SCIENTIA SINICA Technologica, Volume 49 , Issue 12 : 1408-1417(2019) https://doi.org/10.1360/SST-2019-0078

Onboard-ground safe operation design of Chang’E-4 rover

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  • ReceivedFeb 28, 2019
  • AcceptedApr 29, 2019
  • PublishedOct 8, 2019


The Chinese Chang’E-4 lunar probe achieved the first landing and detection mission on the lunar far side in human history. The working of the rover faced great challenges owing to mission restrictions such as relay communication by satellite and the complicated lunar far-side terrain. In order to improve the safety and reliability of the rover, the mission characteristics were analyzed, including the control feedback delay, rugged terrain of the lunar far side, occlusion by mountains, and uncertainty of the lunar environment. The safe operation architecture was given based on two aspects: self-control onboard and intelligent control on the ground. Onboard-ground designs were prepared to solve key problems, such as the safe control of mechanisms, reliable separation of the rover and lander, safe movement on the lunar surface, autonomous thermal control, sleeping and rebooting, and safe and efficient work. These measures ensured that the Chang’E-4 rover could successfully move and detect on the lunar far side.

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