Multi-strategy obstacle avoidance logic and control method for Mars landing

Abstract

A multi-strategy obstacle avoidance logic and control method for Mars landing adopts a cooperative control strategy of coarse obstacle avoidance and parachute-back cover combination avoidance for a new requirement of unified avoidance of a parachute-back cover combination and landform obstacles in the aspect of control strategy. In a hovering fine obstacle avoidance stage, on the basis of laser three-dimensional imaging, a redundancy strategy of binocular fine obstacle avoidance by using an optical obstacle avoidance sensor and a multifunctional obstacle avoidance sensor optical obstacle avoidance module is added. According to the strong time sequence requirements of mars in the entering, descending and landing processes, working time sequences of data transmission, information interaction and the like among an entering and descending control unit, a multifunctional obstacle avoidance sensor and a optical obstacle avoidance sensor are provided, and it is guaranteed that the obstacle avoidance task is completed autonomously and rapidly in a short time.

Description

technical field [0001] The invention relates to a multi-strategy obstacle avoidance logic and control method for Mars landing, in particular to a logic and timing control method for detecting and avoiding obstacles during the Mars soft landing process, belonging to the soft landing control of extraterrestrial celestial bodies technology field. Background technique [0002] The Mars entry, descent and landing (Entry, Descent and Landing, EDL) process starts from the probe's contact with the entry point of the Martian atmosphere and ends with a safe landing on the surface of Mars. It mainly includes key stages such as aerodynamic deceleration, parachute deceleration and dynamic deceleration, such as figure 1 shown. The technology involved in the present invention is mainly used in the power deceleration stage. This stage can be further divided into stages such as power avoidance, hovering imaging, obstacle avoidance maneuvering, and slow descent. The evasion of the cover as...

AI Technical Summary

Problems solved by technology

[0003] Different from the re-entry process of the earth's atmosphere and the landing process of the moon, the Mars EDL process takes a very short time (about 7 to 9 minutes), while the ground measurement and control time delay is large (more than ten minutes), which requires the detector to be fully autonomous during the landing process. ; The atmospheric environment of Mars is complex and changeable, the entry status of the entry cabin, aerodynamic parameters, etc. have great uncertainty, the entire EDL process has a complex timing sequence and a large dynamic range, which will cause a large landing point error. At the same time, the Martian surface terrain is complex and There is no high-resolution prior data of the topography of the landing zone, so the detector is required to be able to autonomously and quickly identify and avoid obstacles during the landing process, and to have the ability to land safely in complex terrain

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