卫星影像上的高精度定位,并生成了着陆区高精度3维制图产品;利用导航相机立体影像生成巡视器周围地形产品,采用站间影像匹配定位和DOM匹配的方式实现了玉兔号月球车的连续高精度定位;将高精度的定位结果和制图产品应用于月球车遥操作任务规划中,为月球车的安全行驶和科学探测提供了精准的定位和3维地形信息。月球车月面巡视探测工作的顺利完成,验证了这些应用技术的可靠性。China successfully landed Chang＇e-3 （CE-3） lander and rover on December 14, 2013, and the rover Yutu had traversed 114.8 m and accomplished a series of scientific investigations under teleoperation. To fulfill teleoperation requirements, the techniques of remote sensing mapping and localization based on images have been developed and used to produce high precision topographic and rover localization products. These techniques and derived products are critical to support teleoperation tasks such as obstacle avoidance and rover path planning. Based on consecutive image registration between CE-3 descent images and Chang＇e-2 （CE-2） Digital Ortho Map （DOM） （1.5 m/pixel）, the CE-3 lander has been localized on high-resolution lunar orbital and descent images. A sequence of descent images are firstly selected at intervals from 2 km altitude, and then the geometric relationships among the selected sequence images are established through SIFT matching. Lunar craters are subsequently exlracted by image segmentation with mean-shift method and then applied to registration between CE-2 DOM and the descent images. The landing point of CE-3 is finally localized in CE-2 DOM and a Lunar Reconnaissance Orbiter （LRO） image （1.6 rrdpixel） acquired before CE-3 landing. High-precision terrain products covering landing area of CE-3 have also been produced using the descent sequence images.First, image matching among the selected sequence images is performed with SIFT matching, during which gross errors are elimi- nated by an RANSAC algorithm. Second, the remaining matched points are used as tie points to construct an image network, and bundle adjustment is then performed with ground control points from the CE-2 Digital Elevation Model （DEM） and DOM. Third, dense matching among the sequence images is performed to generate dense matched points, and the three-dimensional coordinates of the dense points is subsequently calculated with space intersection. Finally, the DEM is generated by Kriging interpolation

关 键 词：嫦娥三号 遥感制图 导航定位 遥操作 降落相机 导航相机 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]