Stochastic Optimization of Planetary Landing Trajectories Based on Observability Constraints

A stochastic optimization, planetary technology, applied in the direction of instrumentation, adaptive control, control/regulation system, etc., can solve problems such as poor estimation performance

Inactive Publication Date: 2016-06-01
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem of poor estimation performance caused by limited observation ability in the process of planetary landing visual navigation, and propose a random optimization method for planetary landing trajectory based on observability constraints

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  • Stochastic Optimization of Planetary Landing Trajectories Based on Observability Constraints
  • Stochastic Optimization of Planetary Landing Trajectories Based on Observability Constraints
  • Stochastic Optimization of Planetary Landing Trajectories Based on Observability Constraints

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Embodiment Construction

[0024] In order to further illustrate the purpose and advantages of the present invention, the content of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] ①Establish the dynamic equation of the probe in the fixed coordinate system of the landing site

[0026] r · = v ·

[0027] v · = u + g - a e - a k + a Δ

[0028] Among them, r, v are the position vector and velocity vector of the probe relative to the scheduled landing site, u is the control input of the probe, g is the planetary acceleration of gravity, a e ,a k Are the centrifugal inertial acceleration and Coriolis acceleration caused by the planet’s spin, a △ Is unmodeled acceleration.

[0029] The fixed coordinate system of the landing point is defined as ∑ l :o l -x l y l z l , The origin of the coordinate system o l Located at the scheduled landing point, o l z l The axis and planetary center ...

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Abstract

The invention relates to an observability constraint-based random planet landing track optimizing method, and belongs to the technical field of the deep space probe navigation and guidance. According to the method, a deep space landing guidance control task based on the monocular vision navigation is used as the background, the dual problem between the effective control and the reliable estimation is considered, the system uncertainty is used as partial cost and is introduced into a quadratic performance index through an expansion-state space, so that a random optimization feedback control law can be provided by adopting a linear quadratic type control technique, an expansion-state space description model of a established probe system is substituted, the real-time optimization of a planet landing track is realized. The dynamic planning and the burden in calculation based on a searching method are avoided, the problem of observability shortage in the landing process is effectively overcome, and the navigation estimation performance of the system is improved, so that the overall performance during the planet probe navigation and guidance control is ensured, and the final target that a planet is reliably landed is achieved.

Description

Technical field [0001] The invention relates to a random optimization method for planetary landing trajectories based on observability constraints, and belongs to the technical field of deep space probe navigation and guidance. Background technique [0002] In the process of planetary landing, because the lander is affected by various uncertain factors, the design of its guidance and control law must be based on the optimal estimation of the system state, which makes accurate navigation and positioning particularly critical; in addition, the landing time is relatively long. Short, long communication delay time in deep space environment, navigation and guidance control mode based on ground station is no longer applicable, so the development of autonomous real-time and accurate navigation guidance control strategy for deep space landing has become a hot spot for domestic and foreign scholars. [0003] In the prior art [1] (see RRSostaric, JRRea.Powereddescentguidancemethodsforthemoon...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05B13/04G05D1/10
Inventor 崔平远高艾徐瑞朱圣英于正湜
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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