Rugged topography lunar surface soft landing track determination method
A determination method and terrain technology, which are applied in the field of lunar soft landing trajectory determination and lunar soft landing trajectory determination in rough terrain, can solve the problems of crisis landing safety, unstable guidance and control state, etc., and achieve the effect of improving safety.
Active Publication Date: 2019-02-01
BEIJING INST OF CONTROL ENG
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If the lunar surface is rough, after the above-mentioned landing trajectory is introduced into the navigation correction, the navigation altitude will change drastically, and the navigation-based guidance and control state will be unstable, which will endanger the landing safety.
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[0034] Such as figure 1 As shown in the present invention, a method for determining a soft landing trajectory on a rough terrain lunar surface comprises the following steps:
[0035] (1) Determine the soft landing braking section on the lunar surface, and eliminate the horizontal velocity. At the end of this stage, the lander has a certain height and vertical velocity, the horizontal velocity is zero, and the attitude of the lander is vertically downward; The navigation calculation of the lander in the braking section adopts the IMU pure navigation extrapolation method, which avoids the influence of the ranging correction method on the navigation guidance control for the lunar surface with drastic changes in terrain, and improves the safety of landing;
[0036] During the soft landing process on the lunar surface, the initial mass m0, the general fuel consumption mass dm=m0 / 2, the ratio of fuel consumption in the braking section, the approaching section and the descending sect...
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The invention relates to a lunar surface soft landing track determination method, and belongs to the technical field of lander landing track design. When a braking section is completed, the height ish1, the vertical speed is v1, the horizontal speed is 0m / s, the attitude of a lander is vertical downward; in an approaching section, the distance-measuring and speed-measuring sensor data are introduced for navigation correction, imaging is performed on a lunar surface at height h2, a quartic polynomial guidance law is adopted to enable the lander to perform coarse obstacle avoiding to the upperpart of a safe landing point; and in a descending section, the lander hovers at the height h3 to perform imaging on the lunar surface, a phase plane guidance law is used for enabling the lander to perform refine obstacle avoiding to the height h4 on the upper part of the safe landing point, and the lander shuts down an engine at a speed v2 to a height h5.
Description
technical field [0001] The invention relates to a method for determining a soft landing trajectory on the lunar surface, in particular to a method for determining a soft landing trajectory on the lunar surface with rough terrain, and belongs to the technical field of lander landing trajectory design. Background technique [0002] The soft landing trajectory of the lander on the lunar surface is mainly divided into three stages: the braking stage, the main purpose is to reduce the large initial horizontal velocity; the approaching stage, the main purpose is to approach the lunar surface and roughly avoid obstacles; the descending stage, the main purpose is to precisely Avoid obstacles and make a soft landing on the moon. [0003] The Apollo probe of the United States and the CE-3 lander of China introduce ranging correction during the braking phase, and the approach phase is an inclined descent trajectory and avoids obstacles. If the lunar surface is rough, after the above-m...
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IPC IPC(8): B64G1/62
CPCB64G1/62
Inventor 张洪华关轶峰李骥程铭王志文王华强于洁杨巍张晓文
Owner BEIJING INST OF CONTROL ENG