Sovremennye problemy distantsionnogo zondirovaniya Zemli iz kosmosa, 2018, Vol. 15, No. 6, pp. 180-187
On-ground testing of interaction between the lunar manipulator system and the housekeeping TV system
S.V. Voronkov
1 , A.V. Nikitin
1 , S.A. Prokhorova
1 , Ya.D. Elyashev
1 1 Space Research Institute RAS, Moscow, Russia
Accepted: 19.11.2018
DOI: 10.21046/2070-7401-2018-15-6-180-187
The scientific instrumentation of the Luna-Glob spacecraft consists of different sensors and complexes, in particular, the lunar manipulator system (LMK) and the housekeeping TV system (STS-L). One task of the STS-L is support of LMK when taking soil samples and their further delivery in the LAZMA-LR. This task is solved by using stereo cameras, which synchronously obtain the images of lunar area and then send the images to unit of data collection. Further, the obtained images are transferred to Earth for making a three-dimensional digital model of the manipulator working area to determine the spatial coordinates of the target with 15 mm accuracy. A special test bench has been created in the IKI RAS. The test bench consists of a spacecraft scale model, LMK- and STS-L’ engineering models. The bench allows to test the interaction of the LMK and STS-L, develop and debug a software for stereo images processing to solve the task of soil intake device LMK guidance on the desired goal.
Keywords: manipulator, stereocamera coordinate system, housekeeping TV system, test-object, basic coordinate system, internal coordinate system of the camera, soil intake device, reference coordinate system
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