“祝融号”火星车太阳敏感器设计与验证

doi:10.7527/S1000-6893.2024.30882

Abstract

Abstract:

When the Mars rover patrols the surface of Mars， it is necessary to measure the azimuth in the forward direction. The “Tianwen-1” Mars rover “Zhurong” has used a sun sensor to measure the azimuth of the rover. The solar intensity and irradiance on the Martian surface are low and complex， and dust is scattered in the Martian atmosphere and land surface. When the sun sensor is applied on the Martian surface， it will face a special environment of complex light intensity and dust. To ensure the safety of “Zhurong” Mars rover’s movement on the Mars surface， the sun sensor has been designed with adaptive light intensity and dust proof， and verification experiments have been carried out on the Earth surface. This sun sensor has been successfully applied to the “Tianwen-1” Mars rover “Zhurong”. The Mars rover has been working well in orbit throughout its entire lifespan， effectively ensuring the navigation needs of the rover.

Key words: “Tianwen-1”, “Zhurong”Mars rover, sun sensor, complex light intensity, dust

CLC Number:

V448.2

Jianfu ZHANG, Liansheng LI, Jianxin CHEN, Ye CHANG, Lu YIN, Xing HAN. Sun sensor designed and qualified for “Zhurong” Mars rover[J]. Acta Aeronautica et Astronautica Sinica, 2025, 46(7): 330882.

Figures/Tables 16

Table 1

Fig.1

Fig.2

Table 2

Symbol explanation for integral automatic adjustment

描述	变量
灰度统计高阈值	$g T H$
灰度统计低阈值	$g T L$
大于灰度统计高阈值的像素数	$N h i g h$
大于灰度统计低阈值的像素数	$N l o w$
太阳捕获模式下灰度分析的像素个数高阈值	$N T H, c a p$
太阳捕获模式下灰度分析的像素个数低阈值	$N T L, c a p$
太阳跟踪模式下灰度分析的像素个数高阈值	$N T H, t r a c k$
太阳跟踪模式下灰度分析的像素个数低阈值	$N T L, t r a c k$

