Method for marking coordinate system in indoor or outdoor testing field and dynamic measuring method for lunar vehicle position and attitude
A calibration method and a coordinate system technology, applied in the field of lunar rover simulation tests, can solve the problems of not being able to meet the calibration and measurement of angle relations, not being able to realize the problem of establishment, and not being able to realize data transmission, etc., to achieve the effect of dynamic tracking
Active Publication Date: 2014-07-09
BEIJING INST OF SPACECRAFT ENVIRONMENT ENG
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Problems solved by technology
[0003] (1) This method cannot meet the calibration and measurement of the angular relationship between the yaw angle of the lunar rover and the geographic north of the earth in a simulated lunar surface environment of 30m×30m
[0004] (2) This method cannot realize the establishment of the rover body coordinate system in iGPS, so as to realize the real-time tracking of the rover's attitude;
[0005] (3) This method cannot realize the unification of the iGPS coordinate system and the DEM coordinate system of the test site;
[0006] (4) This method cannot realize the calibration and measurement of the angular relationship between the yaw angle of the lunar rover and the geographic north of the earth in the open desert environment of the outfield
[0007] (5) This method cannot realize data transfer in a large range of the test field coordinate system in the open desert environment of the field
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[0045] The calibration method of the indoor or outdoor test field coordinate system of the present invention and the large-scale real-time dynamic lunar rover position and attitude measurement method based on iGPS of the present invention will be further described below in conjunction with the accompanying drawings.
[0046] Such as figure 1 As shown, taking the indoor simulated lunar surface test field as an example to illustrate, the calibration method of the indoor or outdoor test field coordinate system of the present invention mainly includes the following steps:
[0047] (1) Install a north mirror near the test site, and use the gyro theodolite to calibrate the angle between the cube mirror and the geographic north of the earth;
[0048] (2) Install three calibration rods near the test site, the height of the calibration rods can be adjusted, and the establishment, unification and calibration of S and the coordinate system of the test site. A groove is set on the top, a...
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The invention discloses a method for marking a coordinate system in an indoor or outdoor testing field, and a ground large-range real-time dynamic measuring method for lunar vehicle position and attitude based on iGPS. The measuring method stimulates the iGPS normal measurement under the working condition of lunar surface illumination, realizes the quick establishment of the testing field coordinate system and the large-range transmission of the coordinate system on the outfield desert area, realizes the quick and simple marking of the simulated lunar surface testing field coordinate system and the earth geographical coordinate system, and enables the position and attitude measuring iGPS system to be consistent with the coordinate of the testing field DEM.
Description
technical field [0001] The invention belongs to the field of lunar rover simulation tests. Specifically, the invention relates to a method for establishing and calibrating a coordinate system of an indoor and outdoor test field based on iGPS and theodolite systems, and a large-scale real-time dynamic lunar rover position and attitude measurement method on the ground. In particular, the method for measuring the position and attitude of the lunar rover in the environment of the simulated lunar environment test site and the field test site. Background technique [0002] Similar to the standard GPS, iGPS is a triangulation-based surveying technology, mainly used for dynamic surveys and large-scale static surveys. Generally speaking, the iGPS measurement system consists of four parts: laser transmitter, laser receiver, control unit and test software (Surveyor and Spatial Analyzer). iGPS measurement usually includes coordinate establishment, coordinate calibration and data proces...
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IPC IPC(8): G01S19/45G01C1/02
Inventor 易旺民杨再华唐赖颖孙刚陈启威张延磊冯伟樊友高
Owner BEIJING INST OF SPACECRAFT ENVIRONMENT ENG