嫦娥三号巡视器有效载荷

嫦娥三号巡视器配置了全景相机、测月雷达、红外成像光谱仪、粒子激发X射线谱仪四种科学探测有效载荷. 介绍了有效载荷的科学探测任务、系统设计方案和系统组成,描述了各有效载荷的方案设计要点,设计中的主要关注点及主要技术指标等.      

An in situ laser induced breakdown spectroscope (LIBS) for Chandrayaan-2 rover: Ablation kinetics and emissivity estimations

A miniaturized in situ laser induced breakdown spectroscope-LIBS is one of the two lunar rover payloads to be flown in India’s next lunar mission Chandrayaan-2, with an objective to carry-out a precise qualitative and quantitative elemental analyses of lunar regolith at the proximity of the landing region. As per the imposed mission constraints and the executed design optimization studies, a compact and light-weight LIBS prototype model is developed at our premises. This paper mainly concerns with the estimation of theoretical aspects; especially on evaluation of elemental ablation parameters and signal-to-noise ratio (SNR) calculations for the designed instrument. Theoretical estimations and simulations yielded an incident laser power density of the order of 5 × 10¹⁰ W/cm² on the target surface at a defined lens-to-surface distance (LTSD) of 200 mm and revealed an SNR > 100 for most of the elements under consideration. This paper also addresses the impact of LTSD variation on detection capability. The estimation of plasma-temperatures was carried out utilizing the emission spectra obtained under high vacuum environments employing the LIBS laboratory model. Experimental investigations and the performed theoretical estimations asserted the successful operation of the configured LIBS instrument for in situ elemental analyses on lunar surface.     

“嫦娥4号”月球背面软着陆任务设计

介绍了"嫦娥4号"月球背面软着陆任务设计方案。着陆区初步选定为月球背面南极–艾特肯(South PoleAitken,SPA)盆地内的冯·卡门(Von Kármán)撞击坑内。采用中继星实现着陆器和巡视器的对地通信,并选择环绕地月拉格朗日L2点的halo轨道作为其使命轨道。采用CZ-4C火箭和CZ-3B火箭,分别完成中继星和着陆器–巡视器组合体的发射。两器一星上共配置了6台国内研制科学载荷和3台国际合作科学载荷,开展以低频射电天文观测、巡视区形貌、矿物组份及浅层结构为主的科学探测。此外,还搭载了2颗月球轨道编队飞行微卫星、月面微型生态圈和大孔径激光角反射镜,分别开展超长波天文干涉测量试验、月面生态系统试验和超过地月距离的激光测距试验。通过创新设计顶层任务,充分继承成熟技术和产品,增加中继通信功能模块,开放资源引入高性能载荷和搭载项目,将实现一次低成本、短周期、大开放、高效益的月球探测任务。     

嫦娥三号着陆器有效载荷

嫦娥三号着陆器配置了地形地貌相机、月基光学望远镜、极紫外相机、降落相机等四种科学探测有效载荷.介绍了有效载荷的科学探测任务、系统设计方案和系统组成,描述了各有效载荷的方案设计和主要技术指标等.      

Ground experiments of Chang’e-5 lunar regolith penetrating radar

The Lunar Regolith Penetrating Radar (LRPR) is an Ultra-Wideband (UWB) array-based Ground penetrating radar (GPR) onboard the lander of Chang’e-5 (CE-5) mission. The primary scientific objectives of the LRPR are to probe the thickness and structure of lunar regolith of the landing site, and support the drilling and sampling process. In order to evaluate the performance of the LRPR, a series of ground experiments are performed using the LRPR prototype mounted on a CE-5 lander model. The performance of the LRPR is evaluated by comparing the experimental data with the simulated data. Data processing and imaging method are verified, and the interferences from the lander and other aspects are analyzed. The results of the ground experiments and simulation demonstrate that the LRPR is able to meet the design requirement of 2-m detection depth. They also indicate that the upper and lower interfaces of the stratified structure in the lunar regolith can be well distinguished by the LRPR when the dielectric constant difference is greater than 0.3, and the imaging effect of the location under the dense antennas is better than that of other positions. However, the identification capability of the LRPR to the independent blocky objects is relatively poor mainly due to the clutters caused by the lander, the sparsity of the antenna elements compared to the size of the basalt block, the limited aperture of the antenna array, and the tail of the transmitted waveform.     

