Rapid generation method of autonomous obstacle avoidance trajectory attached to small celestial bodies
A small celestial body and trajectory technology, applied in the field of deep space exploration, can solve problems such as the inability to perform real-time autonomous obstacle avoidance, achieve the effect of balancing safety and lander maneuverability, and improving safety
Active Publication Date: 2021-11-23
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] Aiming at the problem that the existing analytical guidance strategies for small celestial bodies are all deterministic strategies and cannot perform real-time autonomous obstacle avoidance, the purpose of the present invention is to provide a small celestial body attachment adaptive obstacle avoidance curvature guidance method, which has the following four advantages: 1) The control acceleration calculation step is developed on the basis of the classic analytical energy optimal guidance law, which has a simple form and fast calculation speed, and can realize real-time and fast operation on the spacecraft onboard computer
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Embodiment 1
[0108] 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, a terrain simulation map near the small celestial body landing point is established under the surface solid connection system with the scheduled landing point as the origin, with a horizontal scale of 2000m×2000m and the origin as the center. Appropriately add terrain elevation fluctuations with a drop of no more than 500m, which constitute obstacles to be avoided when the lander attaches, such as figure 2 shown. 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 , and the values of other adjustable parameters are shown in Table 1. The target...
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The invention discloses a method for rapidly generating an autonomous obstacle-avoiding trajectory attached to a small celestial body, and belongs to the technical field of deep space exploration. The present invention realizes self-adaptive obstacle avoidance guidance through the combination of "real-time fitting of terrain trend" and "rapid update of obstacle avoidance trajectory". The onboard computer fits the terrain trend based on the surface elevation information sequence of the small celestial body measured by the laser range finder. Use the slope of the end point of the current terrain fitting curve to extend forward in the form of a straight line to judge the trend of the terrain ahead and evaluate the safety of the current flight path. When the preset safety requirements are met, guidance is performed according to the analytical energy optimal guidance law. When the preset safety requirements are not met, the geometric curvature of the trajectory can be adjusted by adjusting the thrust output ratio in the three directions, and the tracking of the reference obstacle avoidance trajectory can be realized. The above-mentioned terrain assessment and obstacle avoidance maneuvers are carried out cyclically, and finally achieve the goal of avoiding terrain obstacles and completing safe attachment under the condition of avoiding thrust saturation as much as possible.
Description
technical field [0001] The invention relates to a method for attaching and guiding a small celestial body, in particular to a method for quickly generating an obstacle-avoiding trajectory under complex shapes, and belongs to the technical field of deep space exploration. Background technique [0002] Safe and robust attachment is an important prerequisite for carrying out small celestial body surface inspections and sampling return missions. In the small celestial body attachment missions that have been implemented, the lander has a high degree of dependence on ground measurement and control. Because small celestial bodies are generally far away from the earth, there is a large communication delay, and the attachment process using ground measurement and control is inefficient and cannot respond to various emergencies in a timely manner. Therefore, it is necessary for the lander to improve its autonomous attachment capability, and be able to actively adjust the attachment st...
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IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0223G05D1/024G05D1/0276
Inventor 崔平远赵冬越朱圣英龙嘉腾梁子璇徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY