Design and Key Technology Research on an Earth-Moon Quasi-Real-Time Teleoperation Simulation Verification System for Lunar Scientific Research Stations
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.
lunar scientific research stationteleoperationremote sensing and mappingmission planninglocalization based on air-ground cooperationpredictive simulation
国家科技期刊平台
NSTL
万方数据
维普