Overview of the Latest Scientific Results of China's Lunar Exploration Program

China's Chang'E-4 probe successfully landed on 3 January 2019 in Von Kármán crater within the South Pole-Aitken (SPA) basin on the lunar far side. Based on the data acquired by the scientific payloads onboard the lander and the rover, the researchers obtained the related information such as the geologic and tectonic setting of the landing area, compositional characteristics of the landing surface materials, dielectric permittivity and density of the lunar soil. The experiments confirmed the existence of materials dominated by olivine and low-calcium pyroxene in the SPA basin on the lunar far side, which preliminary revealed the geological evolution history of the SPA basin and even that of the early time lunar crust, as well as the tectonic setting and formation mechanism of the materials in the lunar interior. The researchers also inves-tigated the particle radiation, Linear Energy Transaction (LET) spectrum, and so forth on the lunar surface. The low-frequency radio observations were carried out on the lunar far side for the first time as well. This article summarizes the latest scientific results in the past years, focusing on the Chang'E-4 mission. Key words CLEP, Chang'E-4, Scientific objectives, Scientific payloads, Scientific results      

一种基于概率路线图的月球巡航车路径规划算法

为提高月球巡航车自主探测时的安全,提出一种基于概率路线图(Probabilistic Roadmap, PRM)的改进路径规划算法.该算法基于距离变换地图,改善PRM算法的采样方式,控制采样点远离障碍物,使规划的路径远离障碍物,避免紧贴障碍物前进的危险情况,提高了月球巡航车自主探测过程中的安全程度.为评估路径的安全性,提出安全警戒系数和最小安全警戒系数两个安全指标,并在月球表面仿真环境下对A*,PRM和改进的PRM算法生成的路径进行安全评估.结果表明改进的PRM算法相较于A*算法,安全警戒系数和最小安全警戒系数分别提升了2.20 m,1.00 m;相较于PRM算法,安全警戒系数和最小安全警戒系数分别提升了1.68 m,1.00 m.改进的PRM算法不局限于月球巡航车的路径规划,还可以应用于对路径安全性要求较高的探索机器人和自动驾驶汽车.     

An introduction to the lunar and planetary science activities in Korea

Korea is planning a series of lunar space programs in 2020 starting with a lunar orbiter and a lander with a rover. Compared to other countries, Korea has a relatively brief history in space and planetary sciences. With the expected Korean missions on the near-term horizon and the relatively few Korean planetary scientists, Korea Institute of Geoscience and Mineral Resources (KIGAM) has established a new planetary research group focusing on development of prospective lunar instruments, analysis of the publicly available planetary data of the Moon, organizing nationwide planetary workshops, and initiating planetary educational programs with academic institutions. Korea has also initiated its own rocket development program, which could acquire a rocket-launch capability toward the Korean lunar mission. For the prospective Korea’s lunar science program, feasibility studies for some candidate science payloads have been started since 2010 for an orbiter and a lander. The concept design of each candidate instrument has been accomplished in 2012. It is expected that the development of science payloads may start by 2014 as Phase A. Not only developing hardware required for the lunar mission but also educational activities for young students are high priorities for Korea. The new plan of the Korean lunar mission can be successfully accomplished with international cooperative outreach programs in conjunction with internationally accessible planetary data system (PDS). This paper introduces the KIGAM’s international cooperative planetary research and educational programs and also summarizes other nationwide new developments for Korean lunar research projects at Kyung Hee University and Hanyang University.     

利用月面链路的月球车定位体制

提出一种利用月面月球车-着陆器UHF(Ultra High Frequency)近程通信链路的高精度测距、测角的新方法,实现月球车的精密定位.该体制采用直序扩频和CCSDS(Consultative Committee for Space Date Systems) Proximity-1协议实现月球车-着陆器之间的数据交互,利用双向异步传输帧非相干扩频测距方法实现精密测距,利用着陆器双天线形成短基线实现对月球车方位角的精密测量.讨论了用于测距的CCSDS Proximity-1协议帧结构、双向异步传输帧测距原理、方位角的载波相位差分干涉测量原理,以及建立月面着陆参考系并给出月球车精确定位的方法.研究表明,所提出的方法功能集成度高、信道资源利用率高、设备简单、性能指标满足月球探测二期月球车的月面定位、通信任务需求.      

