A method, system, medium and device for determining the time of landing patrol vehicle falling into fire

Abstract

The present invention belongs to the field of aerospace technology, and in particular, relates to a method, system, medium and equipment for determining the landing time of a lander. The method includes: judging whether communication is established between the Mars orbiter and the lander, and generating a judgment result; if the judgment result is no, and the preset conditions are met, the landing time of the lander is determined by a theoretical landing time calculation method; if the judgment result is yes, the landing time of the lander is determined by an actual landing time calculation method. This method can provide a reference for determining the landing time of the probe in future Mars exploration, and can also provide a reference for determining the landing time of the probe in deep space exploration in the future, which also faces difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace technology, and in particular relates to a method, system, medium and equipment for determining the fire-falling time of a landing rover. Background Art

[0002] The current Mars landing exploration mission has many links, high complexity, and great uncertainty, and the historical success rate is less than 50%. Compared with lunar exploration, the distance between the Earth and Mars is farther, and the loss of the communication path is greatly increased, which makes it difficult for the detector antenna to cover the entire space, making it difficult for the exploration personnel to face ground measurement and control difficulties, large communication delays, poor real-time transmission, and difficulty in transmitting effective data. During the entire landing process, the ground personnel did not have time to do anything with the detector. At present, there is no method in China to solve the above problems and obtain the time of the probe landing on Mars in a timely and effective manner. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a method, system, medium and equipment for determining the landing time of a rover.

[0004] The technical solution of the present invention to solve the above technical problem is as follows: A method for determining the landing time of a landing patrol vehicle, comprising:

[0005] Determine whether communication is established between the Mars orbiter and the lander, and generate a determination result;

[0006] If the result of the judgment is no, the fire drop time is determined by calculating the theoretical landing time;

[0007] If the judgment result is yes, the fire drop time is determined by calculating the actual landing time.

[0008] The beneficial effects of the present invention are as follows: the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0009] Based on the above technical solution, the present invention can also be improved as follows.

[0010] Furthermore, if the judgment result is no, determining the fire drop time by calculating the theoretical landing time specifically includes:

[0011] If the judgment result is no and the preset conditions are met, the fire drop time is determined by the theoretical landing time calculation method; the preset conditions are: the working mode flag of the GNC subsystem of the landing device in the landing rover is changed from descent to no control, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device.

[0012] Furthermore, the fire drop time is determined by calculating the theoretical landing time as follows:

[0013] The fire drop time is calculated by the first formula, wherein the first formula is specifically:

[0014] TL 理论 =T 大气进入点 +t1±t2;

[0015] Among them, TL 理论 T is the landing time on the fire surface, 大气进入点 The atmospheric entry point is the time when the probe descends to its orbit. The final atmospheric entry point can be determined by the delayed telemetry during the probe's orbit descent forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration, and t2 is the deviation.

[0016] Furthermore, the fire drop time is determined by calculating the actual landing time as follows:

[0017] The fire drop time is calculated by the second formula, wherein the second formula is specifically:

[0018] TL 实际 =TL1-t 组帧 ;

[0019] Among them, TL 实际 is the actual landing time of the rover on the Mars surface, TL1 is the time when the ground receives the information on the rover that meets the preset conditions, and t 组帧 The time for framing on the device.

[0020] Another technical solution of the present invention to solve the above technical problem is as follows: A system for determining the time of landing patrol vehicle falling into fire, comprising:

[0021] A judgment module is used to judge whether communication is established between the Mars orbiter and the lander and generate a judgment result;

[0022] The first result module is used to determine the fire drop time by calculating the theoretical landing time if the judgment result is no;

[0023] The second result module is used to determine the fire drop time by calculating the actual landing time if the judgment result is yes.

[0024] The beneficial effects of the present invention are as follows: the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0025] Furthermore, if the judgment result is no, determining the fire drop time by calculating the theoretical landing time specifically includes:

[0026] If the judgment result is no and the preset conditions are met, the fire drop time is determined by the theoretical landing time calculation method; the preset conditions are: the working mode flag of the GNC subsystem of the landing device in the landing rover is changed from descent to no control, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device.

