嵌入式模拟探月车关键技术的研究及应用

Research and Application of Key Technology of Embedded Simulated Lunar Vehicle

为解决模拟探月车的自动行驶控制、传感器数据采集和处理等关键技术问题,系统利用滤波系数可动态调整的一阶滤波算法消除模拟探月车行驶控制和传感器数据采集过程中的干扰信号,并采用分段线性插值算法提高传感器检测效率.实验结果表明,该模拟探月车具有环境适应能力强、行驶控制灵活可靠、传感器数据采集精度高、工作稳定性好等特点,能较好地满足模拟探月实验的需求和各高校相关专业课程项目教学的需要.

In order to solve the key technical problems such as auto driving control, data acquisition and processing of Simulated Lunar Vehicle, the system using first-order Filter Algorithm that the filter coef- ficients can be adjusted dynamically, to eliminate disturbance signal in driving control and sensor data acqui- sition of Simulated Lunar Vehicle, and improve the sensors testing efficiency with piecewise linear interpola- tion algorithm. The experimental results shows that the Simulated Lunar Vehicle has powerful environmen- tal adaptation ability, flexible and reliable driving control, high precision of sensor data acquisition and good work stability, etc. It can be better meet the needs of any mock lunar exploration experiment and project teaching of related professional courses in colleges.