基于Unity3D的月面复杂地形场景构建及模拟驾驶系统  

Autonomous Complex Terrain Soft Landing Simulation System of Lunar Lander Based on Unity3D

作　　者：陈李炜 曹涛 易建军[1] 张雪松 赵逸凡 王庆明[1] CHEN Liwei;CAO Tao;YI Jianjun;ZHANG Xuesong;ZHAO Yifan;WANG Qingming(Department of Mechanical Engineering,East China University of Science and Technology,Shanghai 200237;Shanghai Aerospace Control Technology Institute,Shanghai 201109;Shanghai Key Laboratory of Aerospace Intelligent Control Technology,Shanghai 201109)

机构地区：[1]华东理工大学机械工程系,上海200237 [2]上海航天控制技术研究所,上海201109 [3]上海市空间智能控制技术重点实验室,上海201109

出　　处：《飞控与探测》2023年第1期48-55,共8页Flight Control & Detection

基　　金：上海航天创新基金(SAST-2019-080)。

摘　　要：为了验证未来月面复杂地形操控技术方案,基于Unity3D物理引擎对月表模型、月球物理环境以及月面光照环境进行了模拟,设计并开发了一套用于模拟月球自主进行着陆点选址以及在线航天器着陆轨迹规划的系统。该模拟系统的工作过程包含了:基于面阵雷达与立体相机信息融合的局部月表重建、基于3D重建结果的月表地形着陆代价的快速评估与自动着陆选址,以及使登陆器能够到达选址目标的最优燃料消耗着陆运动规划,实现了月球着陆器短距离自主选址着陆的模拟系统构建,同时也从仿真的角度初步验证了“地形重建-地形评估-自主选址-软着陆”这一自主着陆过程的可行性。In order to verify the technical scheme of autonomous landing on complex lunar terrain for lunar landers,this paper simulates the lunar surface model,lunar physical environment and lunar illumination environment based on Unity3D physical engine.At the same time,it designs and develops a simulation system for simulating the autonomous landing site selection and real-time landing trajectory planning of lunar landers.The working process of the simulation system includes:local lunar surface reconstruction based on the information fusion of area array radar and stereo camera,real-time assessment of lunar surface terrain landing cost and automatic landing location based on 3D reconstruction results,and optimal fuel consumption landing motion planning to enable the lander to reach the location target.The simulation system of short-range autonomous location landing of the lunar lander is constructed,and the feasibility of the autonomous landing process of“terrain reconstruction-terrain landing risk evaluation-autonomous landing point selection-soft landing”is preliminarily verified from the perspective of simulation.

关 键 词：Unity3D开发 月球登陆器 地形评估 软着陆 

分 类 号：V448.25[航空宇航科学与技术—飞行器设计]