Table 2

Fig.3

Fig.4

Fig.5

Fig.6

Table 3

Table 4

Fig.7

Fig.8

Fig.9

Table 5

Fig.10

Fig.11

References 22

1	李建国. 月球车位姿确定技术研究［D］. 北京：北京工业大学， 2007.
	LI J G. Study on localization & pose determination of lunar rover［D］. Beijing： Beijing University of Technology， 2007 （in Chinese）.
2	邸凯昌. 勇气号和机遇号火星车定位方法评述［J］. 航天器工程， 2009， 18（5）： 1-5.
	DI K C. A review of spirit and opportunity rover localization methods［J］. Space Engineering， 2009， 18（5）： 1-5 （in Chinese）.
3	崔平远，高艾，于正湜. 火星着陆自主导航方案研究进展［J］. 深空探测学报， 2014， 1（1）： 18-27.
	CUI P Y， GAO A， YU Z S. Research progress of autonomous navigation scheme for Mars landing［J］. Journal of Deep Space Exploration， 2014， 1（1）： 18-27 （in Chinese）.
4	裴福俊，严鸿，朱明君. 太阳敏感器辅助的分布式EKF-SLAM火星车自主导航方法［J］. 深空探测学报， 2020， 7（2）： 191-196.
	PEI F J， YAN H， ZHU M J. Autonomous navigation method for Mars rover using distributed EKF-SLAM assisted by Sun sensor［J］. Journal of Deep Space Exploration， 2020， 7（2）： 191-196 （in Chinese）.
5	ZHAO Y N， WANG X L， LI Q S， et al. A high-accuracy autonomous navigation scheme for the Mars rover［J］. Acta Astronautica， 2019， 154： 18-32.
6	VOLPE R. Mars rover navigation results using Sun sensor heading determination［C］∥Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients （Cat. No.99CH36289）. Piscataway： IEEE Press， 2002： 460-467.
7	ENRIGHT J， FURGALE P， BARFOOT T. Sun sensing for planetary rover navigation［C］∥2009 IEEE Aerospace Conference. Piscataway： IEEE Press， 2009.
8	FURGALE P， ENRIGHT J， BARFOOT T. Sun sensor navigation for planetary rovers： Theory and field testing［J］. IEEE Transactions on Aerospace and Electronic Systems， 2011， 47（3）： 1631-1647.
9	ZHAN Y H， CHEN S J， HE D H. High-precision heading determination based on the Sun for Mars rover［J］. Advances in Astronomy， 2018， 2018： 1493954.
10	EISENMAN A R， LIEBE C C， PEREZ R. Sun sensing on the Mars exploration rovers［C］∥Proceedings， IEEE Aerospace Conference. Piscataway： IEEE Press， 2003.
11	SODERBLOM J M， BELL J F III， JOHNSON J R， et al. Mars exploration rover navigation camera in-flight calibration［J］. Journal of Geophysical Research： Planets， 2008， 113（E6）：s19.
12	GARVIN J B， WEITZ C， FIGUEROA O， et al. Introduction to the special section： Mars Exploration Rover mission and landing sites［J］. Journal of Geophysical Research： Planets， 2003， 108（E12）： 8071.
13	MAKI J N， GRUEL D， MCKINNEY C， et al. The Mars 2020 engineering cameras and microphone on the perseverance rover： A next-generation imaging system for Mars exploration［J］. Space Science Reviews， 2020， 216（8）： 137.
14	欧阳自远，肖福根. 火星及其环境［J］. 航天器环境工程， 2012， 29（6）： 591-601.
	OUYANG Z Y， XIAO F G. The Mars and its environment［J］. Spacecraft Environment Engineering， 2012， 29（6）： 591-601 （in Chinese）.
15	BANFIELD D， SPIGA A， NEWMAN C， et al. The atmosphere of Mars as observed by InSight［J］. Nature Geoscience， 2020， 13： 190-198.
16	LIEBE C C， ALEXANDER J W， SCHERR L. Sun imaging though the Martian atmosphere［C］∥2008 IEEE Aerospace Conference. Piscataway： IEEE Press， 2008.
17	EDMONDSON K M， JOSLIN D E， FETZER C M， et al. Simulation of the Mars surface solar spectra for optimized performance of triple-junction solar cells［C］∥19th SPRAT Conference. Washington， D.C.： NASA， 2005.
18	LAM G Q， BILLETS S， NORICK T， et al. Solar array design for the Mars InSight lander mission［C］∥14th International Energy Conversion Engineering Conference. Reston： AIAA， 2016.
19	STRAUSBERG M J， WANG H Q， RICHARDSON M I， et al. Observations of the initiation and evolution of the 2001 Mars global dust storm［J］. Journal of Geophysical Research： Planets， 2005， 110（E2）： E02006.
20	RAMSEY S. NASA spacecraft detects aurora and mysterious dust cloud around Mars［EB/OL］. （2025-03-18）［2024-09-01］. .
21	HARRISON R G， BARTH E， ESPOSITO F， et al. Applications of electrified dust and dust devil electrodynamics to Martian atmospheric electricity［J］. Space Science Reviews， 2016， 203（1）： 299-345.
22	国家航天局.天问一号着陆过程两器分离和落火影像发布［EB/OL］. （2021-05-19）［2024-08-20］. .
	China National Space Administration. Images of Tianwen-1’s landing process， including separation and Mars descent， released ［EB/OL］. （2021-05-19）［2024-08-20］. （in Chinese）.

