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

doi:10.11947/j.AGCS.2022.20210022

Abstract

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

CLC Number:

P227

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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