A lunar landing site landing and operation design method

Abstract

A lunar landing site landing and operation design method is applicable to multiple landing probes landing in the same area, and can serve lunar exploration missions such as lunar scientific research stations, manned lunar landings, and lunar bases; it reduces the fuel consumption of landers, improves transportation efficiency, and can build an efficient and safe landing site; it can simplify the landing flight process, eliminate landing-specific speed and height measurement equipment, and eliminate microwave radars, laser radars, laser imaging sensors, and optical imaging equipment for obstacle detection in the landing area, thereby reducing the difficulty and cost of developing landing probes; and it can reduce the technical difficulty of controlling the landing process.

Description

Technical Field

[0001] The invention relates to a lunar landing site landing and operation design method, belonging to the field of lunar exploration. Background Art

[0002] As the lunar exploration mission is further developed, more landers will land on the moon. In the future, lunar exploration missions such as lunar scientific research stations, manned lunar landings, and lunar bases will be carried out. The scientific research station and the lunar base are a cluster of probes composed of multiple lunar probes; for this mission, more probes will inevitably land on the lunar surface. The lunar landing mission is still a relatively complex engineering task. In 2019, two probes were damaged due to technical failures during the landing process. In order to reduce the complexity of the landing mission, it is necessary to improve the reliability and safety of the landing mission through infrastructure guarantees, and further reduce the difficulty of probe development, reduce development costs, and reduce the difficulty of control technology. Therefore, this technical invention proposes a landing and operation organization method for a lunar landing site.

[0003] At present, no description or report of similar technology to the present invention has been found, and similar information at home and abroad has not been collected yet. Summary of the invention

[0004] The technical problem solved by the present invention is: in view of the problem that the conventional technology of the current prior art lacks the landing and operation control technology of the lunar landing site, a lunar landing site landing and operation design method is proposed.

[0005] The present invention solves the above technical problems by the following technical solutions:

[0006] A lunar landing site landing and operation design method, the steps are as follows:

[0007] Select the landing site to be constructed based on the landing mission;

[0008] Set the landing site infrastructure construction strategy;

[0009] Carry out the first landing exploration mission and complete the landing of the lander in a designated area on the lunar surface;

[0010] After the lander completes the landing, the lunar rover is released, the lander is loaded by the lunar rover, and transported to the edge of the landing site to make way for subsequent landing sites;

[0011] Radio navigation stations are deployed through the lunar rover. Each independently working radio navigation station carried by the lunar rover is deployed to a designated location. The lander is used as the navigation station to form a landing site navigation system consisting of the lander, the lunar rover, and any radio navigation station. The number of landing site navigation systems is the same as that of radio navigation stations.

[0012] According to the landing site infrastructure construction strategy, control the lunar rover to carry out construction work at the current landing site;

[0013] The lunar rover moves to the outside of the landing site and stands by, exchanging information through all the landing site navigation systems;

[0014] According to the activity altitude and heading information provided by the landing site navigation system, a second landing exploration mission is carried out at the current landing site. According to the landing data of the lander in the first landing exploration mission, the landing process of the lander in the second landing exploration mission is improved to reduce energy consumption and increase the payload capacity;

[0015] Establish grade standards for lunar landing sites, and determine the current rating of lunar landing sites based on grade scoring factors and the landing data of the lander during the second landing exploration mission.

[0016] According to the data required for the landing mission, the specific parameters of the landing site are:

[0017] The scope is 600×400×200×200 square meters, the slope is less than 15°, and the pits or raised obstacles on the landing site are less than 200mm.

[0018] Landing site infrastructure construction strategies include:

[0019] The landing site is leveled and navigation and positioning facilities are constructed.

[0020] In the first landing exploration mission, the lander carried the lunar rover and various radio navigation stations to land on the lunar surface, including:

[0021] The lander is used to transport the lunar rover and various radio navigation stations. After the lunar rover completes the landing, a landing site is constructed on the lunar surface.

[0022] The radio navigation stations are deployed at the edge of the landing site using the lunar rover, with 2 to 4 sets in number.

