【摘要】：月面形貌仿真可以為嫦娥三號(hào)著陸前地形建立及視覺導(dǎo)航仿真測(cè)試提供逼真的三維月面環(huán)境。利用分形隨機(jī)算法并結(jié)合月面撞擊坑與石塊的數(shù)學(xué)分布模型,在實(shí)現(xiàn)月面數(shù)字地形的基礎(chǔ)上利用紋理映射和紋理融合的方法為月面地形添加紋理,完成了月面逼真三維環(huán)境的構(gòu)建。結(jié)合導(dǎo)航相機(jī)的外方位元素和光照條件,實(shí)現(xiàn)了對(duì)該仿真月面環(huán)境的模擬環(huán)拍,支撐了嫦娥三號(hào)發(fā)射前月球車導(dǎo)航相機(jī)數(shù)據(jù)獲取、地形建立、通行代價(jià)圖計(jì)算、月球車路徑規(guī)劃等遙操作任務(wù)過程仿真測(cè)試。測(cè)試結(jié)果表明,仿真月面三維地形具有良好的視覺效果,滿足了巡視器導(dǎo)航相機(jī)測(cè)試驗(yàn)證對(duì)精細(xì)月面地形和紋理的需求,為導(dǎo)航相機(jī)測(cè)試驗(yàn)證提供了有效的月面形貌仿真數(shù)據(jù)。
[Abstract]:The simulation of lunar surface topography can provide realistic 3D lunar surface environment for terrain establishment and visual navigation simulation test before Chang 'e-3 landing. Based on the fractal random algorithm and the mathematical distribution model of lunar impact crater and rock, the texture mapping and texture fusion method are used to add texture to the lunar terrain based on the realization of lunar digital terrain. The construction of the realistic three-dimensional environment of lunar surface is completed. Combined with the external azimuth elements and illumination conditions of the navigation camera, the simulation of the lunar surface environment is realized, which supports the data acquisition of the lunar rover navigation camera before the Chang 'e-3 launch, the establishment of the terrain, and the calculation of the passage cost map. Lunar rover path planning and other remote operation task process simulation test. The test results show that the simulation of lunar 3D terrain has a good visual effect, which meets the needs of precise lunar topography and texture verification of patrol navigation camera test, and provides effective simulation data of lunar topography for navigation camera testing and verification.
【作者單位】： 遙感科學(xué)國家重點(diǎn)實(shí)驗(yàn)室中國科學(xué)院遙感與數(shù)字地球研究所;中國礦業(yè)大學(xué)物聯(lián)網(wǎng)(感知礦山)研究中心;北京航天飛行控制中心;
【基金】：國家自然科學(xué)基金項(xiàng)目(41201480,41171355)
【分類號(hào)】：P184.5
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本文編號(hào)：2156561