“祝融号”火星车驶离着陆平台是天问1号探测器系统着陆后进行的第一个关键动作，是后续火星表面巡视探测工作的基础。为向火星车安全驶离提供决策支持, 提出基于导航相机立体图像的平面间角度计算方法计算着陆平台驶离轨道异面角(两驶离轨道间夹角)与驶离轨道坡度角(驶离轨道与火星表面间夹角)。阐述基于导航相机图像的火星车在轨驶离决策支持的流程，首先采用前方交会算法获得火星表面点云坐标及驶离轨道特征点坐标，然后创新性地提出结合随机采样一致性(RANSAC)算法与总体最小二乘法的平面拟合方法拟合出驶离轨道平面与火星表面，并通过模拟实验验证了该方法的合理性，最后计算出驶离轨道异面角(0.203°)与两驶离轨道坡度角(-18.947°、-19.154°)，并用于“祝融号”火星车在轨驶离决策中。2021年5月22日，“祝融号”火星车成功驶离着陆平台踏上火星表面。
李昊
,
马友青
,
张烁
,
刘少创
. “祝融号”火星车驶离着陆平台决策支持几何参数计算方法[J]. 中国科学院大学学报, 2024
, 41(1)
: 81
-87
.
DOI: 10.7523/j.ucas.2022.048
The departure of Zhurong Mars rover from the landing platform is the first key action performed after the Tianwen-1 detector system landing on Mars, and it is the basis for subsequent inspections of the Martian surface. In order to provide decision support for the safe departure of the rover, a method for calculating the angle between planes based on the three-dimensional image of the navigation camera is proposed to calculate the angle between the two departure orbit planes and the departure angle (the angle between the departure orbits and the surface of Mars). The process of decision support for Mars rover departure based on the navigation camera images is described. First, the forward intersection algorithm was used to obtain the coordinates of the point cloud on the surface of Mars and the coordinates of the departure orbits feature points. Then a plane fitting method combining the random sample consensus (RANSAC) algorithm and the total least squares method was used to fit the departure orbit plane and the surface of Mars, and the rationality and robustness of the method was verified through simulation experiments. At the end, the angle between the departure orbit planes (0.203°) and two departure angle (-18.947°, -19.154°) were calculated and used in the decision of Zhurong rover departure. On May 22, 2021, the Zhurong Mars rover successfully departed from the landing platform and set foot on the surface of Mars.
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