本文選題：月面巡視探測(cè)器 + 坐標(biāo)系統(tǒng)��； 參考：《遼寧工程技術(shù)大學(xué)》2012年碩士論文

【摘要】：我國(guó)的“探月工程”是中華民族歷史上的重大科技工程之一。我國(guó)的探月工程分“繞、落、回”三個(gè)步驟完成。其中“繞”就是利用探月衛(wèi)星(包括嫦娥-1、2號(hào))攜帶的多種類型的傳感器獲取月球表面信息,也稱為探月一期工程�！奥洹本褪抢密浿懠夹g(shù)將巡視探測(cè)器成功著陸在指定的月球表面位置,利用定位和制圖系統(tǒng)進(jìn)行巡視探測(cè)器的路徑規(guī)劃、安全導(dǎo)航以及地形顯示,這一步也稱為探月二期工程�！盎亍辈粌H實(shí)現(xiàn)著陸月面,而進(jìn)一步的就是需要實(shí)現(xiàn)巡視探測(cè)器在月面采集實(shí)驗(yàn)樣品并能成功返回地球,這一步也稱為探月三期工程。目前我國(guó)已經(jīng)圓滿完成了“繞”月工程,探月二期工程已經(jīng)開始實(shí)施。預(yù)計(jì)2013年前后,我國(guó)的月球車將著陸月球,并開展科學(xué)探測(cè)。 月面巡視探測(cè)器是探月工程二期需要研制的核心系統(tǒng)之一,它的高精度定位對(duì)于探月活動(dòng)起著至關(guān)重要的作用。為實(shí)現(xiàn)巡視探測(cè)器的高精度定位,并利用巡視探測(cè)器攜帶的立體相機(jī)獲取的影像進(jìn)行高精度制圖,需要涉及多個(gè)坐標(biāo)系統(tǒng),因此坐標(biāo)系統(tǒng)之間的轉(zhuǎn)換關(guān)系是一個(gè)需要進(jìn)行深入研究的問題。 本文分析了著陸器著陸以及巡視探測(cè)器行進(jìn)和制圖定位過(guò)程中涉及的坐標(biāo)系統(tǒng),對(duì)它們之間的關(guān)系作了研究,實(shí)現(xiàn)了多種坐標(biāo)之間的轉(zhuǎn)換,并在基于圖像的巡視器定位系統(tǒng)(RoverLocater)和巡視器初始狀態(tài)分析系統(tǒng)(Roverlnitializer)中實(shí)現(xiàn)了坐標(biāo)轉(zhuǎn)換功能。
[Abstract]:China's lunar exploration project is one of the major scientific and technological projects in the history of the Chinese nation. China's lunar exploration project is divided into three steps: round, fall and return. "orbiting" is the use of lunar probe satellites (including Chang'e-1, 2) to carry a variety of sensors to obtain information on the surface of the moon, also known as the first lunar exploration project. "Landing" is the use of soft landing technology to successfully land the patrol probe at a designated position on the surface of the moon, and to use a positioning and mapping system to plan the path, safely navigate, and display the terrain of the patrol probe. This step is also called the second phase of lunar exploration. "return" not only realizes the landing of the lunar surface, but also the need for the patrol probe to collect experimental samples on the lunar surface and return to earth successfully. This step is also called the third phase of lunar exploration project. At present, China has successfully completed the "around" moon project, the second phase of lunar exploration project has been implemented. China's lunar rover is expected to land on the moon and carry out scientific exploration around 2013. Lunar surface patrol detector is one of the core systems that need to be developed in the second phase of lunar exploration project. Its high precision positioning plays an important role in lunar exploration activities. In order to realize the high precision positioning of the patrol detector, and to use the images obtained by the stereo camera carried by the patrol detector for high precision mapping, it is necessary to involve multiple coordinate systems. Therefore, the transformation relationship between coordinate systems is a problem that needs to be deeply studied. In this paper, the coordinate systems involved in landing of lander and patrol detector are analyzed, and the relationship between them is studied. The coordinate conversion function is realized in the image based patrol location system (Rover Locater) and the patrol initial state analysis system (Roverlnitializer).
【學(xué)位授予單位】：遼寧工程技術(shù)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類號(hào)】：P184.5

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