火星车多光谱相机桅杆精确指向控制方法  

Accuracy Mast Pointing Control Method for Multi-Spectral Camera of Mars Rover

作　　者：卢皓 张辉 张朕 于天一[2] 崔晓峰[2] 胡晓东 费立刚 LU Hao;ZHANG Hui;ZHANG Zhen;YU Tianyi;CUI Xiaofeng;HU Xiaodong;FEI Ligang(Beijing Space Information Relay Transmission Technology Research Center,Beijing 100094,China;Beijing Aerospace Control Center,Beijing 100094,China)

机构地区：[1]北京空间信息中继传输技术研究中心,北京100094 [2]北京航天飞行控制中心,北京100094

出　　处：《深空探测学报（中英文）》2023年第1期66-71,共6页Journal Of Deep Space Exploration

基　　金：国家自然科学基金资助项目(61873196,61772187,61501336)。

摘　　要：为解决火星车桅杆搭载小视场多光谱相机对特定目标精确指向的问题,设计了火星车桅杆精确指向方法,对火星车桅杆机构运动学过程进行了建模,设计了桅杆控制参数迭代求解方法以及火星车对目标探测工作流程,对提出的控制方法进行了误差分析。经过中国首次火星探测任务实践证明,设计的方法可满足多光谱相机精确指向的要求。To achieve the goal of accuraetly pointing to particular targets for the narrow-FOV multi-spectral camera on the mast,an accuracy mast pointing method was proposed.The mast kinetic model,the iterative solution method of mast control parameters,and the working flow of rover target detection were designed.An error analysis of the method was conducted.Through the practice of China’s first Mars exploration mission,the method is proved to satisfy the demand for accuracy pointing of the multi-spectral camera.

关 键 词：“祝融号”火星车 桅杆控制 精确指向 齐次变换 多光谱相机探测 

分 类 号：TP249[自动化与计算机技术—检测技术与自动化装置]