空间控制技术与应用2025，Vol.51Issue(5)：70-81,12.DOI:10.3969/j.issn.1674-1579.2025.05.007
基于多维度偏振成像的月壤感知方法研究
Space Obstacle Avoidance Method of Lunar Rover Based on Multi-dimensional Polarization Imaging
摘要
Abstract
The reliable operation of lunar rovers in complex lunar surface environments is currently a technical challenge,and with the accurate perception of detailed terrain information being a core issue.Polarization can highlight the texture and structural differences on the lunar surface.Polarization imaging perceives information of lunar soil in different terrains from the polarization characteristics of light and analyzes the polarization characteristics to assist in path planning.To investigate the influence of special lunar surface terrains on the driving of lunar rovers,this study establishes a polarization detection model for the visible light band(390～780 nm)and the long-wave infrared band(8～14 μm)based on the combined mechanism of specular reflection,diffuse reflection,and volume scattering.The volcanic rock belt in Yitong-Huinan,Jilin Province,is selected as the geological sample(with a basalt-to-glass mass ratio of 3∶1)to simulate three typical lunar soil terrains(mare,rille,and crater)of the Minnesota Lunar Simulant(MLS)series.A multi-dimensional polarization imaging system is designed to acquire polarization data in both bands,which are then fused.The results show that in the three terrain environments,the polarization characteristics in the visible light band show minor differences,and the linear polarization degrees are all less than 0.04;the polarization characteristics in the long-wave infrared band exhibits significant differences,with the highest linear polarization degrees of the mare,rille,and crater reaching 0.06,0.08,and 0.12 respectively,and the linear polarization degrees are significantly reduced in the terrain transition areas,such as the bottom of the rille and the bottom of the crater.The contrast of the fused polarization images is increased by more than 43%compared with the traditional intensity imaging.关键词
月球车/MLS系列模拟月壤/多维度偏振成像/图像融合/图像对比度Key words
lunar rover/MLS series simulated lunar soil/multi-dimensional polarization imaging/image fusion/image contrast分类
航空航天引用本文复制引用
高刚,战俊彤,陈明策,张肃,付强,李英超,姜会林..基于多维度偏振成像的月壤感知方法研究[J].空间控制技术与应用,2025,51(5):70-81,12.基金项目
光电测量与智能感知中关村开放试验室和北京控制工程研究所空间光电测量与感知试验室开放基金资金(LabSOMP-2022-11)和吉林省科技厅重点研发项目(20230203029SF) Zhongguancun Open Laboratory of Optoelectronic Measurement and Intelligent Sensing and Space Optoelectronic Measurement and Sensing Laboratory of Beijing Institute of Control Engineering Open Fund(LabSOMP-2022-11)and Key Research and Development Project of Science and Technology Department of Jilin Province(20230203029SF) （LabSOMP-2022-11）
