月球低重力模拟设备位姿测控系统优化设计

为巡视器地面行走验证试验专门研制了月球低重力模拟设备。在验证试验中需要对巡视器的位姿进行测量，针对这一需求，文章提出了基于双相机的非接触测量方案，同时研制了相应的位姿测控系统，对其硬件和软件进行了优化设计。利用该位姿测控系统开展了巡视器的位姿测量，有效解决了位姿测量和控制过程中的问题。经充分测试验证，系统满足巡视器地面行走验证试验的要求。

Optimum design of the position-pose measurement and control system for a lunar gravity simulation facility

The lunar gravity simulation facility is developed for rover ground tests. In order to measure the position and the pose of the rover during the tests, an optimum design scheme of the position-pose part is proposed based on the dual-camera and non-contact measurement method. At the same time, the measurement and control system is developed with hardware and software optimally designed. The system is used to measure the rover's position-pose and solve the problems involved in the tests. In the testing, the system is shown to meet very well the requirements of the rover ground tests.