Simulation of Spacecraft Moon Landing Control in Virtual Environment Complexes

The paper considers the task for simulation of final stage spacecraft landing on the Moon in virtual environment systems. To solve this task, methods and algorithms are proposed for the lunar module motion control with the implementation of fast attitude maneuvers and minimum fuel consumption during its deceleration. The spacecraft control is based on virtual sensors feedback and makes it possible to implement stabilization, reorientation, deceleration, maneuvers, hovering and soft landing of the spacecraft on the Moon. The work involves virtual reality technologies with the implementation of human interaction with a computer-synthesized environment. In this case, to control the spacecraft in manual mode, virtual hands are used that copy the movements of the operator’s hands and act on the elements of virtual controls (joystick, buttons, etc.) inside the spacecraft model. Approbation of methods and algorithms proposed in the paper was carried out in our software package of virtual environment system on the example for landing simulation of virtual model Orel spacecraft in semi-automatic mode. In this software package the spacecraft control in manual mode is implemented by data which transit from Oculus Rift CV1 VR headset and Oculus Touch controllers designed for tracking the operator’s head and hands, as well as displaying synthesized stereopair to his eyes. The simulation of spacecraft landing on the Moon was carried out for stages that begin immediately after the basic deceleration at an altitude of about 2 km and including the free fall of the lunar vehicle, its verticalization, horizontal and vertical deceleration, hovering, and soft landing. The results of approbation showed the adequacy and quality of the solutions proposed in the paper, which can be further used to create simulators designed to train cosmonauts how to control a spacecraft during landing on the Moon.

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