The Lunar Rover Location And Attitude Determination Technique Of The Low Gravity Testing System

The low gravity testing system is an important verification task of the second stage of lunar exploration in China. For the location and attitude determination of execution in the low gravity simulation, this paper studies a new method based on CCD of detecting the position and attitude of the lunar rover.The following research work has done in this paper:1. The dissertation has deeply studied the new research data and the theory and application of non-contact 3D position detection.2. A new method of detecting the position and attitude of lunar rover has been proposed on the basis of thorough analysis and comparison of several detecting methods. Three lighted LED on the lunar rover are used as the detecting targets, the targets can be mapped on the sensitive surface of the CCD by the imaging system, the efferent electric signal by the CCD can be transferred into the position signal of the LED by the data acquisition and processing system, the mathematical model is established and finally the 3D position and attitude of the lunar rover can be resolved.3. Researches on the above 3D position detecting system which have been integrated by the CCD, the data acquisition, the PC and the LED have been done. And the test scheme of the system has been established to verify the correctness, the feasibility and the utility of the location and attitude determination system.4. Also, this paper has preliminarily studied the error of the location and attitude determination for the further improvement. And all these have provided reference for the future detecting method and system optimization and application.This paper has proposed a new detecting method and system for detecting of the non-contact 3D position and attitude.