[0023] The specific steps of construction work are:

[0024] All raised obstacles higher than 200mm in the landing site shall be removed and sunken obstacles shall be filled. If the pits or raised obstacles on the surface of the landing site are less than 150mm, construction work shall be stopped.

[0025] The lander in the second landing exploration mission is a simplified lander. It is not equipped with a landing obstacle avoidance system, but is equipped with a radio measurement system. It measures the orbit, trajectory, speed, altitude, and heading during the landing process, and measures its own attitude through the lander's inertial system.

[0026] The hovering obstacle avoidance flight phase during the landing process of the lander is cancelled, and the lander directly enters the slow descent phase.

[0027] The specific rating factors are:

[0028] Landing site area, landing site slope, landing site surface obstacles, landing site latitude, and relative position of the moon.

[0029] The grade is determined by scoring, which includes the landing site area score, landing site slope score, landing site surface obstacle score, latitude score, and lunar position score, among which:

[0030] The landing field area score is the product of the heading length / 100 and the heading vertical direction / 100, 600>heading length>200, 400>heading vertical direction>200;

[0031] The landing site slope score is the difference between 30 and the slope angle × 2, and the maximum allowable slope of the landing site is 15°;

[0032] The landing site surface obstacle score is the difference between 30 and the obstacle height or depth;

[0033] The latitude score is the difference between 30 and (latitude / 10)×3;

[0034] The score for the front side of the moon is 0, and the back side of the moon requires a relay satellite to support the mission, which will deduct 50 points.

[0035] The specific grade standards for the lunar landing site are:

[0036] A score over 100 is a Class A landing site, a score over 75 is a Class B landing site, a score over 50 is a Class C landing site, and a score below 50 is a Class D landing site. The landing difficulty increases gradually.

[0037] The advantages of the present invention compared with the prior art are:

[0038] The present invention provides a lunar landing site landing and operation design method, which selects a relatively flat landing site of m meters × n meters on the lunar surface, uses a probe that lands on the landing site for the first time to build and level the landing site, and establishes a navigation station. Subsequent probes use the navigation station to land, simplifying the landing obstacle avoidance system, filling the gap in current lunar landing and operation technology, simplifying the design difficulty of the lunar landing mission, reducing the requirements of the lunar landing mission on terrain adaptability through the construction of the landing site, and reducing the design difficulty of the landing control system through the design of the navigation station system. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A schematic diagram of the lunar landing site selection provided for the invention;

[0040] Figure 2Schematic diagram of the first landing of the lunar probe at the pre-selected landing site provided for the invention;

[0041] Figure 3 A schematic diagram of the lunar rover transporting the lander provided for the invention;

[0042] Figure 4 Schematic diagram of the lunar rover deployment radio navigation station provided for the invention;

[0043] Figure 5 A schematic diagram of the flight process of the subsequent landing mission provided for the invention;

[0044] Figure 6 A schematic diagram of the subsequent lander deployment mission provided for the invention; DETAILED DESCRIPTION

[0045] A lunar landing site landing and operation design method is applicable to multiple landing probes landing in the same area, and can serve lunar exploration missions such as lunar scientific research stations, manned lunar landings, and lunar bases. It can reduce the technical difficulty of conventional lander development and landing process control, reduce lander fuel consumption, and improve transportation efficiency. The specific steps are as follows:

[0046] Select the landing site to be constructed based on the data required for the landing mission;

[0047] Among them, according to the data required for the landing mission, the specific parameters of the landing site are:

[0048] The scope is within m×n square meters, specifically (600×400㎡~200×200㎡), the slope is less than 15°, and the pits or raised obstacles on the landing site are less than 200mm;

[0049] Set the landing site infrastructure construction strategy;

[0050] Among them, the landing site infrastructure construction strategy includes:

[0051] Level the landing site and construct navigation and positioning facilities;

[0052] Carry out the first landing exploration mission and complete the landing of the lander in a designated area on the lunar surface;

[0053] Among them, in the first landing exploration mission, the lander carried the lunar rover and various radio navigation stations to land on the lunar surface, including:

[0054] The lander is used to transport the lunar rover and various radio navigation stations. After the lunar rover has landed, it constructs a landing site on the lunar surface.

