摘要
为了在地面验证月球车的位姿确定性能和移动控制性能,文中设计了一种基于室内GPS测量系统的月球车跟踪测量方案,首先介绍了室内GPS系统的构成和测量原理,然后针对月球车地面验证试验,设计了试验场地坐标系建立方案、月球车坐标系建立方案和月球车坐标系的跟踪测量方案,最后对试验测量系统进行了精度分析.
To test the position and orientation's certainty performance and movement control performance,this paper designed a Lunar Rover tracking measurement scheme based on the indoor GPS measurement system.Firstly,it introduced the structure and the measurement fundamental of the indoor GPS,then based on the Rover's ground verifying test,the test site coordinate system establishment scheme,the Lunar Rover coordinate establishment scheme and tracking measurement scheme were designed,finally,the precision of the test measurement system was analyzed and some conclusions were obtained.
出处
《哈尔滨工业大学学报》
EI
CAS
CSCD
北大核心
2013年第5期124-128,共5页
Journal of Harbin Institute of Technology
关键词
月球车
室内GPS
位姿测量
动态跟踪测量
lunar rover
indoor GPS
position and orientation measurement
dynamic tracking measurement
