This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up...This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up to 0.05 m)were generated from descent images and registered to CE-2 DOM.Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse.The lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM matching.In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning,cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints;the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization.The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable.During CE-3 mission operations,landing site mapping and rover localization products including DEMs and DOMs,traverse maps,vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning.展开更多
Based on the tracking observations of radio ranges and VLBI delays of Chang’E-1 (CE-1) satellite during the controlled landing on the Moon on March 1, 2009, the landing trajectory and the coordinates of the landing p...Based on the tracking observations of radio ranges and VLBI delays of Chang’E-1 (CE-1) satellite during the controlled landing on the Moon on March 1, 2009, the landing trajectory and the coordinates of the landing point are determined by positioning analysis. It is shown that the landing epoch (the emission epoch of the last signal) of CE-1 satellite on the Moon was at UTC8h13m6.51s. The lunar longitude, latitude and surface height of the landing point in the lunar primary axes frame are respectively 52.2732°, 1.6440° and –3.56 km (the reference lunar radius is 1738 km). The uncertainties are 0.0040°, 0.0168° and 0.18 km. The corresponding uncertainty in the tangential direction of the lunar surface is 0.52 km and the three-dimensional (3D) positioning uncertainty is 0.55 km. It is accordingly deduced that even with the present technical specifications of the radio ranges and VLBI delays, the 1 km 3D positioning precision could be guaranteed for the lander in the second stage of China’s Lunar Explora- tion Project. Concerning the trace determination of the rover on the lunar surface, because only telemetry signal will be emitted, VLBI would be the sole tracking technique from the Earth. The application of the constraint of geocentric distance is shown to be helpful to improving the positioning precision. It is worthy to pay close attention to the applications of the same beam VLBI technique, the lunar topographic model and the on-board observations of the lander and rover to the position/trace determination of the rover.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.41201480,41171355 and 41301528)the Key Research Program of the Chinese Academy of Sciences(Grant No.KGZD-EW-603)
文摘This paper presents the comprehensive results of landing site topographic mapping and rover localization in Chang’e-3 mission.High-precision topographic products of the landing site with extremely high resolutions(up to 0.05 m)were generated from descent images and registered to CE-2 DOM.Local DEM and DOM with 0.02 m resolution were produced routinely at each waypoint along the rover traverse.The lander location was determined to be(19.51256°W,44.11884°N,-2615.451 m)using a method of DOM matching.In order to reduce error accumulation caused by wheel slippage and IMU drift in dead reckoning,cross-site visual localization and DOM matching localization methods were developed to localize the rover at waypoints;the overall traveled distance from the lander is 114.8 m from cross-site visual localization and 111.2 m from DOM matching localization.The latter is of highest accuracy and has been verified using a LRO NAC image where the rover trajeactory is directly identifiable.During CE-3 mission operations,landing site mapping and rover localization products including DEMs and DOMs,traverse maps,vertical traverse profiles were generated timely to support teleoperation tasks such as obstacle avoidance and rover path planning.
基金supported by the National Natural Science Foundation of China (Grant Nos. 10778635 and 10973030)China’s Lunar Exploration Project (CE-1)+1 种基金National High-Tech Research and Development Program of China (Grant Nos. 2008AA12A209 and 2008AA12A210)STC of Shanghai Munici-pality (Grant No. 06DZ22101)
文摘Based on the tracking observations of radio ranges and VLBI delays of Chang’E-1 (CE-1) satellite during the controlled landing on the Moon on March 1, 2009, the landing trajectory and the coordinates of the landing point are determined by positioning analysis. It is shown that the landing epoch (the emission epoch of the last signal) of CE-1 satellite on the Moon was at UTC8h13m6.51s. The lunar longitude, latitude and surface height of the landing point in the lunar primary axes frame are respectively 52.2732°, 1.6440° and –3.56 km (the reference lunar radius is 1738 km). The uncertainties are 0.0040°, 0.0168° and 0.18 km. The corresponding uncertainty in the tangential direction of the lunar surface is 0.52 km and the three-dimensional (3D) positioning uncertainty is 0.55 km. It is accordingly deduced that even with the present technical specifications of the radio ranges and VLBI delays, the 1 km 3D positioning precision could be guaranteed for the lander in the second stage of China’s Lunar Explora- tion Project. Concerning the trace determination of the rover on the lunar surface, because only telemetry signal will be emitted, VLBI would be the sole tracking technique from the Earth. The application of the constraint of geocentric distance is shown to be helpful to improving the positioning precision. It is worthy to pay close attention to the applications of the same beam VLBI technique, the lunar topographic model and the on-board observations of the lander and rover to the position/trace determination of the rover.
基金supported by National Science and Technology Infrastructure Work Programs(2015FY210500)the Key Research Program of Frontier Sciences+3 种基金Chinese Academy of Sciences(QYZDY-SSW-DQC028)the Strategic Priority Program of the Chinese Academy of Sciences(XDB41000000)the National Natural Science Foundation of China(41773065,41941003,and 41902317)the Natural Science Foundation of Inner Mongolia,China(2020LH04002)。
