Multi-rule simulation test system of lunar vehicle

Abstract

The invention discloses a multi-rule simulation test system of a lunar vehicle. In the system, a geometry module is used for establishing a lunar-vehicle geometric model and generating a reality-sense digital lunar-surface model; a dynamics module obtains an updated contact constraint relation; a movement control module receives route information generated by a navigation and planning module, converts the route information into movement control information and outputs the movement control information to the dynamics module; a data analysis and evaluation module takes charge of outputting the simulation results of the dynamics module so as to analyze the simulation results; the navigation and planning module performs image processing on scene information obtained from a visualization module to obtain barrier information in the scene, performs a route plan according to the barrier information and transmits a control instruction on a vehicle body; and the visualization module establishes scene trees, outputs virtual environment by utilizing a multi-channel three-dimensional rendering technology and receives the updated contact constraint relation of the dynamics module at the same time. The multi-rule simulation test system disclosed by the invention has strong sense of reality, can be integrated into the autonomous navigation system of the lunar vehicle, reflects the reality of physical rules and fully considers the interaction of the lunar vehicle and the lunar surface.

Description

technical field [0001] The invention relates to a system in the technical field of virtual reality, in particular to a lunar rover multi-law simulation test system. Background technique [0002] As the "Chang'e Project" lunar rover "landing" approaches in 2012, the speed of research and development of the lunar rover, and the degree of perfection of its functions and performance are directly related to the progress of the entire lunar exploration project. Due to the high reliability requirements for the work of the lunar rover, and considering the particularity of the working environment of the lunar rover, repeated experiments and improvements must be carried out on the performance of the lunar rover to adapt to the harsh environment of the moon. The environmental structure of the lunar surface is special. It is difficult to find a similar operating environment in the ground environment to verify the performance of the lunar rover, and it is impossible to conduct experiment...

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Problems solved by technology

However, the dynamics module of this system only considers the dynamics module of the rigid body contact model, and there is no contact dynamics like the soft terrain proposed by t

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