Three-dimensional terrain acquisition method in extraterrestrial celestial body high-dynamic landing process

Abstract

The invention discloses a three-dimensional terrain acquisition method in a high dynamic landing process of an extraterrestrial celestial body. The three-dimensional terrain acquisition method comprises the steps of building a celestial body fixed connection coordinate system at a T0 moment, compensating system timing system motion and the like. The three-dimensional measurement sensor adopts a scanning scheme based on a swing mirror, and the function of obtaining the landing area terrain in the dynamic landing process is achieved. Therefore, the detector can obtain the landform data of the falling area without hovering, and the fuel consumption of the system is remarkably reduced.

Description

Technical Field

[0001] The invention belongs to the field of spacecraft control technology, and in particular relates to a method for acquiring three-dimensional terrain during the high-dynamic landing process of an extraterrestrial body. Background Art

[0002] At present, the probe usually adopts the hovering mode during landing to provide a stable attitude and position for the precise three-dimensional terrain obstacle detection sensor and the laser three-dimensional measurement sensor, so that the laser three-dimensional measurement sensor can ignore the movement of the probe itself during imaging, and it is considered that the target fluctuations measured during obstacle detection are all caused by the terrain of the lunar surface itself. This strategy consumes a large amount of propellant to maintain the stability of the probe hovering. For deep space probes such as the moon, in order to achieve mission success, the weight of propellant is very precious and should be saved as much as possible; and in some cases, there may be a shortage of propellant. If the hovering mode is still used, it will bring greater risks to the probe. Summary of the invention

[0003] The technology of the present invention solves the following problems: overcomes the shortcomings of the prior art, provides a method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, adopts a method for coupling and solving system dynamic data and product measurement to acquire three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, and can obtain high-quality three-dimensional terrain obstacle detection capability without hovering during the landing process of the probe (that is, with large angular velocity and translational velocity); cancels the hovering mode during the traditional landing process, greatly saving propellant consumption.

[0004] In order to solve the above technical problems, the present invention discloses a method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, comprising:

[0005] During the three-dimensional terrain acquisition task, when preparing to start acquiring the three-dimensional terrain, the control computer first sends a scanning instruction to the three-dimensional measurement sensor, and then sends a synchronization signal to the three-dimensional measurement sensor and the platform sensor;

[0006] When the three-dimensional measurement sensor receives the first synchronization signal, the laser scanning is started to scan the terrain of the landing area, and the celestial body fixed coordinate system at time T0 is established; wherein time T0 is the time when the three-dimensional measurement sensor receives the first synchronization signal;

[0007] The control computer records the angular velocity measurement information and acceleration measurement information at the effective moment of the synchronization signal measured by the platform sensor, and calculates the motion information of the detector during the scanning period;

[0008] The three-dimensional measurement sensor completes the scanning of the terrain of the landing area according to the preset scanning time; the control computer stops sending the synchronization signal to the three-dimensional measurement sensor after the preset scanning time is exceeded, and sends the movement information of the detector during the scanning period to the three-dimensional measurement sensor;

[0009] After receiving the motion information of the detector during scanning, the three-dimensional measurement sensor performs motion compensation on each scanning measurement point of the three-dimensional measurement sensor according to the motion information of the detector during scanning, and obtains the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0;

[0010] According to the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0, the landing area terrain data in the celestial body fixed coordinate system at time T0 is determined for the subsequent identification of the landing safety zone.

[0011] In the above-mentioned method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial object, the origin of the celestial body's fixed coordinate system at time T0 is the sub-satellite point of the detector at time T0, the X-axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north.

[0012] In the above-mentioned method for acquiring three-dimensional terrain during the high-dynamic landing process of an extraterrestrial body, the motion information of the probe includes: the attitude information and translation information of the probe; wherein the attitude information of the probe includes: the attitude Euler angles of the probe body relative to the local celestial northeast coordinate system; the translation information of the probe includes: the velocity vector of the probe body relative to the local celestial northeast coordinate system.

[0013] In the above-mentioned method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, the motion compensation for each scanning measurement point of the three-dimensional measurement sensor includes: rotation compensation and translation compensation.

[0014] In the above-mentioned method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, each scanning measurement point of the three-dimensional measurement sensor includes: a scanning measurement point at the effective time of the synchronization signal and a scanning measurement point at the effective time of the asynchronous signal.

[0015] In the above-mentioned three-dimensional terrain acquisition method during the high-dynamic landing of an extraterrestrial body, for the scanning measurement point at the effective time of the synchronization signal, the rotation compensation process is as follows:

[0016] According to the attitude information of the detector obtained at each synchronization signal moment during the scanning period, the transformation matrix C of the detector body coordinate system relative to the celestial body fixed coordinate system at the measurement moment is obtained. Cg(i) ; Among them, the origin of the celestial body fixed coordinate system at the measurement time is the sub-satellite point of the detector at the measurement time, the X axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north; the detector body coordinate system is the three-dimensional rectangular coordinate system fixed to the detector;

[0017] Based on the transformation matrix C Cg(i) , the position vector P of the scanning measurement point in the detector body coordinate system at the time when the synchronization signal is effective 1(i) The coordinate system is transformed to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at the measurement time. 2(i) :P 2(i) =C Cg(i) ·P 1(i) .

