Research on dormancy and wake-up control strategy of Chang’e-4 lunar rover

Chang’e-4 lunar rover is the first achievement of human exploration on the far side of the moon. New working environment brings challenges to the dormancy and wake-up of the lunar rover. The dormancy and wake-up constraints of the lunar rover are analyzed, including energy, thermal control, etc. Then combined with the complex terrain and relay communication, a dormancy and wake-up control strategy is designed for the lunar rover. The strategy includes skyline recognition, dormancy and wake-up time calculation, rover expected attitude calculation, sleeping position planning and moving, sleeping setting, wake-up setting and so on. Finally, the effectiveness of the control strategy is verified by the real on-orbit status.