月球表面巡视探测GNC技术

Guidance,Navigation and Control Technology for Lunar Surface Exploration

嫦娥三号巡视器是中国首个地外天体表面巡视探测器,其制导、导航及控制(GNC)技术与地球卫星等航天器完全不同.探测器实现月表巡视探测需要在地外天体表面确定自身位置、航向及姿态,识别周围地形环境并寻找安全路径,控制巡视器沿规划路径安全行驶等.本文针对嫦娥三号巡视器月面巡视对GNC系统的任务要求及工作性能,对月面自主导航定姿定位、协调运动控制、环境感知、路径规划、激光探测避障以及地面试验等重要技术环节进行了分析,研究月面制导、导航与控制特性并进行实验验证,进而对巡视器GNC技术进行了模拟仿真.

The lunar rover of Chang＇E-3 probe was the first explorer of China roaming on the surface of extratellurian celestials,which had the totally different Guidance,Navigation and Control（GNC） technology from the Earth orbital spacecrafts.The main requirements of the rover for GNC system included autonomous navigation,environment perception,obstacle recognition,path planning,emotion control,and so forth.Several key technical breakthroughs had been achieved in GNC system of Chang＇E-3 lunar rover—Jade Rabbit,such as autonomous position and attitude determination,multi-wheel motion control on lunar surface,Binocular Stereo Vision based autonomous environment perception and path planning,structure-light vision based obstacle avoidance,and lunar terrain and light condition analog simulation for experimentation on Earth,etc.In this paper,we discussed the mission overall requirement,key technology,and ground experiment of guidance,navigation and control system of Chang＇E-3 Lunar Rover.