嫦娥五号探测器月面采样封装任务的定位精度

doi:10.11947/j.AGCS.2022.20210022

测绘学报 ›› 2022, Vol. 51 ›› Issue (5): 631-639.doi: 10.11947/j.AGCS.2022.20210022

• 大地测量学与导航 • 下一篇

嫦娥五号探测器月面采样封装任务的定位精度

张烁¹, 陈丽平², 李铁映², 鄢咏折¹, 邓湘金², 顾征², 郑燕红², 马友青¹, 亓晨³, 刘少创¹

1. 中国科学院空天信息创新研究院, 北京 100101;
2. 北京空间飞行器总体设计部, 北京 100094;
3. 武汉大学测绘学院, 武汉 430079

收稿日期:2021-01-12 修回日期:2021-08-25 出版日期:2022-05-20 发布日期:2022-05-28
通讯作者: 刘少创 E-mail:liusc@aircas.ac.cn
作者简介:张烁(1985-),男,博士,研究方向为空间机器人视觉信息处理。E-mail:zhangshuo@aircas.ac.cn
基金资助:
国家中长期科技发展规划重大专项；国家自然科学基金（42071447）；中国博士后科学基金（2017M620948）

The positioning accuracy of the Lunar surface sampling and packaging mission of the Chang'e-5 probe

ZHANG Shuo¹, CHEN Liping², LI Tieying², YAN Yongzhe¹, DENG Xiangjin², GU Zheng², ZHENG Yanhong², MA Youqing¹, QI Chen³, LIU Shaochuang¹

1. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100101, China;
2. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China;
3. School of Geodesy and Geomatics, Wuhan University, Wuhan 430079, China

Received:2021-01-12 Revised:2021-08-25 Online:2022-05-20 Published:2022-05-28
Supported by:
The National Science and Technology Major Project;The National Natural Science Foundation of China (No. 42071447);China Postdoctoral Science Foundation (No. 2017M620948)

摘要/Abstract

摘要： 嫦娥五号是中国首个实施无人月面取样返回的月球探测器。为了确保采样封装任务的定位精度，需要对采样封装任务进行高精度的整体几何检校。本文提出了附有立体约束和机械臂运动约束条件的联合平差检校模型。经过内场试验验证本文提出的检校方法具有较高的精度。在模拟采样试验中能够获得5.118 mm的平均定位误差，在月面采样任务中能够获得4.745 mm的平均定位误差。有效保障了嫦娥五号探测器精准地完成月面自动采样封装任务。

关键词: 嫦娥五号, 检校, 立体视觉, 机械臂运动约束, 联合平差

Abstract: The Chang'e-5 is China's first unmanned lunar probe to conduct the lunar surface sampling and return. It is necessary to carry out the high precision integrated geometry calibration for the sampling and packaging mission in order to ensure the positioning accuracy of the sampling and packaging mission. The combined adjustment model with the stereo constraints and the robot arm motion constraints is proposed. It is proved by the field test that the proposed calibration method has the high precision. The average positioning error of the 5.118 mm is obtained in the simulated sampling test and the 4.745 mm in the lunar sampling mission. It ensures that the Chang'e-5 probe can complete the automatic lunar sampling and packaging mission accurately.

Key words: Chang'e-5, calibration, stereo vision, robot arm motion constraint, combined adjustment

中图分类号:

P227

张烁, 陈丽平, 李铁映, 鄢咏折, 邓湘金, 顾征, 郑燕红, 马友青, 亓晨, 刘少创. 嫦娥五号探测器月面采样封装任务的定位精度[J]. 测绘学报, 2022, 51(5): 631-639.

ZHANG Shuo, CHEN Liping, LI Tieying, YAN Yongzhe, DENG Xiangjin, GU Zheng, ZHENG Yanhong, MA Youqing, QI Chen, LIU Shaochuang. The positioning accuracy of the Lunar surface sampling and packaging mission of the Chang'e-5 probe[J]. Acta Geodaetica et Cartographica Sinica, 2022, 51(5): 631-639.

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嫦娥五号探测器月面采样封装任务的定位精度

The positioning accuracy of the Lunar surface sampling and packaging mission of the Chang'e-5 probe

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