嫦娥三号月面巡视探测器高精度定位

发布时间：2018-01-16 16:20

本文关键词：嫦娥三号月面巡视探测器高精度定位　出处：《科学通报》2015年04期 　论文类型：期刊论文

【摘要】：高精度的定位技术是嫦娥三号月面巡视探测器在月表实施科学探测任务的重要保障,本文提出了适用于月面环境无高精度控制点的立体图像条带网定位方法.首先,在地面控制场中,采用基于控制点的光束法平差方法获得精确的相机标定参数,进而计算出立体相机的摄影基线和相对方位元素.其次,通过像点匹配、前方交会完成图像的立体模型构建,然后根据不同摄站间的连接点序列建立立体图像条带网.依据连接点坐标观测值的权矩阵和扩展正交Procrustes理论,对立体图像条带网的数学模型进行最小二乘平差,直接获得月面巡视探测器的位置与姿态信息.最后在室内试验场内进行了新方法和传统光束法平差方法的对比验证,结果表明新方法在稳定性和计算效率方面优于后者,探测器定位精度相当.在此基础上,新方法应用于嫦娥三号月面巡视探测器的遥操作系统,充分满足了探测器的定位需求.
[Abstract]:High precision positioning technology is an important guarantee for Chang'e three lunar rover on the lunar surface, the implementation of scientific exploration mission, is proposed in this paper is suitable for the lunar environment without high precision control points of stereo image strip network positioning method. Firstly, the ground control field, the beam method control point adjustment method based on accurate the camera calibration parameters, and then calculate the baseline stereo camera photography and relative orientation elements. Secondly, through image matching, intersection and complete the three-dimensional model of image building, then according to the different intake connection point sequence to establish three-dimensional image band network between stations. On the basis of the connection point coordinates of observation value weighting matrix and extended orthogonal Procrustes the theory of least squares adjustment of stereo image strip network model, direct access to the lunar rover position and attitude information. Finally, in the indoor test venue Comparing the new method with the traditional bundle adjustment method, the results show that the new method is superior in terms of stability and computational efficiency of the latter, the positioning accuracy of a detector. Based on the operating system. The new method is applied to the Chang'e three lunar rover, fully meet the requirements of positioning of the detector.

【作者单位】：中国科学院遥感与数字地球研究所;武汉大学测绘学院;北京空间飞行器总体设计部;国家海洋局第三海洋研究所;辽宁工程技术大学测绘与地理科学学院;
【基金】：国家自然科学基金(41071298,41401535)资助
【分类号】：P184.5;TP391.41
【正文快照】： Liu S C,Jia Y,Ma Y Q,et al.High precision localization of the Chang’E-3 lunar rover(in Chinese).Chin Sci Bull,2015,60:372 378,doi:1中国科学院遥感与数字地球研究所,北京100101;2北京空间飞行器总体设计部,北京100094;3国家海洋局第三海洋研究所,厦门361005;4辽宁

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