Ogre-based 3d Simulation And Functional Simulation Design Of Lunar Rover's Exploration

Moon is the only satellite of the earth, nearest celestial body to the earth and the step-stone for human beings to go to outer space. There are rich mineral resources on moon, among them helium-3 is the most promising future energy source for the mankind. The helium-3 reserve on moon is estimated at an amount that can power the mankind for over 7,000 years, implying tremendous economic consequences. In recent year, US, Japan, Europe and a few other countries announced their moon mission plans. In 2004, China has announced the "circle, land and return" three-phase "Change" moon mission. This topic is from the Important Project of National Natural Science Foundation "The Basic Theory and Key Technology Research of Lunar Exploration Systems'Modeling, Sensing, Navigating and Controlling". The main research of it is the design of three-dimensional simulation software and functional software of the lunar rover exploration on moon surface.3D simulation software design is based on OGRE, and OGRE is an open source 3D graphics rendering engine. About the 3D simulation software design, this paper first gives an overview of the OGRE, including its origin, characteristics, and the brief of its contents. Subsequently, it introduces the the key technologies used in the three-dimensional simulation software based on OGRE, including the sky box, loading heightmap of moon surface and the light design of wireless sensor nodes. Finally, this paper introduces the specific design details of the three-dimensional simulation softwar, describes its function, control methods, and shows its simulation results.Functional Simulation Software runs on the monitoring terminal system of the experimental System of lunar rover's localization and navigation based on wireless sensor networks. It is an integral part of the experimental system, which is responsible for monitoring and controlling the whole wireless sensor network and the mobile robot. First, this article explains the various components of the experimental system and how it works briefly. Then it describes the implementation of the software, and the special techniques it uses. Finally, it brings its functions and interface design to readers.This dissertation is supported by National Natural Science Foundation of China under Grant No. 60535010.