[0055] After the lander completes the landing, the lunar rover is released, and the lunar rover carries the lander and transports it to the edge of the landing site for deployment to clear the landing site.

[0056] Radio navigation station deployment via lunar rover in the lunar rover;

[0057] Among them, the number of radio navigation stations deployed is 2 to 4; the lander and the lunar rover each constitute a set of radio navigation stations, and 0 to 2 sets of independent radio navigation stations are configured. The lunar rover is responsible for the transportation and deployment of the navigation stations;

[0058] The radio navigation station can be a radio navigation station carried by the lander, a radio navigation station carried by the lunar rover, or a radio navigation station working independently. The specific deployment methods are:

[0059] The rover carries the lander and is transported to the edge of the landing site for deployment, with the lander forming a navigation station.

[0060] The lunar rover carries a separate radio navigation station and is deployed to a designated location, while the lander serves as the navigation station. This work can also be omitted.

[0061] After completing subsequent operation tasks and before the subsequent landing mission, the lunar rover will move to a specific location and use the radio navigation station it carries to become a radio navigation station for the subsequent landing mission.

[0062] After the first landing, there are more than or equal to 2 navigation systems. If there are only 2 navigation systems, the heading direction navigation can be completed. If there are 3 navigation systems, the absolute positioning of the landing process can be achieved. If there are 4 navigation systems, the absolute positioning of the landing process can be achieved, and there is also a redundant navigation station to improve the reliability of the system.

[0063] Conduct construction work in accordance with the landing site infrastructure construction strategy;

[0064] The specific steps of the construction work are:

[0065] Remove any raised obstacles higher than 200mm in the landing area, and fill in any sunken obstacles. Stop construction work if the pits or raised obstacles on the landing area surface are less than 150mm.

[0066] The lunar rover moves to the outside of the landing site and stands by;

[0067] Among them, the number of landing site navigation system equipment is 2 to 4 sets, including lunar rovers, landers, and 0 to 2 radio navigation stations. The navigation system equipment can conduct radio measurements with each other to locate the position. The corresponding navigation station baseline is established in the landing site navigation system.

[0068] According to the navigation signal of the landing site navigation system, a second landing exploration mission is carried out at the current landing site. According to the landing data of the lander in the first landing exploration mission, the landing process of the lander in the second landing exploration mission is improved to reduce energy consumption and increase the payload capacity;

[0069] Among them, the lander in the second landing exploration mission is a simplified lander, not equipped with a landing obstacle avoidance system, but equipped with a radio measurement system to measure the orbit, trajectory, speed, altitude, and heading after landing, and to measure its own attitude through the lander's inertial system;

[0070] Establish a grade standard for lunar landing sites, and score them based on the landing data of the lander in the second landing exploration mission and the grade scoring factors. At the same time, it can also score the landing sites of subsequent landings to determine the rating of the current lunar landing site;

[0071] Among them, the hovering obstacle avoidance flight phase during the landing process of the lander is cancelled, and it directly enters the slow descent phase;

[0072] The specific rating factors are:

[0073] Landing site area, landing site slope, landing site surface obstacles, landing site latitude, and relative position of the Moon;

[0074] The grade is determined by scoring, which includes the landing site area score, landing site slope score, landing site surface obstacle score, latitude score, and lunar position score, among which:

[0075] The landing field area score is the product of the heading length / 100 and the heading vertical direction / 100, 600>heading length>200, 400>heading vertical direction>200;

[0076] The landing site slope score is the difference between 30 and the slope angle × 2, and the maximum allowable slope of the landing site is 15°;

[0077] The landing site surface obstacle score is the difference between 30 and the obstacle height or depth;

[0078] The latitude score is the difference between 30 and (latitude / 10)×3;

[0079] The score for the front side of the moon is 0, and the back side of the moon needs a relay satellite to support the mission, which will be reduced by 50 points;

[0080] The specific grade standards for the lunar landing site are:

[0081] A score over 100 is a Class A landing site, a score over 75 is a Class B landing site, a score over 50 is a Class C landing site, and a score below 50 is a Class D landing site. The landing difficulty increases gradually.

