Adaptive curvature matching guidance method for the attachment trajectory of small celestial bodies
A small celestial body, adaptive technology, applied in the field of deep space exploration, to achieve the effect of avoiding terrain obstacles, strong autonomy, and fast calculation speed
Active Publication Date: 2021-09-03
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0003] The technical problem to be solved by the small celestial body attachment trajectory adaptive curvature matching guidance method disclosed in the present invention is: to realize the small celestial body attachment obstacle avoidance guidance based on the small celestial body attachment trajectory adaptive curvature matching guidance, which has the following advantages: Adaptive adjustment function, by adjusting the curvature of the trajectory in real time, changing the shape of the trajectory, effectively avoiding unexpected terrain obstacles, and improving the safety of attachment; (2) The guidance law adopted is an analytical form, with fast calculation speed and strong autonomy; (3) The guidance law is based on the deformation of the energy-optimized guidance law, which has strong fuel economy
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Embodiment 1
[0059] In order to verify the feasibility of the method, taking the attachment task of a small celestial body as an example, the simulation calculation of the obstacle avoidance trajectory is carried out. Firstly, the terrain simulation map near the landing point of the small celestial body is established under the surface fixed system with the predetermined landing point as the origin, as shown in figure 2 As shown in , the undulations of the surface terrain constitute obstacles that the lander must avoid when attaching. The upper limit of the three-axis thrust acceleration component of the lander under the surface fixed system is 0.02m / s 2 , the initial position is [800 50 500]m, and the initial velocity is [-4 -1 0]m / s. The time weight coefficient Γ of the guidance law is set to 1×10 -4 , elevation safety factor k h Set to 0.5. The target is to realize the "double zero" attachment of the attacher, and the relative height of the whole process is greater than zero. Appl...
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The invention discloses a small celestial body attachment track adaptive curvature matching guidance method, which belongs to the technical field of deep space exploration. The realization method of the present invention is as follows: the spaceborne computer calculates the horizontal distance between the attachment device and the predetermined landing point according to the measured current position information of the lander, and calculates the safe height under the current horizontal distance; combines the safe height with the measured actual height information By comparison, judge whether the forward trajectory conflicts with terrain obstacles; when the relative height is in a safe range, by analyzing the relationship between the trajectory shape and the state quantity of the lander, the three-axis thrust coefficient is introduced to derive the analytical optimal guidance law with parameters, and establish Conditions for mutual conversion between analytical energy optimal guidance law and analytical optimal guidance law with parameters; according to this condition, adjust the thrust parameters to increase the curvature of the trajectory to avoid terrain obstacles; restore the thrust parameters when the relative height returns to the expected range; loop It is judged that the value of the estimated remaining time tends to zero, and the successful landing of the land vehicle is realized.
Description
technical field [0001] The invention relates to a small celestial body attachment guidance method, in particular to a terrain obstacle avoidance guidance method in the final landing stage of a lander, and belongs to the technical field of deep space exploration. Background technique [0002] Small celestial body attachment detection is a hot field in the current deep space exploration technology research, and it is a necessary means to implement asteroid and comet sampling and return missions, and to obtain high-resolution surface images and high-precision topographic and geomorphic data. The key to the safe landing of the attacher on the surface of a small celestial body lies in the accurate "double zero control", that is, the position error between the actual attachment point and the predetermined attachment point is close to zero, and at the same time, the relative velocity of the end of the attacher is close to zero. In the small celestial body attachment tasks that have...
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IPC IPC(8): B64G1/24B64G1/36G06F30/20
CPCB64G1/242B64G1/36
Inventor 崔平远赵冬越朱圣英徐瑞梁子璇
Owner BEIJING INSTITUTE OF TECHNOLOGYGY