[0018] In the above-mentioned three-dimensional terrain acquisition method during the high-dynamic landing of an extraterrestrial body, for the scanning measurement points at the effective time of the synchronization signal, the translation compensation process is as follows:

[0019] According to the translation information of the detector obtained at each synchronization signal moment during the scanning period, the velocity vector V of the detector body relative to the local celestial northeast coordinate system is determined. i ;

[0020] According to V i , for the position vector P 2(i) Perform translation compensation to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at time T0 3(i) :

[0021]

[0022] Wherein, Δt represents the period of the synchronization signal.

[0023] In the above-mentioned three-dimensional terrain acquisition method during the high-dynamic landing of an extraterrestrial body, for the scanning measurement points at the effective time of the asynchronous signal, the rotation compensation and translation compensation process are as follows:

[0024] Interpolate the attitude information and translation information of the detector obtained at each synchronization signal moment during the scanning period to obtain the attitude information and translation information of the detector at the effective moment of the asynchronous signal;

[0025] According to the attitude information and translation information of the detector at the effective time of the asynchronous signal, rotation compensation and translation compensation are performed on the scanning measurement point at the effective time of the asynchronous signal to obtain the position vector of the scanning measurement point at the effective time of the asynchronous signal in the celestial body fixed coordinate system at time T0.

[0026] In the above-mentioned three-dimensional terrain acquisition method during the high-dynamic landing process of an extraterrestrial object, during the non-three-dimensional terrain acquisition mission, the control computer does not send a synchronization signal to the three-dimensional measurement sensor.

[0027] In the above-mentioned method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body, a control computer, a three-dimensional measurement sensor and a platform sensor are arranged on the detector; the platform sensor includes: at least three gyroscopes and at least three accelerometers.

[0028] The present invention has the following advantages:

[0029] The present invention discloses a method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body. The method adopts a method of coupling and solving system dynamic data and product measurement to acquire the three-dimensional terrain during the high-dynamic landing of an extraterrestrial body. The method can obtain high-quality three-dimensional terrain obstacle detection capability without hovering during the landing process of the probe (that is, with large angular velocity and translational velocity); the hovering mode in the traditional landing process is cancelled, which greatly saves propellant consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the composition and three-dimensional terrain scanning imaging of a detector in an embodiment of the present invention;

[0031] Figure 2 It is a schematic diagram of the interaction process between a control computer and a three-dimensional measurement sensor in an embodiment of the present invention. DETAILED DESCRIPTION

[0032] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments disclosed in the present invention will be further described in detail below with reference to the accompanying drawings.

[0033] One of the core ideas of the present invention is: in view of the problem that the existing lander consumes a lot of propellant during the hovering obstacle avoidance stage, a method for obtaining three-dimensional terrain during the high-dynamic landing of an extraterrestrial body is proposed, which mainly includes three aspects: 1) Establishment of the celestial body fixed-linked coordinate system at time T0: The celestial body fixed-linked coordinate system at time T0 is established with the sub-satellite point of the detector at the initial moment of the three-dimensional measurement sensor scanning as the origin, which is used to describe the terrain data of the landing area. 2) System time system: Through the hardware time synchronization method of the control computer, the three-dimensional measurement sensor and the platform sensor, the accurate time corresponding to the motion information of the detector during the scanning of the three-dimensional measurement sensor is obtained, which provides the necessary conditions for the accurate compensation of each scanning measurement point of the three-dimensional measurement sensor. 3) Motion compensation: The control computer calculates the motion information of the detector based on the measurement information of the platform sensor, and sends the motion information of the detector to the three-dimensional measurement sensor; the three-dimensional measurement sensor performs kinematic compensation accordingly to obtain the landing area terrain data under the celestial body fixed-linked coordinate system at time T0.

[0034] In this embodiment, the method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial object includes:

[0035] Step 1: During the three-dimensional terrain acquisition task, when preparing to start acquiring the three-dimensional terrain, the control computer first sends a scanning instruction to the three-dimensional measurement sensor, and then sends a synchronization signal to the three-dimensional measurement sensor and the platform sensor.

