Control method of soft landing autonomic obstacle avoidance fixed-thruster
A soft landing autonomous and control method technology, applied in the field of deep space exploration, can solve problems such as difficulty in realizing variable thruster engineering and affecting the execution efficiency of control methods.
Inactive Publication Date: 2013-03-20
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] The purpose of the present invention is to provide a soft landing autonomous obstacle avoidance conventional thruster control method for the existing soft landing obstacle avoidance control method. , easy engineering implementation, high control precision
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[0048] In order to better illustrate the purpose and advantages of the present invention, the content of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0049] The present invention proposes a soft landing obstacle avoidance constant thruster control method, using terrain information to select the target landing point; using the current position and speed information of the detector and the planned obstacle avoidance track to form an error dynamics model; by analyzing the error dynamics The stability of the model forms the control command of the constant thruster and completes the autonomous soft landing obstacle avoidance process. The specific process is as figure 1 shown, including the following steps:
[0050] 1) Through the optical camera and the built-in obstacle detection device during the descent of the detector, the position xi, yi of the obstacle and the size zi of the obstacle can be measured. ...
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The invention relates to a control method of a soft landing autonomic obstacle avoidance fixed-thruster, and belongs to the technical field of deep space detection. The control method comprises the steps as follows: firstly, a target landing point is selected by using earth surface obstacle information formed by an optical camera and an obstacle detection device of the optical camera during the detector lowering process, then the position information and the attitude information of the detector are acquired by using the optical camera and navigation equipment such as an altitude meter and a speedometer, and a kinetic equation containing the thruster is established; a reference kinetic equation is established according to the pre-determined obstacle avoidance track; and finally, through the steady state error kinetic equation, the fixed-thruster is controlled to be opened or closed in real time, the reference ground track tracking is finished, and the detector is safely and stably lowered to the target landing area. The control method has the characteristics of simple algorithm, small calculated amount, high control accuracy, and low fuel consumption.
Description
technical field [0001] The invention relates to a control method of a conventional thruster for autonomous obstacle avoidance in soft landing, and belongs to the technical field of deep space detection. Background technique [0002] With the increasing number of interplanetary exploration missions, probes flying over, orbiting and softly landing on target celestial bodies have become important tasks and topics for future deep space scientific exploration. In order to be able to study and sample areas of greater scientific interest, it is hoped that the probe will be able to land safely in hazardous areas with diverse topography (rocks, craters and steep slopes). Due to the long distance between the target celestial body and the earth in the deep space exploration mission, there is a long communication delay, and the obstacle avoidance process has high requirements on the real-time maneuverability of the detector. Therefore, the detector needs to have the ability to avoid obs...
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Inventor 朱圣英崔平远高艾徐瑞胡海静
Owner BEIJING INSTITUTE OF TECHNOLOGYGY