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Precise obstacle avoidance heterogeneous backup method for lunar soft landing

A fine obstacle avoidance and precise technology, applied in the direction of attitude control, etc., can solve problems that affect landing safety, the lander cannot obtain obstacle terrain feature information, fine obstacle avoidance failure, etc., to increase self-starting and control, and increase self-diagnosis logic , Improve the effect of safety and reliability

Active Publication Date: 2020-01-03
BEIJING INST OF CONTROL ENG
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Problems solved by technology

When the laser three-dimensional imaging sensor fails, if there is no backup strategy, the lander will fail to obtain obstacle terrain feature information, resulting in failure of fine obstacle avoidance, affecting landing safety

Method used

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  • Precise obstacle avoidance heterogeneous backup method for lunar soft landing
  • Precise obstacle avoidance heterogeneous backup method for lunar soft landing

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[0041] (1) According to figure 1 The trajectory of the probe’s powered descent, after the main deceleration, is close to the descent section and the hovering section. The probe descends in a straight line with a vertical attitude, that is, the speed direction is consistent with the -X direction of the probe mechanical system. The optical imaging sensor and the laser three-dimensional The vectors of the field of view of the imaging sensor under the mechanical system of the detector are: u OI =[-1 0 0] T , u TDI =[-1 0 0] T ;

[0042] (2) According to figure 2 In the timing diagram, in the fine obstacle avoidance stage, it is judged that the laser three-dimensional imaging condition is met as the timing zero point, and the computer module of the central control unit sends the laser three-dimensional imaging sensor imaging command to the image processing board at 0 ms;

[0043] (3) The computer module of the central control unit sends laser three-dimensional imaging sensor ...

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Abstract

A precise obstacle avoidance heterogeneous backup method for lunar soft landing is provided. The method comprises: (1) time-division multiplexing-based system hardware configuration design: performingcurve character extraction on a soft landing flight trajectory of a detector to obtain a characteristic curve of the detector descending in a vertical attitude after passing a main deceleration section and to further obtain that a field direction of a imaging sensor is consistent with a nominal descending speed direction of the detector, and performing sequential character extraction on a flightmission functional profile during the soft landing of the detector to obtain a rough obstacle avoidance section and a precise obstacle avoidance section sequentially arranged according to a time course in a descending process; and (2) a parallel distributed information processing-based precise obstacle avoidance autonomous reconstruction sequence design method: based on the hardware capable of parallel computing, in the process of obstacle avoidance, using a GNCC to control an obstacle avoidance sequence and actively obtain processing status information of an image processing board, using theimage processing board to identify and calculate terrain obstacles and send safety point information to the GNCC, wherein the GNCC and the image processing board works in a distributed parallel computing mode to implement a precise obstacle avoidance heterogeneous backup function.

Description

technical field [0001] The present invention relates to a heterogeneous backup method for accurate obstacle avoidance in lunar soft landing, especially a system optimization configuration strategy for combining optical system and laser system imaging sensors into heterogeneous backup, and precise obstacle avoidance sequence based on parallel distributed information processing design method. Background technique [0002] During the soft landing on the moon, my country's Chang'e-4 lander flew through the main deceleration section, the approaching descent section, and entered the hovering section at an altitude of 100m. Under normal circumstances, the lander obtains the terrain feature information of the landing area in the field of view through the laser three-dimensional imaging sensor, and calculates a safe landing point to complete accurate obstacle avoidance. When the laser three-dimensional imaging sensor fails, if there is no backup strategy, the lander will fail to obt...

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Application Information

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IPC IPC(8): G05D1/08
Inventor 杨巍程铭于萍于洁王志文王华强王泽国陈尧李骥关轶峰张晓文张洪华赵宇
Owner BEIJING INST OF CONTROL ENG
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