面向月球科研站任务的地月准实时遥操作模拟验证系统设计与关键技术研究  

Design and Key Technology Research on an Earth-Moon Quasi-Real-Time Teleoperation Simulation Verification System for Lunar Scientific Research Stations

作　　者：王镓[1] 胡国林[1] 罗益鸿 梁家林 万文辉 赵迪[3] 薄正 WANG Jia;HU Guolin;LUO Yihong;LIANG Jialin;WAN Wenhui;ZHAO Di;BO Zheng(Beijing Aerospace Control Center,Beijing 100094,China;State Key Laboratory of Remote Sensing Science,Aerospace Information Research Institute,Chinese Academy of Sciences,Beijing 100101,China;School of Mechanical Science and Engineering,Huazhong University of Science and Technology,Wuhan 430074,Hubei,China;Technology and Engineering Center for Space Utilization,Chinese Academy of Sciences,Beijing 100094,China)

机构地区：[1]北京航天飞行控制中心,北京100094 [2]中国科学院空天信息创新研究院/遥感科学国家重点实验室,北京100101 [3]华中科技大学机械工程学院,湖北武汉430074 [4]中国科学院空间应用工程与技术中心,北京100094

出　　处：《上海航天（中英文）》2024年第1期11-23,共13页Aerospace Shanghai（Chinese&English）

基　　金：国家自然科学基金(41771488)。

摘　　要：针对月球科研站任务地月遥操作需求和特点,设计地月准实时遥操作模拟验证系统,对其中的关键技术海量多尺度遥感数据环境感知、空地协同高精度定位、基于混合现实的预测仿真等进行了研究。提出了基于海量多尺度遥感数据的联合处理方法,环境感知数据融合可处理米级至厘米级环境感知结果;设计基于空地多运动平台协同定位的原型软件,空地协同地标约束下,定位精度不低于轨道器影像1个像素;开发了带有力觉反馈的预测仿真验证平台,在2~3 s变时延约束下可在仿真环境下协同演示遥操作过程,真实还原从端的遥操作作业场景,提高遥操作的执行效率和安全性。为地面人员的方案设计、操作手训练、故障处置等提供实时支持,为我国未来实施月球科研站任务筑牢基础。According to the requirements and characteristics of the Earth-Moon teleoperation for lunar scientific research stations,an Earth-Moon quasi-real-time teleoperation simulation and verification system is designed The key technologies,such as the environment perception of massive multi-scale remote sensing data,the high-precision positioning based on air-ground cooperation,and the prediction simulation based on mixed reality(MR),are studied A joint processing algorithm based on massive multi-scale remote sensing data is proposed,which can process the sensing results from meter level to centimeter level A location prototype software based on air-ground cooperation is designed Under the constraint of air-ground coordinated landmark,the positioning accuracy is no less than 1 pixel of the orbiter image A predictive simulation verification platform with force feedback is developed,which can cooperatively demonstrate the teleoperation process in the simulation environment under the constraint of 2~3s variable delay,truly restore the slave teleoperation scenario,and improve the efficiency and security of teleoperation significantly This study can provide real-time support for the program design of ground controllers,the training of operators,and fault treatment,etc,and build a foundation for the subsequent implementation of lunar scientific research station missions in China.

关 键 词：月球科研站 遥操作 遥感制图 任务规划 空地协同定位 预测仿真 

分 类 号：P227[天文地球—大地测量学与测量工程]