Accuracy Mast Pointing Control Method for Multi-Spectral Camera of Mars Rover

Abstract

To achieve the goal of accuraetly pointing to particular targets for the narrow-FOV multi-spectral camera on the mast, an accuracy mast pointing method was proposed. The mast kinetic model, the iterative solution method of mast control parameters, and the working flow of rover target detection were designed. An error analysis of the method was conducted. Through the practice of China’s first Mars exploration mission, the method is proved to satisfy the demand for accuracy pointing of the multi-spectral camera.

Keywords

Zhurong Mars rover / mast control / accuracy pointing / homogeneous transformation / multi-spectral camera detection