上海航天（中英文）2024，Vol.41Issue(1)：11-23,13.DOI:10.19328/j.cnki.2096-8655.2024.01.002
面向月球科研站任务的地月准实时遥操作模拟验证系统设计与关键技术研究
Design and Key Technology Research on an Earth-Moon Quasi-Real-Time Teleoperation Simulation Verification System for Lunar Scientific Research Stations
摘要
Abstract
According to the requirements and characteristics of the Earth-Moon teleoperation for lunar scientific research stations,an Earth-Moon quasi-real-time teleoperation simulation and verification system is designed.The key technologies,such as the environment perception of massive multi-scale remote sensing data,the high-precision positioning based on air-ground cooperation,and the prediction simulation based on mixed reality(MR),are studied.A joint processing algorithm based on massive multi-scale remote sensing data is proposed,which can process the sensing results from meter level to centimeter level.A location prototype software based on air-ground cooperation is designed.Under the constraint of air-ground coordinated landmark,the positioning accuracy is no less than 1 pixel of the orbiter image.A predictive simulation verification platform with force feedback is developed,which can cooperatively demonstrate the teleoperation process in the simulation environment under the constraint of 2～3s variable delay,truly restore the slave teleoperation scenario,and improve the efficiency and security of teleoperation significantly.This study can provide real-time support for the program design of ground controllers,the training of operators,and fault treatment,etc.,and build a foundation for the subsequent implementation of lunar scientific research station missions in China.关键词
月球科研站/遥操作/遥感制图/任务规划/空地协同定位/预测仿真Key words
lunar scientific research station/teleoperation/remote sensing and mapping/mission planning/localization based on air-ground cooperation/predictive simulation分类
天文与地球科学引用本文复制引用
王镓,胡国林,罗益鸿,梁家林,万文辉,赵迪,薄正..面向月球科研站任务的地月准实时遥操作模拟验证系统设计与关键技术研究[J].上海航天（中英文）,2024,41(1):11-23,13.基金项目
国家自然科学基金(41771488) （41771488）
