IMPLEMENTATION STRATEGY OF VISIBLE AND NEAR-INFRARED IMAGING SPECTROMETER ON YUTU-2 ROVER BASED ON VISION MEASUREMENT TECHNOLOGY
Keywords: Chang’e-4, Yutu-2 rover, VNIS, Binocular vision, Path planning, Field-of-view prediction
Abstract. The Chang'e-4 successfully landed on the far side of the moon in January 2019. By the 12th lunar day, its Yutu-2 rover had achieved a breakthrough travel distance of greater than 300 m. A visible and near-infrared imaging spectrometer (VNIS), consisting of a visible and near-infrared (VNIR) imaging spectrometer and a shortwave infrared (SWIR) spectrometer was used for detecting mineralogical compositions of lunar-surface materials. Because VNIS is fixed on the front of the rover, and the field-of-view (FOV) of VNIR and SWIR are small (8.5° and 3.6° respectively), approaching and accurately pointing at the specific science target depend completely on the precise control of the moving rover.
In this paper, a successful method of VNIS target detection based on vision measurement is proposed. First, the accurate position of the target is calculated via navigation camera imaging. Then, the moving path is planned by considering the terrain environment, illumination, communication condition, and other constraints. After the rover moves to the designed position, the binocular imaging of the hazard-avoidance cameras are activated, the detection direction and forward distance are calculated according to the images, and the FOV trajectory of the VINS is predicted while moving. Finally, by choosing the required moving control parameters, the imaging field of the VINS accurately cover the detected targets visually.
These methods have been verified many times, and the results show that they are effective and feasible. The research results based on the VNIS data have successfully revealed the material composition on the far side of the moon and have deepened human understanding of its formation and evolution.