Lunar surface mobile general GNC semi-physical test system and method based on real-time simulation

By designing a lunar surface mobile general-purpose GNC semi-physical test system based on real-time simulation, and using real data modeling and hardware-in-the-loop design, the verification problem of GNC control algorithm in the lunar environment was solved, realizing high-precision and high-real-time lunar surface mobile platform test, and reducing test costs and risks.

CN121879175APending Publication Date: 2026-04-17SHANGHAI AEROSPACE CONTROL TECH INST
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Patent Information

Application Number
CN202511890968.0
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-15
Publication Date
2026-04-17

AI Technical Summary

Technical Problem

Existing technologies cannot effectively simulate the mechanical properties of tires in the low gravity and soft lunar soil environment, which makes it difficult to verify the GNC control algorithm and results in insufficient simulation accuracy and real-time performance, making it impossible to achieve high-fidelity closed-loop tests of lunar moving platforms.

Method used

Design a general-purpose GNC semi-physical experimental system for lunar surface movement based on real-time simulation, including lunar surface dynamics simulation, scene rendering and GNC control subsystem. Real data is used to model the land parameters, terrain structure and lighting conditions. GNC closed-loop simulation is realized through hardware-in-the-loop design to simulate dynamic scenes in the lunar environment.

Benefits of technology

It achieves high-precision and high-real-time GNC algorithm verification, simulates the characteristics of the lunar surface environment, shortens the test cycle, reduces costs and risks, and provides a reliable method for dynamic closed-loop verification of lunar GNC.

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Abstract

The invention discloses a lunar surface mobile general GNC semi-physical test system and method based on real-time simulation. Comprising a lunar surface dynamics simulation subsystem for modeling a mobile platform, a sensor, a lunar surface terrain, a wheel-land action relationship and the like, performing movement control according to a control instruction, and outputting real movement responses such as poses and the like; the lunar surface scene rendering subsystem is used for modeling lunar surface meteorite craters, sloping fields, stones and the like, rendering typical lunar surface scenes and outputting images and point cloud information; and the GNC control subsystem is used for performing GNC closed-loop simulation according to the input movement response and the image point cloud information, realizing functional simulation such as navigation positioning and attitude determination, obstacle perception and the like, and resolving and outputting a control instruction through a control law. Information interaction is carried out among the subsystems through a serial port or the Ethernet, through clock synchronization and modular design, the sub-modules are independent and replaceable, universality and high precision are considered, the problem that a lunar surface test is not feasible is effectively solved, and a reliable lunar surface GNC verification means is provided.
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