嫦娥五号探测器月面采样封装任务的定位精度  

The positioning accuracy of the Lunar surface sampling and packaging mission of the Chang'e-5 probe

作　　者：张烁 陈丽平[2] 李铁映[2] 鄢咏折 邓湘金[2] 顾征[2] 郑燕红[2] 马友青 亓晨 刘少创 ZHANG Shuo;CHEN Liping;LI Tieying;YAN Yongzhe;DENG Xiangjin;GU Zheng;ZHENG Yanhong;MA Youqing;QI Chen;LIU Shaochuang(Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China;Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China)

机构地区：[1]中国科学院空天信息创新研究院,北京100101 [2]北京空间飞行器总体设计部,北京100094 [3]武汉大学测绘学院,武汉430079

出　　处：《测绘学报》2022年第5期631-639,共9页Acta Geodaetica et Cartographica Sinica

基　　金：国家中长期科技发展规划重大专项;国家自然科学基金(42071447);中国博士后科学基金(2017M620948)。

摘　　要：嫦娥五号是中国首个实施无人月面取样返回的月球探测器。为了确保采样封装任务的定位精度,需要对采样封装任务进行高精度的整体几何检校。本文提出了附有立体约束和机械臂运动约束条件的联合平差检校模型。经过内场试验验证本文提出的检校方法具有较高的精度。在模拟采样试验中能够获得5.118 mm的平均定位误差,在月面采样任务中能够获得4.745 mm的平均定位误差。有效保障了嫦娥五号探测器精准地完成月面自动采样封装任务。The Chang'e-5 is China's first unmanned lunar probe to conduct the lunar surface sampling and return.It is necessary to carry out the high precision integrated geometry calibration for the sampling and packaging mission in order to ensure the positioning accuracy of the sampling and packaging mission.The combined adjustment model with the stereo constraints and the robot arm motion constraints is proposed.It is proved by the field test that the proposed calibration method has the high precision.The average positioning error of the 5.118 mm is obtained in the simulated sampling test and the 4.745 mm in the lunar sampling mission.It ensures that the Chang'e-5 probe can complete the automatic lunar sampling and packaging mission accurately.

关 键 词：嫦娥五号 检校 立体视觉 机械臂运动约束 联合平差 

分 类 号：P227[天文地球—大地测量学与测量工程]