“嫦娥4号”中继星任务分析与系统设计

作为"嫦娥4号"任务的重要组成部分,中继星将为着陆器和巡视器提供中继通信支持。不同于其它月球探测器,中继星首次选择了绕地月L2平动点运行的晕(Halo)轨道以保证对月球背面的着陆器和巡视器提供连续的中继通信服务,面临诸多技术挑战。在对中继星任务特点进行分析的基础上,梳理了研制中的技术难题,包括使命轨道的选择、使命轨道的到达和长期维持、中继通信体制选择等,并提出了解决方案。中继星的总体设计方案概述也在文中给出。     

基于相似理论的月球车月面牵引性能预测

引入相似理论对月球车的轮土交互系统进行研究,建立了月壤-车轮交互系统的地面力学相似模型,针对原位月壤内聚力较小的特点,提出了一种无需改变车轮尺寸、以模拟月壤为土壤介质的模型试验方法,对月面重力环境下月球车轮的牵引性能进行预测.利用室内土槽试验和颗粒流仿真相结合的方法对该模型试验方法的有效性进行验证,验证结果与模型试验的理论分析结果较为接近,表明该法具有较好的可行性和有效性,可考虑用于预测月球车的月面牵引性能.     

Solar X-ray Monitor (XSM) on-board Chandrayaan-2 orbiter

The remote X-ray fluorescence spectroscopy is a powerful technique to investigate the elemental abundances in the atmosphere-less planetary bodies. The experiment involves measuring spectra of fluorescent X-rays from lunar surface using a low energy X-ray detector onboard an orbiting satellite. Since the flux of fluorescent X-ray lines critically depend on the flux and spectrum of the incident solar X-rays, it is essential to have simultaneous and accurate measurement of X-ray from both Moon and Sun. In the context of Moon, this technique has been employed since early days of space exploration to determine elemental composition of lunar surface. However, so far it has not been possible to exploit it to its full potential due to various reasons. Therefore it is planned to continue the remote X-ray fluorescence spectroscopy experiment on-board Chandrayaan-2 which includes both lunar X-ray observations and solar X-ray observations as two separate payloads. The lunar X-ray observations will be carried out by Chandra Large Area Soft x-ray Spectrometer (CLASS) experiment; whereas the solar X-ray observations will be carried out by a separate payload, Solar X-ray Monitor (XSM). Here we present the overall design of the XSM instrument, the present development status as well as preliminary results of the laboratory model testing. XSM instrument will have two packages namely – XSM sensor package and XSM electronics package. XSM will accurately measure spectrum of Solar X-rays in the energy range of 1–15 keV with energy resolution ∼200 eV @ 5.9 keV. This will be achieved by using state-of-the-art Silicon Drift Detector (SDD), which has a unique capability of maintaining high energy resolution at very high incident count rate expected from Solar X-rays. XSM onboard Chandrayaan-2 will be the first experiment to use such detector for Solar X-ray monitoring.     

月面巡视探测器动力学建模

动力学模型是研究星球探测车运动的基础。以某月面巡视探测器原理样机为背景,建立了其动力学模型,并进行了数值仿真分析。在说明月壤机械特性的基础上,结合地面车辆力学的知识,分析了松散月壤上刚性车轮的受力,考虑了主动驱动和被动驱动的情形,利用数学拟合的方法得到了满足工程要求的简化模型。在一定假设条件下,以牛顿欧拉法建立了三自由度整车动力学模型,建模时同时考虑了驱动和转向的相互影响。最后,数值仿真结果定性地验证了月面巡视探测器动力学模型的正确性。     

刚性车轮月面牵引通过性的模型试验

以重塑模拟月壤为介质,利用深空探测车车轮牵引特性实验台,研究了月面巡视探测器的刚性轮齿车轮与模拟月壤的交互作用,分析了车轮转速、轮上载荷等试验因素对车轮牵引通过性的影响.研究结果表明,当车轮转速较低时,挂钩牵引力随滑转率的增加而不断提高;当车轮转速较高时,存在着临界滑转率点.轮上载荷的增加有利于提高车轮的挂钩牵引力,但对挂钩牵引力系数的影响较小.     

