3D-Realtime-Monitor Syestem for Lunar Rover

The 3D-Real time-Monitor system is a real-time virtual reality system and it is consist of data sever and rendering client. As a real-time virtual reality system, 3D-Real time-Monitor is driven by the runtime telemeasuring data and it is integrated with kinematics and dynamics model of rover as well as real lunar surface terrain mode. The process of telemeasuring data is described in detail. Methods of modeling which are proposed in this paper include constructing lunar surface, constructing 3D model of lander and rover, building up kinematic model of rover body and building up wheel-terrain interaction mode. Photogrammetry technique and the remote sensing information are used to generate the terrain model of lunar surface. According to the implementation result, 3D-Real time-Monitor system is an effective assist system for making exploration plan and monitoring the status of rover.