[0082] The following is further described based on specific embodiments:

[0083] In the current embodiment, if Figures 1 to 6 As shown in the figure, a relatively flat landing site of m meters × n meters is selected on the lunar surface; then the probe that lands at the landing site for the first time is used to build and level the landing site, and a navigation station is built. Subsequent probes use the navigation station to land, simplifying the obstacle avoidance system for landing. After the subsequent probes land, the lunar landing robot is used to move the probes to the edge of the landing site to facilitate the landing of subsequent probes.

[0084] Figure 1 A schematic diagram of the lunar landing site selection provided for the invention; Figure 2 A schematic diagram of the first landing of the lunar probe provided for the invention at the pre-selected landing site, wherein the first landing trajectory includes a horizontal translation obstacle avoidance trajectory; Figure 3 A schematic diagram of the lunar rover transporting the lander provided for the invention; Figure 4 Schematic diagram of the lunar rover deployment radio navigation station provided for the invention; Figure 5 A schematic diagram of the flight process of the subsequent landing mission provided by the invention, in which there is no horizontal translation obstacle avoidance trajectory in the subsequent landing trajectory, but a direct landing; Figure 6 A schematic diagram of the subsequent lander deployment mission provided for the invention;

[0085] The specific method flow is as follows:

[0086] Using the exploration data currently available at home and abroad, the lander site is selected to meet the landing site of m×n square meters (600×400㎡~200×200㎡);

[0087] Set up a strategy, and the lander will carry a lunar rover and no less than two radio navigation stations and land at the designated landing site;

[0088] The first landing process is a traditional lunar landing process. At a certain height in the main deceleration phase, the altitude measurement equipment carried by the spacecraft, such as laser radar and microwave radar, is used to measure the altitude. In the approach phase, altitude, speed and lunar obstacle detection are started, mainly using microwave radar, laser radar, laser imaging sensor, visible light camera and other equipment. When it reaches a certain height, it hovers and avoids obstacles. After confirming that there are no obstacles on the lunar surface, it slowly descends and lands.

[0089] After the lander completes the lunar landing, it releases the lunar rover; the lunar rover then deploys the lander to the edge of the landing site to make way for the subsequent landing probe;

[0090] The lunar rover completed the leveling of the lunar landing site, providing a site with fewer obstacles for subsequent landings and reducing the difficulty of landing;

[0091] The lunar rover deploys no fewer than two radio navigation stations at the edge of the landing site; together with the lander and the lunar rover, they form a system of no fewer than four radio navigation stations;

[0092] For subsequent landing missions (starting from the second landing mission), the lander will no longer be equipped with microwave radar, lidar, laser imaging sensor, and visible light camera for landing. During the flight, the lunar surface will no longer be measured, and the landing site wireless navigation system will mainly use the information such as the active altitude and heading. The landing process will no longer be configured with a "hover obstacle avoidance phase", but will directly descend slowly and land after the approach phase; this flight design will reduce fuel consumption;

[0093] Subsequent probes that land on the moon will be deployed by the lunar rover to the edge of the landing site and interconnected with previously deployed landers or probes to form a scientific research cluster; at the same time, it will also make way for landing sites for subsequent landers.

[0094] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0095] The contents not described in detail in the specification of the present invention belong to the common knowledge of those skilled in the art.

