月球车地面试验位姿测量技术研究

Technology of lunar rover position and orientation measurement in test

摘要:

为了在地面验证月球车的位姿确定性能和移动控制性能,文中设计了一种基于室内GPS测量系统的月球车跟踪测量方案,首先介绍了室内GPS系统的构成和测量原理,然后针对月球车地面验证试验,设计了试验场地坐标系建立方案、月球车坐标系建立方案和月球车坐标系的跟踪测量方案,最后对试验测量系统进行了精度分析．

Abstract:

To test the position and orientation’s certainty performance and movement control performance, this paper designed a Lunar Rover tracking measurement scheme based on the indoor GPS measurement system. Firstly, it introduced the structure and the measurement fundamental of the indoor GPS, then based on the Rover’s ground verifying test, the test site coordinate system establishment scheme, the Lunar Rover coordinate establishment scheme and tracking measurement scheme were designed, finally, the precision of the test measurement system was analyzed and some conclusions were obtained.