Control and on-Board Calibration Method for in-Situ Detection Using the Visible and Near-Infrared Imaging Spectrometer on the Yutu-2 Rover

The visible and near-infrared imaging spectrometer (VNIS) carried by the Yutu-2 rover is mainly used for mineral composition studies of the lunar surface. It is installed in front of the rover with a fixed pitch angle and small field of view (FOV). Therefore, in the process of target detection, it is necessary to precisely control the rover to reach the designated position and point to the target. Hence, this report proposes a vision-guided control method for in-situ detection using the VNIS. During the first 17 lunar days after landing, Yutu-2 conducted five in-situ scientific explorations, demonstrating the effectiveness and feasibility of this method. In addition, a theoretical error analysis was performed on the prediction method of the FOV. On-board calibration was completed based on the analysis results of the multi-waypoint VNIS images, further refining the relevant parameters of the VNIS and effectively improving implementation efficiency for in-situ detection.