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摇臂转向架式星球车地形估计方法 被引量:1
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作者 李楠 高海波 +3 位作者 丁亮 郭军龙 王文涛 邓宗全 《哈尔滨理工大学学报》 CAS 北大核心 2015年第3期24-29,共6页
针对摇臂转向架式星球车,提出一种基于摇臂转向架式星球车悬架运动学信息的星球车通过区域地形估计方法.通过分析星球车悬架正逆运动学模型,提出星球车通过区域地形估计模型.本地形估计模型将车体姿态和摇臂转角信息作为状态输入变量,... 针对摇臂转向架式星球车,提出一种基于摇臂转向架式星球车悬架运动学信息的星球车通过区域地形估计方法.通过分析星球车悬架正逆运动学模型,提出星球车通过区域地形估计模型.本地形估计模型将车体姿态和摇臂转角信息作为状态输入变量,可获得星球车车轮与车体相对位置,从而估计出车轮下方地形.相对于用双目相机和激光雷达地形感知方法,本方法通过车体悬架运动学信息估计地形,具有能耗低,消耗计算资源少等优点,并搭建了星球车运动学Matlab仿真平台,在多种典型工况下,验证了该方法的有效性. 展开更多
关键词 星球探测平 星球探测 地形估计 运动学
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Trajectory design for the Moon departure libration point mission in full ephemeris model 被引量:3
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作者 CHEN Yang BAOYIN +1 位作者 HeXi LI JunFeng 《Science China(Technological Sciences)》 SCIE EI CAS 2011年第11期2924-2934,共11页
The lunar probe may still have some remaining fuel after completing its predefined Moon exploration mission and is able to carry out some additional scientific or technological tasks after escaping from the Moon orbit... The lunar probe may still have some remaining fuel after completing its predefined Moon exploration mission and is able to carry out some additional scientific or technological tasks after escaping from the Moon orbit.The Moon departure mission for the lunar probe is the focus of this paper.The possibility of the spacecraft orbiting the Moon to escape the Moon's gravitational pull is analyzed.The trajectory design for the Earth-Moon system libration point mission is studied in a full ephemeris dynamical model,which considers the non-uniform motion of the Moon around the Earth,the gravity of the Sun and planets and the finite thrust of the onboard engine.By applying the Particle Swarm Optimization algorithm,the trajectory design for the transfer from the Moon-centered orbit to the L1 halo orbit,the station-keeping strategies for the Earth-Moon halo orbit and the construction of homoclinic and heteroclinic orbits are investigated.Taking the tracking conditions and engineering constraints into account,two feasible schemes for the Moon departure libration point mission for the lunar probe are presented. 展开更多
关键词 Moon exploration trajectory design full ephemeris model libration point halo orbit
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