[0027] Furthermore, the fire drop time is determined by calculating the theoretical landing time as follows:

[0028] The fire drop time is calculated by the first formula, wherein the first formula is specifically:

[0029] TL 理论 =T 大气进入点 +t1±t2;

[0030] Among them, TL 理论 T is the landing time on the fire surface, 大气进入点 The atmospheric entry point is the time when the probe descends to its orbit. The final atmospheric entry point can be determined by the delayed telemetry during the probe's orbit descent forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration, and t2 is the deviation.

[0031] Furthermore, the fire drop time is determined by calculating the actual landing time as follows:

[0032] The fire drop time is calculated by the second formula, wherein the second formula is specifically:

[0033] TL 实际 =TL1-t 组帧 ;

[0034] Among them, TL 实际 is the actual landing time of the rover on the Mars surface, TL1 is the time when the ground receives the information on the rover that meets the preset conditions, and t 组帧 The time for framing on the device.

[0035] Another technical solution of the present invention to solve the above technical problem is as follows: a storage medium, in which instructions are stored. When a computer reads the instructions, the computer executes a method for determining the landing time of a landing rover as described in any one of the above items.

[0036] The beneficial effects of the present invention are as follows: the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0037] Another technical solution of the present invention to solve the above technical problem is as follows: an electronic device comprises the above storage medium and a processor for executing instructions in the above storage medium.

[0038] The beneficial effects of the present invention are as follows: the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 A flow chart of an embodiment of a method for determining a landing rover fire drop time of the present invention is provided;

[0040] Figure 2 A structural framework diagram is provided for an embodiment of a system for determining the time of fire of a landing rover according to the present invention. DETAILED DESCRIPTION

[0041] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0042] like Figure 1 As shown, a method for determining the landing time of a landing rover includes:

[0043] Determine whether communication is established between the Mars orbiter and the lander, and generate a determination result;

[0044] If the result of the judgment is no, the fire drop time is determined by calculating the theoretical landing time;

[0045] If the judgment result is yes, the fire drop time is determined by calculating the actual landing time.

[0046] In some possible implementations, the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0047] It should be noted that the lander mentioned in the article is also a probe, which refers to the spacecraft that performs the landing and patrol mission in the Mars exploration mission. The probe mentioned in the specification is the lander proposed in the claims.

[0048] The time of landing on Mars should be understood as: the time of landing on the surface of Mars.

[0049] In addition, if the orbiter and the lander do not establish communication, the ground will not know whether the preset conditions are met, because the information of the preset conditions cannot be transmitted through the lander. This situation does not exist.

[0050] Uncontrolled means that the spacecraft is no longer controlled by the ground.

[0051] The present application can determine the detector fire-falling time by judging the detector's on-board status, or can also determine the detector fire-falling time by calculating the detector's atmospheric entry time and the entry, descent and landing (EDL) process duration and time offset obtained by the target shooting result of its nominal trajectory when the on-board telemetry data cannot be obtained, including the following steps:

[0052] If the ground can receive the telemetry data of the detector's on-board status transmitted by the relay communication link established between the Mars orbiter and the detector, the landing time can be determined by the on-board time when the detector's on-board status meets the landing conditions (equivalent to the time displayed by the clock on the detector) and the framing time (framing means that there is an integrated electronic subsystem on the detector, just like the human brain and neural network, which realizes the management of the entire satellite's operations, autonomous control and information fusion. Its function is to collect the service data generated by each subsystem on the detector, and after data processing, compile it into a telemetry frame that conforms to the CCSDS AOS data format for storage, or send it to the measurement and control channel after channel coding. The framing time is the time from the actual acquisition of the effective signal on the detector (collected by the GNC subsystem) to the acquisition and integration of the service data of the entire detector by the integrated electronic subsystem, and compile it in accordance with the CCSDS AOS data format.). Among them, the Mars mission has a total of two detectors - the orbiter and the lander. The specific steps of establishing a relay communication link are as follows: A similar method of relay communication link has been used in Chang'e 4. The main tasks of the orbiter are: completing the Earth-Mars transfer flight and orbit correction, completing Mars capture, entering the Mars parking orbit, completing the pre-detection of the pre-selected landing area of ​​the lander and the entry point position adjustment action. Establish the separation conditions required by the lander and reliably separate from the lander; provide relay support for the transition flight, entry, and landing process of the lander, and provide relay support for the Mars rover's Mars surface detection process. Carrying seven payloads such as a center-resolution camera and a subsurface radar, it completes scientific detection tasks such as remote sensing around Mars.

