嫦娥五号表取采样臂载相机成像位姿与覆盖

doi:10.7527/S1000-6893.2021.25388

Abstract

Abstract: The Chang'e 5 explorer successfully realized China's first lunar sample-return mission. Lots of images were acquired by the cameras mounted on the surface sampling manipulator in the process of lunar surface exploration. The inverse kinematics of the 4 degrees of freedom manipulator of Chang'e 5 was discussed with the geometric method. The imaging posture determination approach for the two types of monocular motion cameras mounted on the manipulator——far camera and near camera was proposed. For the sampling area, the coverage of the field of view under different imaging posture was analyzed. Furthermore, the principle of multi-image overlapping evaluation without image was established. Then the imaging posture and image coverage were simulated based on the manipulator camera motion information, and the simulation results were verified through terrain reconstruction. The results indicate that the approach can be used to establish the overlapping connection of multi-images acquired by the manipulator camera in widespread motion, and can be used in multi-image joint applications such as topographic reconstruction with the help of imaging posture.

Key words: Chang’e 5, surface sampling, manipulator camera, imaging posture, image coveragehttp

CLC Number:

V447⁺.1

ZHENG Yanhong, DENG Xiangjin, JIN Shengyi, CHEN Liping, YAO Meng, ZHAO Zhihui. Imaging posture and coverage of Chang'e 5 surface sampling manipulator cameras[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2022, 43(7): 325388-325388.

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Imaging posture and coverage of Chang'e 5 surface sampling manipulator cameras

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