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A multi-constraint and planetary technology, applied in the field of deep space exploration, to reduce the complexity of the solution, ensure real-time performance and convergence, and improve the ability to avoid obstacles
Pending Publication Date: 2021-10-08
BEIJING INSTITUTE OF TECHNOLOGYGY
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[0005] The technical problem to be solved by the multi-constraint planetary landing trajectory vector planning method disclosed in the present invention is: in the landing trajectory planning process, the form of multiple constraints is unified, thereby reducing the complexity of the trajectory planning problem and improving the landing trajectory planning. The real-time and convergence performance of the system can improve the landing safety of planetary landing missions in complex topography environments
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Embodiment 1
[0103] Example 1: Minimum time-of-flight atmospheric entry trajectory planning problem
[0104] Such as figure 1 As shown, the multi-constraint planetary landing trajectory vector planning method disclosed in this embodiment, the specific implementation steps are as follows:
[0105] Step 1. Determine the dynamic equation, performance index and constraint conditions of the minimum flight time atmospheric entry trajectory planning problem.
[0106] In the trajectory planning problem of planetary atmosphere entry, the aircraft is in the high-speed gliding stage, and the flight altitude is approximately constant. Therefore, only the trajectory planning problem in the horizontal plane is considered. The dynamic equation of planetary atmosphere entry trajectory planning problem is
[0107]
[0108] in, is the state vector, r=[x,y] T is the position vector of the entering aircraft, v is the speed of the aircraft, and θ is the heading angle; is the roll angle of the aircra...
Embodiment 2
[0137] Example 2: Optimal fuel consumption power descent obstacle avoidance trajectory planning problem
[0138] Such as figure 1 As shown, the multi-constraint planetary landing trajectory vector planning method disclosed in this embodiment, the specific implementation steps are as follows:
[0139] Step 1. Determine the dynamic equations, performance indicators and constraints of the trajectory planning problem of optimal fuel consumption power descent obstacle avoidance.
[0140] The dynamic equation of the trajectory planning problem for optimal fuel consumption power descent obstacle avoidance is
[0141]
[0142] Among them, r, v, m are the position vector, velocity vector and mass of the aircraft respectively; g P is the gravitational acceleration vector of the target planet; a C is the control acceleration vector; I sp is the thruster specific impulse; g E is the gravitational acceleration at the sea level of the earth, T=ma C Thrust for the thruster.
[0143...
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Abstract
The invention discloses a multi-constraint planet landing trajectory vector planning method, relates to a planet landing trajectory planning method, and belongs to the technical field of deep space exploration. The implementation method comprises the steps that on the basis that a general form of a multi-constraint planet landing trajectory vector planning problem is given, multiple constraints of planet landing are divided into angle amplitude constraints, trajectory direction constraints and obstacle avoidance distance constraints, and the obstacle avoidance capacity can be effectively improved by introducing the trajectory direction constraints into the trajectory planning problem; and in order to reduce the resolving complexity of the trajectory planning problem, the three types of constraint forms are unified into angle amplitude constraints, multi-constraint form unification in the multi-constraint planetary landing trajectory vector planning problem is realized, the resolving efficiency of trajectory optimization can be effectively improved, and the real-time performance and convergence of a trajectory planning algorithm are ensured.
Description
technical field [0001] The invention relates to a planetary landing trajectory planning method, in particular to a multi-constraint planetary landing trajectory vector planning method, belonging to the technical field of deep space exploration. Background technique [0002] Planetary landing is the technical prerequisite for scientific exploration tasks such as in-situ detection and sample return on the surface of extraterrestrial celestial bodies, and it is also a key technology for Earth-returning spacecraft and reusable rockets. In planetary landing procedures, complex and unknown terrain conditions of extraterrestrial celestial bodies, as well as global geographical factors of the earth (such as no-fly zones, etc.) need to be considered. Therefore, having the ability to avoid obstacles is an important aspect to be considered in the design of trajectory planning methods. [0003] Combined with engineering practice, the planetary landing process is faced with the combined...
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