[0053] The landing conditions are also the preset conditions below, specifically: if the telemetry data transmitted by the inter-device communication can be received during the EDL phase, and the following two criteria are met at the same time:

[0054] 1) The system operating mode flag of the GNC subsystem of the probe landing device changes from slow descent to no control;

[0055] 2) At least 1 / 2 of the parallel touchdown shutdown signals of the landing device in the detector are valid.

[0056] Step 2: If the communication between the probe and the Mars orbiter cannot be successfully established in step 1 (if the communication link is established, the ground can receive the telemetry information of the lander transmitted from the orbiter), the ground does not receive the telemetry data on the probe forwarded by the relay communication link. The time of landing can be calculated by the time of the probe's atmospheric entry point, the nominal EDL process duration and the time offset of multiple simulation results.

[0057] From the moment the probe enters the atmosphere to the moment it lands on the surface of Mars, the probe completes all operations autonomously without ground intervention, and the probe status is forwarded to the ground via the inter-device relay communication link. During the EDL process, whether the ground can receive the telemetry data transmitted by the inter-device relay communication link will determine whether to use the theoretical landing time or the actual landing time to determine the probe's landing time.

[0058] Theoretical fire surface landing time calculation method:

[0059] Through the nominal trajectory simulation and target shooting results, considering the time deviation of the aerodynamic deceleration process before the parachute, the parachute process and the powered descent process, the average time of the nominal entry, descent and landing (EDL) process is t1, and the deviation is t2.

[0060] Theoretical landing time on Mars (Beijing time, TL 理论 ) can be obtained by adding the nominal atmospheric entry point time of the detector and the duration of the EDL process, that is:

[0061] TL 理论 =T 大气进入点 +t1±t2

[0062] The atmospheric entry point time is the time when the probe descends to the orbit. The ground based on the delayed telemetry of the probe during the orbit descent forwarded by the Mars orbiter can determine the final atmospheric entry point time, which is recorded as T 大气进入点 .

[0063] 2) The theoretical EDL process duration is t1 (mean) and the deviation is t2 (3σ).

[0064] Through multiple nominal trajectory simulations and target shooting results of the detector, considering the time deviation of the aerodynamic deceleration process before the parachute, the parachute process and the powered descent process, the average time of the nominal entry, descent and landing (EDL) process is t1, and the deviation is t2.

[0065] Calculation and correction method of actual landing time on fire surface:

[0066] If the telemetry data transmitted by the inter-device communication can be received in the EDL stage, and the following two criteria are met at the same time:

[0067] 1) The system operating mode flag of the GNC subsystem of the probe landing device changes from slow descent to no control;

[0068] 2) At least 1 / 2 of the parallel touchdown shutdown signals of the landing device in the detector are valid.

[0069] At this time, the time received by the ground that satisfies both of the above criteria is TL1, and the time on the device also includes the time of framing on the device t 组帧Therefore, it is necessary to correct the onboard time TL1 received on the ground, namely:

[0070] TL 实际 =TL1-t 组帧

[0071] Preferably, in any of the above embodiments, if the judgment result is no, determining the fire drop time by calculating the theoretical landing time specifically includes:

[0072] If the judgment result is no and the preset conditions are met, the fire drop time is determined by the theoretical landing time calculation method; the preset conditions are: the working mode flag of the GNC subsystem of the landing device in the landing rover is changed from descent to no control, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device.

