航天医学与医学工程

目的 为了提高航天员与自主星球车在行星表面协同作业过程中的安全性，避免因缺乏位置信息而引发的碰撞风险，需要实时测量人与车之间的相对位置以辅助星球车自主行驶。方法 针对行星表面环境和典型星球车结构特点，搭建了以车体底部激光雷达和惯性测量单元为主的航天员-自主星球车相对位置测量系统。将激光测距与车身姿态、行驶滑转分析相结合，以提高星球车在复杂行星表面行驶时的相对位置测量精度。结果 通过在模拟行星试验场内开展人-车协同作业模拟试验，对星球车样机在静态和动态场景下相对位置测量方法的精度和实时性进行测试。试验结果表明，本研究提出的相对位置测量系统简单可靠，能在常见场景中均保持较高的测距精度，且角度测量误差较小，有效降低了航天员与星球车协同作业过程中的移动碰撞风险。结论 基于车体底部激光雷达的相对位置测量方法能够有效获取航天员与自主星球车的相对位置信息，为协同作业中星球车自主移动和防碰撞决策系统的开发提供数据支撑。

Objective To enhance the safety of collaborative operations between astronauts and autonomous planetary rovers on planetary surfaces, and to mitigate collision risks arising from insufficient positional awareness, realtime measurement of the relative position between personnel and vehicles is essential for enabling autonomous rover navigation. Methods In response to the unique characteristics of planetary surfaces and typical rover structures, a relative position measurement system for astronauts and autonomous planetary rovers was developed, primarily based on a downward-facing LiDAR and an inertial measurement unit(IMU). The system integrates laser ranging with vehicle posture estimation and slip-traction analysis to improve the accuracy of relative position sensing under complex terrain conditions. Results Simulated astronaut-rover collaborative operations were conducted in a simulated planetary test field to evaluate the precision and real-time performance of the proposed method under both static and dynamic scenarios. Results indicate that the system is simple, reliable, and maintains high ranging accuracy across common operational scenarios, with minimal angular measurement error, thereby significantly reducing the risk of mobile collisions between astronauts and autonomous planetary rovers during collaborative operations. Conclusion The LiDAR-based relative position measurement method can effectively capture the spatial relationship between astronauts and autonomous planetary rovers, providing critical data support for the development of autonomous movement and collision-avoidance decision-making systems in collaborative planetary missions.