Trajectory planning method for safe bouncing on the surface of small celestial bodies

Abstract

The invention relates to a method for planning a safe bouncing trajectory on the surface of a small celestial body, and belongs to the technical field of deep space detection. The present invention considers the position information of the current position of the detector relative to the target point, and constructs a cost value J for measuring the motion status of the detector. Based on the given search radius and the search angle satisfying the normal distribution, the sample space of the bouncing landing point of the detector is given, and the corresponding number of sample points that meet the requirements are selected from it. Based on the idea of ​​multi-step prediction, a new sample space is generated for the sample points of the outer layer and the sample points of the next layer are selected, and repeated until the sample points of the corresponding layer are generated. Integrating the cost values ​​of multi-layer sample points, the weighted cost value of the first layer of sample points is calculated and the sample point with the smallest weighted cost value is selected as the next intermediate landing point. Based on the oblique throw motion, a simplified dynamic model of the detector motion is established, and the detector trajectory is generated using the model. By repeating the above process, the safe long-distance movement of the detector on the surface of the small celestial body is realized.

Description

technical field [0001] The invention relates to a method for planning a safe bouncing movement trajectory on the surface of a small celestial body, which is particularly suitable for the long-distance movement of a deep space detector on the surface of a small celestial body with irregular weak gravity, and belongs to the technical field of deep space detection. Background technique [0002] The many characteristics of small celestial bodies themselves make them gradually become one of the hot spots and focuses in the international aerospace field. The exploration methods of small celestial bodies have also developed from initial observation to flyby detection, orbital orbit, impact detection, landing detection and sampling return. . In order to further obtain the detailed shape information and composition information of small celestial bodies, and collect more samples with different characters, it is necessary to conduct in-depth research on the detection of surface movemen...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the trajectory planning method of bouncing detectors moving on the surface of small and medium-sized celestial bodies cannot take into account the amount of calculation, accuracy and safety. During the bouncing process, by obtaining the position parameters of the detector relative to the target point, using a fast and accurate planning method, an intermediate landing point that can effectively avoid rough terrain is obtained, and the corresponding bouncing trajectory is generated, with a small amount of calculation To complete the task of the detector safely and accurately reaching the desired target point

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