Claims

1. A lunar landing site landing and operation design method, characterized in that Here are the steps: Select the landing site to be constructed based on the landing mission; Set the landing site infrastructure construction strategy; Carry out the first landing exploration mission and complete the landing of the lander in a designated area on the lunar surface; After the lander completes the landing, the lunar rover is released, the lander is loaded by the lunar rover, and transported to the edge of the landing site to make way for subsequent landing sites; Radio navigation stations are deployed through the lunar rover. Each independently working radio navigation station carried by the lunar rover is deployed to a designated location. The lander is used as the navigation station to form a landing site navigation system consisting of the lander, the lunar rover, and any radio navigation station. The number of landing site navigation systems is the same as that of radio navigation stations. According to the landing site infrastructure construction strategy, control the lunar rover to carry out construction work at the current landing site; The lunar rover moves to the outside of the landing site and stands by, exchanging information through all the landing site navigation systems; According to the activity altitude and heading information provided by the landing site navigation system, a second landing exploration mission is carried out at the current landing site. According to the landing data of the lander in the first landing exploration mission, the landing process of the lander in the second landing exploration mission is improved to reduce energy consumption and increase the payload capacity; Establish grade standards for lunar landing sites, and determine the current rating of lunar landing sites based on grade scoring factors and the landing data of the lander during the second landing exploration mission.

2. A lunar landing site landing and operation design method according to claim 1, characterized in that: According to the data required for the landing mission, the specific parameters of the landing site are: The scope is 600×400×200×200 square meters, the slope is less than 15°, and the pits or raised obstacles on the landing site are less than 200mm.

3. The lunar landing site landing and operation design method according to claim 1, characterized in that: Landing site infrastructure construction strategies include: The landing site is leveled and navigation and positioning facilities are constructed.

4. A lunar landing site landing and operation design method according to claim 3, characterized in that: In the first landing exploration mission, the lander carried the lunar rover and various radio navigation stations to land on the lunar surface, including: The lander is used to transport the lunar rover and various radio navigation stations. After the lunar rover completes the landing, a landing site is constructed on the lunar surface.

5. A lunar landing site landing and operation design method according to claim 4, characterized in that: The radio navigation stations are deployed at the edge of the landing site using the lunar rover, with 2 to 4 sets in number.

6. A lunar landing site landing and operation design method according to claim 5, characterized in that: The specific steps of construction work are: All raised obstacles higher than 200mm in the landing site shall be removed and sunken obstacles shall be filled. If the pits or raised obstacles on the surface of the landing site are less than 150mm, construction work shall be stopped.

7. A lunar landing site landing and operation design method according to claim 6, characterized in that: The lander in the second landing exploration mission is a simplified lander. It is not equipped with a landing obstacle avoidance system, but is equipped with a radio measurement system. It measures the orbit, trajectory, speed, altitude, and heading during the landing process, and measures its own attitude through the lander's inertial system.

8. A lunar landing site landing and operation design method according to claim 7, characterized in that: The hovering obstacle avoidance flight phase during the landing process of the lander is cancelled, and the lander directly enters the slow descent phase.

9. A lunar landing site landing and operation design method according to claim 8, characterized in that: The specific rating factors are: Landing site area, landing site slope, landing site surface obstacles, landing site latitude, and relative position of the moon.

10. A lunar landing site landing and operation design method according to claim 9, characterized in that: The grade is determined by scoring, which includes the landing site area score, landing site slope score, landing site surface obstacle score, latitude score, and lunar position score, among which: The landing field area score is the product of the heading length / 100 and the heading vertical direction / 100, 600>heading length>200, 400>heading vertical direction>200; The landing site slope score is the difference between 30 and the slope angle × 2, and the maximum allowable slope of the landing site is 15°; The landing site surface obstacle score is the difference between 30 and the obstacle height or depth; The latitude score is the difference between 30 and (latitude / 10)×3; The score for the front side of the moon is 0, and the back side of the moon requires a relay satellite to support the mission, which will deduct 50 points.

11. A lunar landing site landing and operation design method according to claim 10, characterized in that: The specific grade standards for the lunar landing site are: A score over 100 is a Class A landing site, a score over 75 is a Class B landing site, a score over 50 is a Class C landing site, and a score below 50 is a Class D landing site. The landing difficulty increases gradually.

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