[0073] It should be noted that if the ground can receive the telemetry data transmitted by the inter-device relay communication link during the EDL phase, and the system operating mode flag of the GNC subsystem of the landing device in the detector changes from slow descent to no control, and at least half of the four parallel port touchdown shutdown signals of the landing device are valid, the time on the device determined when the system operating mode flag of the GNC subsystem of the landing device changes to no control minus the framing time is used as the fire drop time. Among them, the basis for judging whether the signal is valid is: judging according to the telemetry data values ​​of the four touchdown signals, if the bottoming signal is valid, the telemetry value changes from 0 to 1.

[0074] Preferably, in any of the above embodiments, the fire drop time is determined by calculating the theoretical landing time in the following manner:

[0075] The fire drop time is calculated by the first formula, wherein the first formula is specifically:

[0076] TL 理论 =T 大气进入点 +t1±t2;

[0077] Among them, TL 理论 T is the landing time on the fire surface, 大气进入点 The atmospheric entry point is the time when the probe descends to its orbit. The final atmospheric entry point can be determined by the delayed telemetry during the probe's orbit descent forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration, and t2 is the deviation.

[0078] Preferably, in any of the above embodiments, the fire drop time is determined by calculating the actual landing time as follows:

[0079] The fire drop time is calculated by the second formula, wherein the second formula is specifically:

[0080] TL 实际 =TL1-t组帧 ;

[0081] Among them, TL 实际 is the actual landing time of the rover on the Mars surface, TL1 is the time when the ground receives the information on the rover that meets the preset conditions, and t 组帧 The time for framing on the device.

[0082] like Figure 2 As shown, a system for determining the time of fire of a landing rover comprises:

[0083] A judgment module 100 is used to judge whether communication is established between the Mars orbiter and the lander and generate a judgment result;

[0084] The first result module 200 is used to determine the fire drop time by calculating the theoretical landing time if the judgment result is no;

[0085] The second result module 300 is used to determine the fire drop time by calculating the actual landing time if the judgment result is yes.

[0086] In some possible implementations, the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0087] Preferably, in any of the above embodiments, if the judgment result is no, determining the fire drop time by calculating the theoretical landing time specifically includes:

[0088] If the judgment result is no and the preset conditions are met, the fire drop time is determined by the theoretical landing time calculation method; the preset conditions are: the working mode flag of the GNC subsystem of the landing device in the landing rover is changed from descent to no control, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device.

[0089] Preferably, in any of the above embodiments, the fire drop time is determined by calculating the theoretical landing time in the following manner:

[0090] The fire drop time is calculated by the first formula, wherein the first formula is specifically:

[0091] TL 理论 =T 大气进入点 +t1±t2;

[0092] Among them, TL 理论T is the landing time on the fire surface, 大气进入点 The atmospheric entry point is the time when the probe descends to its orbit. The final atmospheric entry point can be determined by the delayed telemetry during the probe's orbit descent forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration, and t2 is the deviation.

[0093] Preferably, in any of the above embodiments, the fire drop time is determined by calculating the actual landing time as follows:

[0094] The fire drop time is calculated by the second formula, wherein the second formula is specifically:

[0095] TL 实际 =TL1-t 组帧 ;

[0096] Among them, TL 实际 is the actual landing time of the rover on the Mars surface, TL1 is the time when the ground receives the information on the rover that meets the preset conditions, and t 组帧 The time for framing on the device.

[0097] Another technical solution of the present invention to solve the above technical problem is as follows: a storage medium, in which instructions are stored. When a computer reads the instructions, the computer executes a method for determining the landing time of a landing rover as described in any one of the above items.

[0098] In some possible implementations, the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0099] Another technical solution of the present invention to solve the above technical problem is as follows: an electronic device comprises the above storage medium and a processor for executing instructions in the above storage medium.

[0100] In some possible implementations, the present invention can provide ground exploration personnel with the time when the probe lands on Mars in a timely manner, provide decision-making support for subsequent ground exploration personnel to make plans and countermeasures for the probe, provide a reference for determining the landing time of the probe in future Mars exploration, and also provide a reference for determining the landing time of the probe in future deep space exploration that will also face difficulties in ground measurement and control, large communication delays, poor real-time transmission, and transmission of valid data.

[0101] The reader should understand that in the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0102] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the method embodiments described above are only illustrative, for example, the division of steps is only a logical function division, and there may be other division methods in actual implementation, such as multiple steps can be combined or integrated into another step, or some features can be ignored or not executed.

