摘要：Critical elements in deep space exploration residein that the rover travels over the surrounding undeterminedplanet surface environment and conducts scientific explorationunder the control of ground center via teleoperation system.Such a teleoperation system plays a vital role in the whole deepspace mission. The teleoperation system mainly includes fourimportant capabilities: reconstruction of lunar terrain,vision-based localization, path planning for safe movement andplanning verification of motion instruction. And it is composedof four functional modules, which are Two-Dimensional (2D)data display, Three-Dimensional (3D) data display,manipulation of geometric elements and communicationbetween different configuration items by broadcastingExtensible Markup Language (XML) message. Based on thedevelopment and engineering application experience ofteleoperation system for multiple deep space missions, thispaper focuses on the requirement analysis, system design,system implementation and engineering verification tointroduce the teleoperation system that has been applied inChang'E-3 (CE-3) and Chang'E-4 (CE-4) lunar explorationmissions successfully. In the final part of this paper, two keyfactors of open source and cross platform have been putforward for the development of teleoperation system. Thisresearch will have a significant impact on the application ofteleoperation system in subsequent moon exploration missionsand the future Mars exploration program.
关键词：Deep space mission; Chang'E-4; Teleoperation system; XML
