Design and realization for teleoperation system of the Chang’E-3 rover

Lunar Rover operation is a complex and incessant progress which contains multi-interactions between the rover and ground teleoperation center. This challengeable remote control working model is obviously different from Chinese previous spacecrafts. The control model of the lunar rover has following features: long distance, complex tasks of multi-model and multi-constrains, un-repeatable, non-structural and un-predictable lunar environment, high frequency and long duration mission supporting operations, requirements of synchronous simulation etc. It is essential to design a novel operational model that matches the exploration mission of the lunar rover. This paper introduces the teleoperation system of the lunar rover by analyzing present situation of rover teleoperation in domestic and overseas, characteristics of rover teleoperation, system design, system implementation and on-orbit test. The teleoperation technology is composed of absolute positioning, relative positioning, image fusion, mission planning, mechanism planning, odometry and path planning.