Real-time trajectory planning method for rocket dynamic descent with guaranteed convergence

Abstract

The invention discloses a real-time trajectory planning method for a rocket power descent section with guaranteed convergence, and belongs to the field of rocket recovery guidance. The realization method of the present invention is: consider nonlinear aerodynamic resistance and the constraints of the size and direction of the thrust, establish a landing optimal control problem model of the rocket power descent section with the size and direction of the thrust as the control amount; through problem dimensionality reduction, Decomposing the problem and planning some state variables in advance simplifies the problem, combined with a suitable convexization method, and then transforms the original problem into an unconstrained convex optimization problem and a second-order cone programming problem; finally, by solving the convex optimization problem and the second-order cone programming problem The planning problem derives the flight trajectory and the strategy of changing the thrust magnitude and direction. The present invention makes full use of the reliable and efficient convex optimization algorithm, and the calculation time is about 15-30 milliseconds on an ordinary desktop computer with a main frequency of 3.6 GHz, and the obtained solution is close to the optimal fuel, and the method must converge, and the rocket power descent stage can be realized Reliable real-time planning of landing trajectories.

Description

technical field [0001] The invention belongs to the field of rocket recovery guidance, and relates to a trajectory planning method for a rocket recovery power descent section, in particular to a trajectory planning method based on convex optimization that ensures convergence and is real-time. Background technique [0002] As early as the 1960s, humans landed on the moon. To achieve this feat, the soft landing technology of the manned lander on the moon is crucial. In the decades since, technological breakthroughs have been made to allow landers to land on planets with thin atmospheres. But landing a rocket on Earth remains challenging. In recent years, reusable rocket technology has attracted a lot of attention worldwide. This technology can greatly reduce the cost of rocket launches and greatly shorten the launch cycle. In order to realize the precise landing of the rocket, the precise guidance of the powered descent stage plays an extremely important role. [0003] La...

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Problems solved by technology

[0004] In view of the lack of reliability and efficiency of the existing rocket power descent trajectory planning method, the technical problem to be solved by the real-time trajectory planning method for the rocket power descent section with guaranteed convergence disclosed in the present invention is: through problem dimension reduction, problem decomposition and advance planning Some state variables simplify the problem, combined with a suitable convexization method, and then only need to solve one unconstrained convex optimization problem and at most two second-order cone programming problems, that is, make full use of reliable and efficient convex optimization algorithms to solve the originally difficult Optimal control problem to improve the efficiency and robustness of real-time trajectory planning during rocket powered descent

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