Planet landing trajectory planning method in uncertain environment
A trajectory planning and environmental technology, applied in the field of deep space exploration, can solve problems such as inaccurate dynamic models, uncertain planetary landing trajectory planning methods, etc., to reduce the difficulty of solving, improve online computing efficiency, and avoid non-convex constraints.
Active Publication Date: 2019-01-15
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0004] The purpose of the present invention is to provide a method for trajectory planning of planetary landing in an uncertain environment. The method aims at the two problems of uncertain terrain environment and inaccurate dynamic model in the process of planetary landing, and decomposes online trajectory planning into rough planning and There are two stages of fine planning: in the rough planning stage, the detector combines the latest environmental observation information to quickly search for the optimal path point sequence in its nearby state space; at the same time, considering the uncertainty of the dynamic model during the descent process, in the fine planning In this stage, the model predictive control method is used to generate a practical and feasible local optimal landing trajectory
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Embodiment 1
[0052] In order to verify the feasibility of the method, for the landing stage of the asteroid, a fixed coordinate system on the surface of the planet is adopted, and the rotation speed of the celestial body ω=4.0679×10 -4 rad / s, detector initial position x 0 is [145,10,125] T m, the position of the landing point x f is [5,10,5] T m, during the landing process, the detector continuously observes the obstacles on the surface of the celestial body, and the sampling interval Δt between the observation information and the system state is 1s.
[0053] The method for planning a planetary landing trajectory in an uncertain environment disclosed in this embodiment includes the following steps:
[0054] Step 1. The space near the detector is discretized into grids, the transfer cost estimation function is designed according to the latest environmental observation information and the current state of the detector, and the A* algorithm is used to quickly search for the local optimal p...
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The invention relates to a planet landing trajectory planning method in an uncertain environment, and belongs to the technical field of deep space exploration. According to two problems of an uncertain topography environment and an inaccurate dynamical model in the planet landing process, on-line trajectory planning is divided into two stages of rough planning and refined planning; in the rough planning stage, a detector rapidly searches the sequence of an optimal path point in a nearby space of the detector by combining newest environmental observation information; and meanwhile, in consideration of the uncertainty of the dynamical model in the declining process, an actual and feasible local optimal landing trajectory is generated by adopting a model predication control method in the refined planning stage. The process is repeated continuously by the detector in the declining process, real-time planning and adjustment are carried out on the landing trajectory, until safe landing of the planet surface is realized. According to the planet landing trajectory planning method in the uncertain environment, the solution difficulty of the optimal landing trajectory is effectively reduced,the on-line computational efficiency is improved, the safety of the detector in the declining process is guaranteed, and meanwhile, the detector lands on a designated area of the planet surface withlower fuel consumption.
Description
technical field [0001] The invention relates to a method for planning a planetary landing trajectory, in particular to a method for planning a planetary landing trajectory in an uncertain environment, and belongs to the technical field of deep space exploration. Background technique [0002] The environment of deep space exploration missions is complex and the risks are extremely high. Obtaining accurate celestial body models is particularly important for the safe landing of probes on planetary surfaces. However, when exploring an unknown environment, the gravitational field model and terrain information of the target celestial body that can be obtained in advance on the ground are usually very limited. In small celestial body landing missions, due to the irregular shape, uneven mass distribution, weak gravitational field and significant environmental disturbance of the target celestial body, establishing an accurate dynamic model near it often requires long-term online clos...
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IPC IPC(8): G01C21/24
CPCG01C21/24
Inventor 崔平远葛丹桐朱圣英徐瑞高艾
Owner BEIJING INSTITUTE OF TECHNOLOGYGY