航天器环境工程
航天器環境工程
항천기배경공정
SPACECRAFT ENVIRONMENT ENGINEERING
2014年
5期
526-530
,共5页
王鹤%樊世超%王婉秋%赵振庆
王鶴%樊世超%王婉鞦%趙振慶
왕학%번세초%왕완추%조진경
月球低重力模拟%位姿测量%二维跟踪%优化设计
月毬低重力模擬%位姿測量%二維跟蹤%優化設計
월구저중력모의%위자측량%이유근종%우화설계
lunar gravity simulation%position-pose measurement%two-dimensional tracking%optimum design
为巡视器地面行走验证试验专门研制了月球低重力模拟设备。在验证试验中需要对巡视器的位姿进行测量，针对这一需求，文章提出了基于双相机的非接触测量方案，同时研制了相应的位姿测控系统，对其硬件和软件进行了优化设计。利用该位姿测控系统开展了巡视器的位姿测量，有效解决了位姿测量和控制过程中的问题。经充分测试验证，系统满足巡视器地面行走验证试验的要求。
為巡視器地麵行走驗證試驗專門研製瞭月毬低重力模擬設備。在驗證試驗中需要對巡視器的位姿進行測量，針對這一需求，文章提齣瞭基于雙相機的非接觸測量方案，同時研製瞭相應的位姿測控繫統，對其硬件和軟件進行瞭優化設計。利用該位姿測控繫統開展瞭巡視器的位姿測量，有效解決瞭位姿測量和控製過程中的問題。經充分測試驗證，繫統滿足巡視器地麵行走驗證試驗的要求。
위순시기지면행주험증시험전문연제료월구저중력모의설비。재험증시험중수요대순시기적위자진행측량，침대저일수구，문장제출료기우쌍상궤적비접촉측량방안，동시연제료상응적위자측공계통，대기경건화연건진행료우화설계。이용해위자측공계통개전료순시기적위자측량，유효해결료위자측량화공제과정중적문제。경충분측시험증，계통만족순시기지면행주험증시험적요구。
The lunar gravity simulation facility is developed for rover ground tests. In order to measure the position and the pose of the rover during the tests, an optimum design scheme of the position-pose part is proposed based on the dual-camera and non-contact measurement method. At the same time, the measurement and control system is developed with hardware and software optimally designed. The system is used to measure the rover’s position-pose and solve the problems involved in the tests. In the testing, the system is shown to meet very well the requirements of the rover ground tests.
