月面巡视探测器定位与制图过程中坐标系统的转换方法研究

发布时间：2018-05-27 18:57

本文选题：月面巡视探测器 + 坐标系统　；参考：《辽宁工程技术大学》2012年硕士论文

【摘要】：我国的“探月工程”是中华民族历史上的重大科技工程之一。我国的探月工程分“绕、落、回”三个步骤完成。其中“绕”就是利用探月卫星(包括嫦娥-1、2号)携带的多种类型的传感器获取月球表面信息,也称为探月一期工程。“落”就是利用软着陆技术将巡视探测器成功着陆在指定的月球表面位置,利用定位和制图系统进行巡视探测器的路径规划、安全导航以及地形显示,这一步也称为探月二期工程。“回”不仅实现着陆月面,而进一步的就是需要实现巡视探测器在月面采集实验样品并能成功返回地球,这一步也称为探月三期工程。目前我国已经圆满完成了“绕”月工程,探月二期工程已经开始实施。预计2013年前后,我国的月球车将着陆月球,并开展科学探测。月面巡视探测器是探月工程二期需要研制的核心系统之一,它的高精度定位对于探月活动起着至关重要的作用。为实现巡视探测器的高精度定位,并利用巡视探测器携带的立体相机获取的影像进行高精度制图,需要涉及多个坐标系统,因此坐标系统之间的转换关系是一个需要进行深入研究的问题。本文分析了着陆器着陆以及巡视探测器行进和制图定位过程中涉及的坐标系统,对它们之间的关系作了研究,实现了多种坐标之间的转换,并在基于图像的巡视器定位系统(RoverLocater)和巡视器初始状态分析系统(Roverlnitializer)中实现了坐标转换功能。
[Abstract]:China's lunar exploration project is one of the major scientific and technological projects in the history of the Chinese nation. China's lunar exploration project is divided into three steps: round, fall and return. "orbiting" is the use of lunar probe satellites (including Chang'e-1, 2) to carry a variety of sensors to obtain information on the surface of the moon, also known as the first lunar exploration project. "Landing" is the use of soft landing technology to successfully land the patrol probe at a designated position on the surface of the moon, and to use a positioning and mapping system to plan the path, safely navigate, and display the terrain of the patrol probe. This step is also called the second phase of lunar exploration. "return" not only realizes the landing of the lunar surface, but also the need for the patrol probe to collect experimental samples on the lunar surface and return to earth successfully. This step is also called the third phase of lunar exploration project. At present, China has successfully completed the "around" moon project, the second phase of lunar exploration project has been implemented. China's lunar rover is expected to land on the moon and carry out scientific exploration around 2013. Lunar surface patrol detector is one of the core systems that need to be developed in the second phase of lunar exploration project. Its high precision positioning plays an important role in lunar exploration activities. In order to realize the high precision positioning of the patrol detector, and to use the images obtained by the stereo camera carried by the patrol detector for high precision mapping, it is necessary to involve multiple coordinate systems. Therefore, the transformation relationship between coordinate systems is a problem that needs to be deeply studied. In this paper, the coordinate systems involved in landing of lander and patrol detector are analyzed, and the relationship between them is studied. The coordinate conversion function is realized in the image based patrol location system (Rover Locater) and the patrol initial state analysis system (Roverlnitializer).
【学位授予单位】：辽宁工程技术大学
【学位级别】：硕士
【学位授予年份】：2012
【分类号】：P184.5

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