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High-precision safe landing guiding method based on relative navigation

A technology of relative navigation and safe landing, which is applied in the field of high-precision safe landing guidance based on relative navigation, can solve problems such as inability to realize fully automatic obstacle avoidance and safe landing, and inability to adjust parameters, and achieve wide application value and market prospects Effect

Active Publication Date: 2014-03-26
BEIJING INST OF CONTROL ENG
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  • Abstract
  • Description
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Problems solved by technology

[0005] The guidance laws used in foreign landing missions are all generated by the ground in advance, and cannot be adjusted in real time and autonomously. Therefore, it is impossible to realize fully automatic obstacle avoidance and safe landing according to the actual surface conditions of celestial bodies.

Method used

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  • High-precision safe landing guiding method based on relative navigation
  • High-precision safe landing guiding method based on relative navigation
  • High-precision safe landing guiding method based on relative navigation

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Embodiment Construction

[0030] Considering that the relative information such as altitude, speed, and attitude provided by the navigation based on IMU with distance measurement and speed correction has high accuracy, the present invention proposes to use these relative navigation information to determine the relative landing point, and constructs a high-precision safe landing based on relative navigation Guidance method: (1) Before starting the guidance algorithm, determine the relative position of the landing point; (2) Plan the guidance target parameters according to the relative landing point position and relative navigation information; (3) According to the line of sight of the selected safe landing point relative to the lander The information determines the relative position of the safe landing point; (4) According to the relative information of the landing point given by the obstacle identification and the constraints of the terminal of the landing point, plan the guidance target parameters. In ...

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Abstract

The invention relates to a high-precision safe landing guiding method based on relative navigation. The method includes the following steps that a landing point is chosen on a star or the ground in advance before launching and guiding parameters are set; in the practical flight process, a quartic polynomial guiding manner is used for controlling a lander to slow down and descend at first according to a target point planned on the star or regulated on the ground and the guiding parameters; after the pre-chosen height of the ground is reached, an optical imaging sensor is started, a landing point is selected again according to the practical terrain and the position of the landing point is determined; afterwards, according to the new position of the landing point, the lander automatically performs planning of guiding target parameters; according to the new guiding parameters, the quartic polynomial guiding rule is used for controlling the lander to reach the space above the target landing point.

Description

technical field [0001] The invention relates to a high-precision safe landing guidance method based on relative navigation, which belongs to the technical field of navigation, guidance and control of deep space probes, is very suitable for the needs of high-precision safe landing guidance of deep space celestial probes, and can be applied to landing Or the navigation, guidance and control of deep-space celestial probes can also be applied to the navigation and guidance of missions returning to the earth, which has extensive application value and market prospects. Background technique [0002] Exploration of deep-space objects requires landers capable of reaching areas with obstructive features such as rocks, craters, and steep slopes, or landing precisely at sites of high scientific interest. In order to ensure the high safety of the probe landing, high-precision navigation and guidance are required to ensure that the probe accurately reaches the selected landing point. [...

Claims

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Application Information

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IPC IPC(8): B64G1/24B64G1/28B64G1/36
Inventor 黄翔宇张洪华关轶峰李骥梁俊程铭赵宇于萍何健王大轶张晓文
Owner BEIJING INST OF CONTROL ENG
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