Landing detecting sensor and landing area obstacle detecting method for planetoid detection

Abstract

The invention discloses a landing detecting sensor and a landing area obstacle detecting method for planetoid detection. The landing detecting sensor comprises an optical system and an electronic system. The optical system emits four measuring light beams to the surface of a planetoid so as to form four measuring points in the surface of the planetoid, wherein the four measuring light beams are located in different directions and every three measuring points are not in the same straight line. The optical system measures the distance information of each measuring light beam. According to the distance information d of the th measuring light beam, an azimuth angle [theta], and a pitch angle [phi], the electronic system acquires a position vector n = d[cos[phi]cos[theta] cos[phi]sin[theta] sin[theta], acquires a plane normal vector intersection angle of every two planes according to the position vector, compares the plane normal vector intersection angles with a predetermined value, and determines that the four measuring points are in the same plane if all plane normal vector intersection angles are less than the predetermined value or otherwise, determines that the four measuring points are not in the same plane. A problem of fast determining the relative distance between the landing detecting sensor and the planetoid and a problem of landing area obstacle detection are solved.

Description

technical field [0001] The invention relates to an asteroid attachment detection technology, in particular to an asteroid attachment detection sensor and a method for determining the flatness of an attachment surface. Background technique [0002] According to the technical requirements for the attachment of the detection sensor to the asteroid, the relative attitude between the detector and the asteroid needs to meet certain requirements, so that the detector will finally contact the surface of the asteroid with the attachment mechanism to avoid damage to the solar battery sails and other mechanisms, thereby ensuring The safe landing of the probe. [0003] The laser altimeter and lidar usually equipped with planetary landing probes do not have the function of attitude determination, but usually used in conjunction with optical navigation cameras, the resources on the planet are limited, the processing speed is slow, and the asteroid is far away from the ground, and it is se...

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Problems solved by technology

[0005] The problem solved by the invention is that the existing detection sensor cannot quickly determine the r

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