To synthesis the advanced navigation technology and the characteristic of the lunar rover , the computer vision is selected as the main mode of the navigation system of the lunar rover 综合国际上导航的先进技术以及月球车的自身特点,本文采用视觉导航作为月球车导航系统的主要工作模式。
The configuration of american six - wheel - rocker - bogie rover is studied . its virtual prototype is created , simulated and optimized using adams . the optimal parameters are obtained 基于此模型,分析六轮摇臂月球车的结构特点,在adams中建立典型的虚拟样机模型,进行仿真分析和优化,得到优化参数。
In order to achieve autonomous navigation in the moon environment , the lunar rover must know where it is all the time , and can planning a reasonable route based on the current environment 月球车要实现在月面环境下自主导航首先必须时时刻刻清楚自己的位置,之后能根据当前环境规划出一条合理的路径。
Having synthesized the advanced technology of navigation in the world and its own characteristics of the lunar rover , we adopted visual navigation systems as lunar - rover ’ s main work modes 综合国际上导航的先进技术以及月球车的自身特点,本文采用了基于卡尔曼滤波的视觉导航系统作为主要的工作模式。
Firstly , ensure a reasonable releasing structure of landing ladder , after analyzing the specific structures of the lunar lander and the deposited ways . then design and manufacture the lunar lander ladder 首先,对着陆器的具体结构和月球车的搭载方式进行分析,确定合理的月球车释放方案并设计出相应的着陆梯。
To ensure the safety of cruising on the lunar surface for lunar rover , a stereo vision system , which is used to provide the terrain information of surrounding , is installed on the lunar rover 为了确保月球车能够在月球表面安全行走,月球车必须通过视觉系统准确地判断其周围的地形,本文选用了立体视觉技术来实现这部分功能。
This thesis will study the elementary prototype of the balance mechanism of lunar rover ’ s main body which bases on the differential mechanism . this elementary prototype will work in the circumstance of the earth 本文对基于锥齿轮差动轮系的月球车车体差动平衡机构在地球环境下的原理样机的设计、分析及应用进行了系统的研究。
After an elementary study with lunar orbiting satellite , it is necessary to make exploration devices land on the moon and carry out detailed exploration with lunar rover in a rather large area 在利用环月卫星对月球进行初步的探测之后,需要使探测器在月球表面软着陆,并由月球车执行较大范围的详细探测任务,为载人登月和建立月球基地做好准备。
As one part of the lunar lander , releasing structure of lunar lander , which guarantees the lunar vehicle lands on the lunar surface safely and reliably , is the bridge between the lunar lander cabin and the lunar surface 月球车释放机构作为着陆器搭载舱和月球表面之间的桥梁,为月球车顺利到达月球表面提供了保证,是着陆器上重要的组成部分。
This controller is designed to stabilize angle error , front error and side error separately based on the kinematic model of the rover . the simulation results show the lunar rover can be stabilized to expected point by our proposed method 以月球车的运动学模型为控制对象,分段镇定月球车的方向角、前向误差和侧向误差,最终使月球车镇定到坐标原点。
