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Relative position determination of a lunar rover using high-accuracy multi-frequency same-beam VLBI

Science china(Physics,Mechanics & Astronomy) 2010年第3期53卷 571-578页

作者： LIU QingHui1, CHEN Ming1, XIONG WeiMing2, QIAN ZhiHan1, LI JinLing1, HAO WangHong1,4, WANG GuangLi1, ZHENG WeiMin1, GUAN Di3, ZHU RenJie1, WANG WeiHua1, ZHANG XiuZhong1, JIANG DongRong1, SHU FengChun1, PING JinSong1 & HONG XiaoYu11 Shanghai Astronomical Observatory, chinese academy of sciences, Shanghai 200030, china 2 Center for Space Science and Applied Research, chinese academy of sciences, beijing 100190, china 3.lunar explorer engineering general department, chinese academy of sciences, beijing 100012, china 4 beijing Institute of Tracking and Telecommunications Technology, beijing 100094, china 1. Shanghai Astronomical Observatory Chinese Academy of Sciences Shanghai 200030 China2. Center for Space Science and Applied Research Chinese Academy of Sciences Beijing 100190 China4. Beijing Institute of Tracking and Telecommunications Technology Beijing 100094 China3. Lunar Explorer Engineering General Department Chinese Academy of Sciences Beijing 100012 China

Multi-frequency same-beam VLBI means that two explorers with a small separation angle are simultaneously observed with the main beam of receiving antennas. In the same-beam VLBI, the differential phase delay between two explorers and two receiving telescopes can be obtained with a small error of several picoseconds. The differential phase delay, as the observable of the same-beam VLBI, gives the separation angular information of the two explorers in the celestial sphere. The two-dimensional relative position on the plane-of-sky can thus be precisely determined with an error of less than 1 m for a distance of 3.8×105 km far away from the earth, by using the differential phase delay obtained with the four chinese VLBI stations. The relative position of a lunar rover on the lunar surface can be determined with an error of 10 m by using the differential phase delay data and the range data for the lander when the lunar topography near the rover and the lander can be determined with an error of 10 m.

关键词： same-beam VLBI differential phase delay relative position determination lunar rover

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A Human-Computer Interaction Based Path Planning Method for Mobile Robots in a Complex Environment

A Human-Computer Interaction Based Path Planning Method for ...

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2011 International Conference on Intelligent Computing and Integrated Systems(ICISS 2011)

作者： Duoneng Liu Wei Wang Yan Li College of Mechatronics and Automation National University of Defense Technology Changsha china Bo Zhang Qixu Liu Trucks and Ships Military Delegate Bureau general Armament Ministry Changsha china

In applications of the navigation and control of unmanned ground vehicles in a cross-country environment and tele-driving a rover on the unknown lunar surface for scientific exploration, human-computer interactive path planning and planned path tracking is a significant way of teleoperation. In this paper, we use the method based on Rapidly-Exploring Random Trees （RRTs） to solve the robot path planning problems in a complex environment with crowded obstacles. Aiming at the problem of efficiency reduction that original RRTs planners have difficulties in automatically finding a resolution path in crowded regions of the robot’s configuration space, A novel artificial-guided RRTs （AG-RRTs） planner based on multiple RRTs will be introduced. The AG-RRTs planner improves the efficiency of connection and mergence of multiple RRTs by artificial-guided waypoints which mark the regions of narrow passages. In our experiments, the AG-RRTs planner yields much better performance in complex environments than original RRTs planners, which validates the effectiveness and practicality of this new method.

关键词： mobile robot path planning RRTs humancomputer interaction

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嫦娥四号任务科学目标和有效载荷配置

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空间科学学报 2018年第1期38卷 118-130页

作者：贾瑛卓邹永廖薛长斌平劲松严俊宁远明中国科学院国家天文台北京100012 中国科学院国家空间科学中心北京100090 中国科学院大学北京100049 探月与航天工程中心北京100037

嫦娥四号探测器由中继星、着陆器和巡视器组成.其科学目标为:月基低频射电天文观测研究,月球背面巡视区浅层结构探测研究以及月球背面巡视区形貌与矿物组分探测研究.共配置6台有效载荷设备,其中3台载荷设备配置在着陆器上,分别为降落相... 详细信息

嫦娥四号探测器由中继星、着陆器和巡视器组成.其科学目标为:月基低频射电天文观测研究,月球背面巡视区浅层结构探测研究以及月球背面巡视区形貌与矿物组分探测研究.共配置6台有效载荷设备,其中3台载荷设备配置在着陆器上,分别为降落相机、地形地貌相机和低频射电谱仪,其余3台配置在巡视器上,分别为全景相机、测月雷达和红外成像光谱仪.本文主要论述了嫦娥四号任务的科学目标、着陆区概况、有效载荷配置及系统设计、各有效载荷任务和主要技术指标等.

关键词：月球探测嫦娥四号科学目标有效载荷

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