“嫦娥3号”月面探测器同波束干涉测量系统的设计与实现

为了提高"嫦娥3号"探测器(着陆器和巡视器)的相对定位精度,针对两器信标实际设置情况,设计了同波束干涉测量(same-beam interferometry,SBI)观测方案。利用着陆器和巡视器星地对接数据分析检验了由差分群时延解算含微小系统差的差分相时延的方法,给出了甚长基线干涉测量(very long baseline interferometry,VLBI)和同波束干涉测量模型及月面定位方法,并仿真分析了巡视器的相对定位精度。最终,把研究的方法实际应用于"嫦娥3号"巡视器的精密相对定位。结果表明,利用1h左右的连续观测弧段的着陆器数传信号以及巡视器数传信号(或遥测信号),采用事后处理方式,得到了随机误差约1ps的差分相时延数据。利用此数据,把"嫦娥3号"探测器的相对定位精度提高至1m左右。     

月球探测车转向系统动力学建模与分析

月球探测车在月球表面松软土壤上的转向动力学特性比较复杂。文章在已有的车辆地面力学成果的基础上 ,研究了探测车在松软的月球表面土壤上的转向动力学问题。给出了六轮月球探测车的四轮转向运动学计算公式 ,推导了探测车在松软土壤上的四轮转向动力学模型 ,提出了合理的简化方法 ,并对稳态特性进行了相应的分析。所得到的结果为探测车转向系统设计及控制算法研究提供了依据     

月球表面巡视探测GNC技术

嫦娥三号巡视器是中国首个地外天体表面巡视探测器, 其制导、导航及控制 (GNC)技术与地球卫星等航天器完全不同. 探测器实现月表巡视探测需要在地 外天体表面确定自身位置、航向及姿态, 识别周围地形环境并寻找安全路径, 控制巡视器沿规划路径安全行驶等. 本文针对嫦娥三号巡视器月面巡视对GNC系统的 任务要求及工作性能, 对月面自主导航定姿定位、协调运动控制、环境感知、 路径规划、激光探测避障以及地面试验等重要技术环节进行了分析, 研究月面制 导、导航与控制特性并进行实验验证, 进而对巡视器GNC技术进行了模拟仿真.      

Observation of the lunar topography by the laser altimeter LALT on board Japanese lunar explorer SELENE

The SELENE Laser Altimeter (LALT) is designed to map the Moon’s topography and will be launched in summer 2007. LALT incorporates Q-switched Cr doped Nd:YAG laser (1064 nm) with an output energy of 100 mJ and 1 Hz repetition frequency for about one year mission period. The laser pulse travels to the Moon’s surface and reflections from the surface are detected by a silicon avalanche photo-diode. The ranging distance is 50–150 km with about 5 m accuracy. Several corrections for accurate ranging data are investigated. The flight hardware has been qualified and passed all the integration tests. A principal goal of the LALT instrument is to obtain a much more detailed lunar topographic map which is superior in global coverage, measurement accuracy and number of data points to previous observations and models. The overall science objectives of LALT are (1) determination of lunar global figure, (2) internal structure and surface processes, (3) exploration of the lunar pole regions, and (4) reduction of lunar occultation data.     

月面巡视探测器任务规划顶层设计与实现

针对巡视器月面任务规划工程的可实现性,开展了巡视器任务规划顶层设计方法的研究,主要内容包括:任务规划技术特点的梳理与归纳;任务规划输入条件与约束条件的整理,规划变量的统一;任务规划框架的设计,巡视器行为序列与上行控制指令的衔接,针对巡视器行为序列的大模式套用小模式的动态设计等。通过巡视器任务规划工程实现的介绍,说明在巡视器任务规划的顶层设计中,任务的不确定性、部分约束与输入信息的模糊性,是任务规划框架设计以及在后续工程实现过程中需要重点考虑的内容,是与任务规划的工程可实现性直接相关的。     

Instrument study of the Lunar Dust eXplorer (LDX) for a lunar lander mission

One of the highest-priority issues for a future human or robotic lunar exploration is the lunar dust. This problem should be studied in depth in order to develop an environment model for a future lunar exploration. A future ESA lunar lander mission requires the measurement of dust transport phenomena above the lunar surface. Here, we describe an instrument design concept to measure slow and fast moving charged lunar dust which is based on the principle of charge induction. LDX has a low mass and measures the speed and trajectory of individual dust particles with sizes below one micrometer. Furthermore, LDX has an impact ionization target to monitor the interplanetary dust background. The sensor consists of three planes of segmented grid electrodes and each electrode is connected to an individual charge sensitive amplifier. Numerical signals were computed using the Coulomb software package. The LDX sensitive area is approximately 400 cm². Our simulations reveal trajectory uncertainties of better than 2° with an absolute position accuracy of better than 2 mm.