“玉兔二号”复杂月背环境休眠与唤醒控制方法  

A Control Method of Sleep-Reboot in the Complex Lunar Far-Side Environment of Yutu-2

作　　者：张宽[1] 卢皓 李立春[1] 于天一[1] 张辉 谢剑锋[1] ZHANG Kuan;LU Hao;LI Lichun;YU Tianyi;ZHANG Hui;XIE Jianfeng(Beijing Aerospace Control Center,Beijing 100094,China)

机构地区：[1]北京航天飞行控制中心,北京100094

出　　处：《深空探测学报（中英文）》2021年第6期555-563,共9页Journal Of Deep Space Exploration

基　　金：国家自然科学基金青年科学基金资助项目(62003025);国家自然科学基金资助项目(61972020)。

摘　　要：针对复杂地形与中继通信等多约束条件下“玉兔二号”巡视器休眠与唤醒控制问题,提出了复杂月背环境休眠与唤醒规划控制方法。通过巡视器单目相机序列成像的天际线感知方法实现了周围地形的遮挡情况分析,基于巡视器姿态预测方法计算了巡视器给定位置的可休眠姿态及控制策略,提出了可休眠性指标与可视化综合分析方法以辅助寻找备选休眠点,并设计了休眠唤醒在轨工作模式。将其应用到“玉兔二号”在轨控制中,实施情况说明了控制方法的正确性和工作模式的有效性。A control method of sleep-reboot in complex lunar far-side environment is proposed in this paper for solving Yutu-2 lunar rover sleep-reboot control problem under contraints conditions of complex terrain and relay communication.A skyline sensing method based on the sequence imaging of the monocular camera is proposed to realize the occlusion analysis,a lunar attitude prediction method is proposed to realize the calculation of sleepable attitude and control strategy for a given location,a sleepability analysis index and a visualization comprehensive analysis method are proposed to assist in finding alternative sleep locations.Finally,the implementation mode of sleep-reboot on-orbit is designed and presented.The Yutu-2 on-orbit implementation performance proves the validity of the control method and the effectiveness of the process.

关 键 词："玉兔二号"巡视器 休眠与唤醒 复杂月背环境 多约束控制 天际线计算 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]