[0103] If the above method is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0104] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A method for determining the time when a lander lands on the surface of Mars, characterized in that: include: Determine whether communication is established between the Mars orbiter and the lander, and generate a determination result; If the judgment result is no, and the preset conditions are met, the time when the lander lands on the surface of Mars is determined by calculating the theoretical landing time; If the judgment result is yes, the time when the lander lands on the surface of Mars is determined by calculating the actual landing time; The specific method of determining the time of landing on the surface of Mars by calculating the theoretical landing time is as follows: The time of landing on the surface of Mars is calculated by the first formula, which is specifically: TL 理论 =T 大气进入点 +t1±t2: Among them, TL 理论 is the theoretical landing time of the rover on the Martian surface, T 大气进入点 After the landing rover is lowered to orbit, the ground can determine the final atmospheric entry point based on the delayed telemetry of the landing rover during orbit lowering forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration of the landing rover. EDL is a set of processes required for a spacecraft to land safely on the surface of a planet. t2 is the deviation of the landing rover. The method of calculating the actual landing time to determine the time of landing on the surface of Mars is specifically as follows: The time of landing on the surface of Mars is calculated by the second formula, which is specifically: TL 实际 =TL1-t 组帧 ; Among them, TL 实际 is the actual landing time of the rover on Mars, TL1 is the time when the ground receives the rover on Mars that meets the preset conditions, and t 组帧 The time for framing on the landing rover.

2. A method for determining the time when a lander lands on the surface of Mars according to claim 1, characterized in that: The preset conditions specifically include: The working mode flag of the GNC subsystem of the landing device in the landing rover changes from descent to no longer being controlled by the ground, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device. The GNC subsystem refers to the guidance, navigation and control subsystem of the spacecraft.

3. A system for determining the time when a lander lands on the surface of Mars, characterized in that: include: A judgment module is used to judge whether communication is established between the Mars orbiter and the lander and generate a judgment result; The first result module is used to determine the time of landing on the surface of Mars by calculating the theoretical landing time if the judgment result is no; The second result module is used to determine the time of landing on the surface of Mars by calculating the actual landing time if the judgment result is yes; The specific method of determining the time of landing on the surface of Mars by calculating the theoretical landing time is as follows: The time of landing on the surface of Mars is calculated by the first formula, which is specifically: TL 理论 =T 大气进入点 +t1±t2: Among them, TL 理论 is the theoretical landing time of the rover on the Martian surface, T 大气进入点 After the landing rover is lowered to orbit, the ground can determine the final atmospheric entry point based on the delayed telemetry of the landing rover during orbit lowering forwarded by the Mars orbiter to the ground. t1 is the theoretical EDL process duration of the landing rover. EDL is a set of processes required for a spacecraft to land safely on the surface of a planet. t2 is the deviation of the landing rover. The method of calculating the actual landing time to determine the time of landing on the surface of Mars is specifically as follows: The time of landing on the surface of Mars is calculated by the second formula, which is specifically: TL 实际 =TL1-t 组帧 ; Among them, TL 实际 is the actual landing time of the rover on Mars, TL1 is the time when the ground receives the rover on Mars that meets the preset conditions, and t 组帧 The time for framing on the landing rover.

4. A system for determining the time when a lander lands on the surface of Mars according to claim 3, characterized in that: If the judgment result is no, the time of landing on the surface of Mars is determined by calculating the theoretical landing time, which specifically includes: If the judgment result is no, and the preset conditions are met, the time of landing on the surface of Mars is determined by calculating the theoretical landing time; the preset conditions are: the working mode flag of the GNC subsystem of the landing device in the landing rover is changed from descending to no longer being controlled by the ground, and there are at least half of the valid signals in the parallel port touchdown shutdown signal of the landing device. The GNC subsystem refers to the guidance, navigation and control subsystem of the spacecraft.

5. A storage medium, characterized in that: The storage medium stores instructions, and when a computer reads the instructions, the computer executes a method for determining the time when a lander lands on the surface of Mars as described in claim 1 or 2.

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