摘要
受测控通信链路时延、通信带宽和中继通信弧段制约,不同于地月空间,行星际空间遥操作技术更加复杂。面向解决首次行星际空间遥操作技术难题,针对火星车遥操作任务特点、技术难点以及飞行控制设计约束,确立了火星车遥操作控制模式和关键技术体系,提出了火星车遥操作系统总体设计方法与系统架构,并设计了火星车遥操作飞控模式与实施流程。将其应用于“祝融号”火星车在轨测控中,火星车始终保持高效移动探测,百日遥操作里程突破千米,验证了本文方法的正确性和有效性,为后续行星际遥操作任务奠定了技术基础。
Restricted by the delay of TT&C communication link,communication bandwidth and relay communication arc,interplanetary space teleoperation technology is different from Earth Moon space teleoperation technology.The mission characteristics,technical difficulties and flight control design constraints of the Mars rover teleoperation are summarized.Aiming at solving the technical problems of the first interplanetary space teleoperation of China,this paper studied and established the Mars rover teleoperation control mode and key technology system,put forward the overall design method and system architecture of the Mars rover Teleoperation system,and designed the Mars rover teleoperation flight control mode and implementation process.The method proposed in this paper has been successfully applied to the teleoperation mission of Zhurong Mars rover.Zhurong Mars rover always maintains efficient movement and exploration,and the 100 d teleoperation mileage exceeds 1 kilometer,which verifies the correctness and effectiveness of this method,and lays a technical foundation for follow-up interplanetary space teleoperation missions.
作者
张辉
卢皓
于天一
谢圆
王成
鲍硕
胡晓东
ZHANG Hui;LU Hao;YU Tianyi;XIE Yuan;WANG Cheng;BAO Shuo;HU Xiaodong(Beijing Aerospace Control Center,Beijing 100094,China)
出处
《深空探测学报（中英文）》
CSCD
北大核心
2021年第6期582-591,共10页
Journal Of Deep Space Exploration
基金
国家自然科学基金资助项目(61873196,61772187,61501336)。
关键词
火星探测
火星车
遥操作
Mars exploration
Mars rover
teleoperation