太阳光强/（W·m^-2）	积分时间自动适应范围	光学深度
太阳光强/（W·m^-2）	积分时间自动适应范围	对应火星远日点	对应火星近日点
69	17~26	1.966 4	2.341 0
71	16~26	1.937 8	2.312 4
74	16~26	1.896 4	2.271 0
79	16~26	1.831 1	2.205 6
84	16~26	1.769 7	2.144 3
151	12~19	1.183 2	1.557 8
160	12~19	1.125 3	1.499 9
283	05~16	0.555 1	0.929 6
287	05~16	0.541 0	0.915 6
290	05~16	0.530 6	0.905 2
297	05~16	0.506 8	0.881 3
421	03~10	0.157 9	0.532 4

筛网目数	灰尘粒径/μm
150	100
250	61
360	40
900	14
1 800	8

灰尘厚度/μm	精度影响/（°）
<20	<0.05
20~50	0.05~0.10
50~100	0.10~0.20
100~200	0.20~1.00
200~300	>1.00

[1]	Linhong ZHOU, Guangyu HE, Shunlai ZANG. A method for modeling three-dimensional morphology of dust particle based on cross-sectional SEM data characteristics [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(4): 426201-426201.
[2]	Guang MENG, Chang LIU, Dongchun YANG, Chenghong ZHOU, Hua ZHOU. First flight of SpaceX heavy-lift starship: Enlightenment for aerospace industry in China [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023, 44(10): 28914-028914.
[3]	WANG Binwen, DUAN Shihui, NIE Xiaohua, GUO Yuchao. Development situation and future challenges of CAE software used in aeronautical structural analysis [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(6): 527272-527272.
[4]	TIAN Wei, CHENG Simiao, LI Bo, LIAO Wenhe. An error compensation method of an industrial robot with joint backlash [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 625569-625569.
[5]	WANG Hao, CHEN Genliang. Research progress and perspective of robotic equipment applied in aviation assembly [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 626128-626128.
[6]	LIAO Wenhe, TIAN Wei, LI Bo, LI Pengcheng, ZHANG Wei, LI Yufei. Error compensation technology and its application progress of an industrial robot [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(5): 627142-627142.
[7]	LIAO Wenhe, ZHENG Kan, SUN Lianjun, DONG Song, ZHANG Lei. Review on chatter stability in robotic machining for large complex components [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(1): 26061-026061.
[8]	WANG Longfei, ZHANG Liyan, YE Nan. An on-line compensation technology for robotic drilling error suitable for curved structure [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(10): 422871-422871.
[9]	FANG Qiang, LI Chao, FEI Shaohua, MENG Tao. Stability analysis of robot boring system [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(2): 727-737.
[10]	QU Weiwei, DONG Huiyue, KE Yinglin. Pose Accuracy Compensation Technology in Robot-aided Aircraft Assembly Drilling Process [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2011, 32(10): 1951-1960.
[11]	Han Ke;Jin Zhonghe;Wang Hao. Attitude Estimation and Coarse Sun Sensor Calibration for Pico-satellites [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2010, 31(5): 1038-1044.
[12]	Li Baolei;Fu Jian;Huang Qiaozhen;Chen Hao;Wang Yuan. Method for Automatic Determination of Center of Rotation in Industrial Computed Tomography Systems Based on Sinogram [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2009, 30(7): 1341-1345.
[13]	Shi Yaoyao;Tang Hong;Yu Qiang. Key Technology of the NC Tape-winding Machine [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2008, 29(1): 233-239.
[14]	YUAN Li-peng;ZHAO Ke-ding;XU Hong-guang. Study on Vertex Space of Stewart Platform [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2006, 27(5): 979-984.
[15]	YUE Fu-zhan;CUI Ping-yuan;CUI Hu-tao;JU He-hua. Algorithm Research on Lunar Rover Autonomous Heading Detection [J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2006, 27(3): 500-504.

Sun sensor designed and qualified for “Zhurong” Mars rover

RichHTML

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

Figures/Tables 16

References 22

Related Articles 15

Recommended Articles

Metrics

Comments