Method and system for patrolling path planning based on safe landing zone on lunar surface

Abstract

The invention discloses a method and system for planning a patrol path based on a safe landing zone on the lunar surface, and obtains a safe landing zone on the lunar surface. Assuming that the current position of the patrol on the lunar surface is located in grid A of the selected safe landing zone on the lunar surface, Its target location is in grid B; delete unsafe paths from all paths from point A to point B obtained through traversal; for the remaining safe paths, calculate the average flat area percentage of each path, and calculate the average flat area percentage of each path Distance; assigning weights to the average flat area percentage of each path and the distance of each path to obtain the weighted evaluation factor for calculating each patrol route, and the path with the smallest weight factor WR is the optimal path for the patrol from point A to point B The invention takes into account the safety and distance of the patrol route, and generates the optimal route through weighted evaluation.

Description

technical field [0001] The present disclosure relates to the technical field of planetary remote sensing digital image processing and planetary surface digital terrain analysis, in particular to a method and system for planning a patrolling path based on a safe landing area on the lunar surface. Background technique [0002] As the natural satellite of the earth, the moon is the first choice for human deep space exploration. The exploration and research of the moon is of great strategic significance to my country's technological, economic and social development. [0003] From the 1960s to the present, countries such as the United States and the former Soviet Union have successively launched multiple series of lunar landing probes. Limited by engineering technology and scientific level, early lunar landing probes (such as Luna and Surveyor series) did not have the ability to identify obstacles and select a safe landing area, so their landing success rate was very low. In the...

AI Technical Summary

Problems solved by technology

However, the accuracy of DEM data on the lunar surface is low (ten-meter level), and there are a large number of meter-level or even decimeter-level negative terrain (craters, grooves) and positive terrain (ridges, steep slopes, and rocks) on the surface of the lunar landing area. etc.) objects, which are potential threats to lander landing and rover path planning

The low resolution of DEM data makes it difficult to conduct a comprehensive and detailed study of the morphology and meter-level threats of the pre-selected landing area

[0005] (2) In the prior art, there is no systematic and accurate description of the safety evaluation threshold of the lunar surface terrain factors, and it is difficult to comprehensively evaluate and select the safety of the lunar surface landing area quantitatively

Taking the slope as an example, there is no evaluation method for describing the safety slope threshold of the landing area, nor is it verified that the slope is within the threshold area and is suitable for landing

[0006] (3) The prior art lacks a method for dynamic long-distance path planning for the patrol released after a safe landing

The stereo camera mounted on the patrol device has a limited field of view, and can only select the next patrol path within the close range of the camera field of view, and it is difficult to dynamically generate the optimal route for a long distance

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