Positioning Accuracy of the Zhurong Mars Rover's Hand–Eye System

Zhang, Shuo; Peng, Song; Wu, Yunjia; Wen, Bo; Zhang, Jianli; Yang, Jia; Liu, Shaochuang; Chen, Qi; Ma, Youqing; Yan, Yongzhe; Li, Hao

doi:10.1111/phor.12401

Cited by 2 publications

(2 citation statements)

References 37 publications

(49 reference statements)

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“…Based on the automatic matching of pixels, the third step is followed subsequently. According to the stereo vision 3D reconstruction method (Zhang et al, 2017;Zhang et al, 2020;Zhang et al, 2022), the 3D coordinates (X, Y, and Z) in the CamB coordinate system of each pixel with the corresponding root mean square error are calculated. To ensure the accuracy of the calculation, the pixel coordinates whose root mean square errors are larger than 1.0 mm were deleted and replaced based on the interpolation method.…”

Section: Methodsmentioning

confidence: 99%

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

Sun,

Li,

et al. 2024

Front. Astron. Space Sci.

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The rock characteristic and size–frequency distribution (SFD) on Mars are important for understanding the geologic and geomorphic history of the surface, for evaluating the trafficability of roving, and for planning the potential infrastructure construction. Tianwen-1, China’s first autonomous Mars exploration mission, formed an excavated depression during touchdown, which has been the deepest depression on the Martian surface so far compared with others. According to the images captured using the Navigation and Terrain Cameras (NaTeCams) onboard the rover, Zhurong, the SFD of rocks is calculated and compared inside the excavated depression, within and out of the blast zone. For the first time, the rock size distribution inside the excavated depression is obtained, exposing the geological features of the shallow subsurface on Mars at a depth of tens of centimeters, which will surely be important for future drilling missions. It is found that the rock abundance in the depression is smaller than the original abundance on the surface, and the distribution of rocks in the blast zone on the surface is greatly influenced by the touchdown. In addition, based on the fractal dimension of rock sizes, the rocks (>10 mm) at the shallow subsurface of the Zhurong landing site may experience two different geological processes.

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Section: Methodsmentioning

confidence: 99%

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

Sun,

Li,

et al. 2024

Front. Astron. Space Sci.

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“…W ith the rapid development of aerospace engineering, monitoring the dynamic parameters of aerospace models with high accuracy in ground verification testing has become a frontier research topic (Rems et al., 2021; Zhang et al., 2022). Traditional contact sensors, such as displacement meters, accelerometers and strain gauges, are an effective means of measurement.…”

Section: Introductionmentioning

confidence: 99%

Dynamic measurement of a long‐distance moving object using multi‐binocular high‐speed videogrammetry with adaptive‐weighting bundle adjustment

Tong,

Gao,

et al. 2024

The Photogrammetric Record

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The dynamic measurement of position and attitude information of a long‐distance moving object is a common demand in ground testing of aerospace engineering. Due to the movement from far to near and the limitations of camera resolution, it is necessary to use multi‐binocular cameras for segmented observation at different distances. However, achieving accurate and continuous position and attitude estimation is a challenging task. Therefore, this paper proposes a dynamic monitoring technique for long‐distance movement based on a multi‐binocular videogrammetric system. Aiming to solve the problem that the scale in images changes constantly during the moving process, a scale‐adaptive tracking method of circular targets is presented. Bundle adjustment (BA) with joint segments using an adaptive‐weighting least‐squares strategy is developed to enhance the measurement accuracy. The feasibility and reliability of the proposed technique are validated by a ground testing of relative measurement for spacecraft rendezvous and docking. The experimental results indicate that the proposed technique can obtain the actual motion state of the moving object, with a positioning accuracy of 3.2 mm (root mean square error), which can provide a reliable third‐party verification for on‐orbit measurement systems in ground testing. Compared with the results of BA with individual segments and vision measurement software PhotoModeler, the accuracy is improved by 45% and 30%, respectively.

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Positioning Accuracy of the Zhurong Mars Rover's Hand–Eye System

Cited by 2 publications

References 37 publications

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

The characteristic and size–frequency distribution of rocks at the Zhurong landing site, Mars

Dynamic measurement of a long‐distance moving object using multi‐binocular high‐speed videogrammetry with adaptive‐weighting bundle adjustment

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