The invention relates to a lunar surface robot positioning method, device and system, and relates to the technical field of lunar surface robot navigation control, and the method comprises the steps: collecting target positioning information of a base in a laser positioning coordinate system under the condition that a lunar surface robot is located in a target feasible region, the laser positioning coordinate system is established in a target feasible area by utilizing N laser positioning base stations, a target pose conversion matrix from the base to the executing mechanism is determined according to the rotating angle of each hinge in the mechanical arm connecting mechanism and the target pose conversion matrix, the target pose conversion matrix is utilized to carry out pose calculation on the target positioning information, and the target positioning information is obtained. And obtaining output positioning information of the execution mechanism in the laser positioning coordinate system. Thus, the position of the execution mechanism can be calculated by determining the pose conversion matrix and collecting the position of the base, the operation step of determining the position of the execution mechanism is simplified, and the problem that the positioning precision is low when the lunar surface robot carries out an operation test in the lunar surface environment is solved to a certain extent.
本公开是关于一种月面机器人定位方法、装置及系统,涉及月面机器人导航控制技术领域,该方法包括:在月面机器人位于目标可行区域的情况下,采集基座在激光定位坐标系中的目标定位信息,激光定位坐标系是利用N个激光定位基站在目标可行区域中建立的,根据机械臂连接机构中各个铰链的转动角度以及标定位姿转换矩阵,确定基座到执行机构的目标位姿转换矩阵,利用目标位姿转换矩阵对目标定位信息进行位姿解算,获得执行机构在激光定位坐标系中的输出定位信息。这样,通过确定位姿转换矩阵,采集基座所在位置就可解算出执行机构所在位置,简化了确定执行机构位置的操作步骤,一定程度上解决月面机器人在月面环境中进行操作试验时定位精度低的问题。
Lunar surface robot positioning method
一种月面机器人定位方法
2023-01-13
Patent
Electronic Resource
Chinese
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