[0036] In this embodiment, the detector is provided with a control computer, a three-dimensional measurement sensor and a platform sensor; the platform sensor includes: at least three gyroscopes and at least three accelerometers. The three-dimensional measurement sensor is based on the laser system measurement principle of scanning imaging, and measures the distance information between the three-dimensional measurement sensor and the ground by emitting a laser beam, and the distance information between multiple measurement points on the ground and the three-dimensional measurement sensor can be obtained by scanning in sequence. The control computer sends a homologous synchronization signal to the three-dimensional measurement sensor and the platform sensor to obtain the accurate correspondence between the scanning time of the three-dimensional measurement sensor and the measurement information of the platform sensor, and then obtains the accurate correspondence between the scanning time of the three-dimensional measurement sensor and the motion information of the detector.

[0037] Preferably, the control computer is time-synchronized with the three-dimensional measurement sensor and the platform sensor through a synchronization signal. The synchronization signal uses the rising edge or falling edge of a periodic pulse signal, and the synchronization accuracy can reach microseconds; the synchronization signal period is generally tens of ms, and the specific duration is determined according to the motion compensation accuracy requirements. Further, the synchronization signal is a homologous hardware synchronization signal, that is, the synchronization signal between the control computer and the platform sensor and the synchronization signal between the control computer and the three-dimensional measurement sensor are hardware synchronization signals and are homologous.

[0038] It should be noted that the control computer always sends synchronization signals to the platform sensor (i.e., during the 3D terrain acquisition task and the non-3D terrain acquisition task, the control computer sends synchronization signals to the platform sensor), and the platform sensor provides the angular velocity measurement information and acceleration measurement information at the synchronization signal moment to the control computer, and then calculates the attitude information and translation information of the detector. During the non-3D terrain acquisition task, the control computer does not send synchronization signals to the 3D measurement sensor.

[0039] Step 2: When the three-dimensional measurement sensor receives the first synchronization signal, it starts the laser scanning and begins to scan the terrain of the landing area, while establishing the celestial body fixed coordinate system at time T0.

[0040] In this embodiment, time T0 is the time when the three-dimensional measurement sensor receives the first synchronization signal. The origin of the celestial fixed coordinate system at time T0 is the sub-satellite point of the detector at time T0, the X axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north.

[0041] Step 3, the control computer records the angular velocity measurement information and acceleration measurement information at the effective moment of the synchronization signal measured by the platform sensor, and calculates the motion information of the detector during the scanning period.

[0042] In this embodiment, the motion information includes: the attitude information and translation information of the detector. Further, the attitude information of the detector includes: the attitude Euler angle of the detector body relative to the local celestial northeast coordinate system; the translation information of the detector includes: the velocity vector of the detector body relative to the local celestial northeast coordinate system.

[0043] Step 4: The three-dimensional measurement sensor completes the scanning of the landing area terrain according to the preset scanning time (usually several hundred milliseconds); the control computer stops sending synchronization signals to the three-dimensional measurement sensor after exceeding the preset scanning time, and sends the movement information of the detector during the scanning period to the three-dimensional measurement sensor.

[0044] Step 5, after receiving the motion information of the detector during scanning, the three-dimensional measurement sensor performs motion compensation on each scanning measurement point of the three-dimensional measurement sensor according to the motion information of the detector during scanning, and obtains the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0.

[0045] In this embodiment, the motion compensation for each scanning measurement point of the three-dimensional measurement sensor includes: rotation compensation and translation compensation. Each scanning measurement point of the three-dimensional measurement sensor includes: a scanning measurement point at the effective time of the synchronization signal and a scanning measurement point at the effective time of the asynchronous signal.

[0046] Preferably, for the scanning measurement points at the effective time of the synchronization signal:

[0047] The rotation compensation process is as follows: According to the attitude information of the detector obtained at each synchronization signal moment during the scanning period, the transformation matrix C of the detector body coordinate system relative to the celestial body fixed coordinate system at the measurement moment is obtained Cg(i) ; Based on the transformation matrix C Cg(i) , the position vector P of the scanning measurement point in the detector body coordinate system at the time when the synchronization signal is effective 1(i) The coordinate system is transformed to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at the measurement time. 2(i) :P 2(i) =C Cg(i) ·P 1(i) Among them, i is the serial number representing the synchronization signal; the origin of the celestial body fixed coordinate system at the measurement time is the sub-satellite point of the detector at the measurement time, the X axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north; the detector body coordinate system is the three-dimensional rectangular coordinate system fixed to the detector, and the measurement data of the three-dimensional measurement sensor is described in this coordinate system.

[0048] Furthermore, the transformation matrix C Cg(i) The calculation formula is as follows:

[0049]

[0050] Among them, (α i ,β i ,γ i ) is the attitude Euler angle of the i-th synchronization signal.

[0051] The translation compensation process is as follows: According to the translation information of the detector obtained at each synchronization signal moment during the scanning period, the velocity vector V of the detector body relative to the local celestial northeast coordinate system of the i-th shot is determined. i According to V i , for the position vector P 2(i) Perform translation compensation to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at time T0 3(i) : Δt represents the period of the synchronization signal.

[0052] Preferably, for the scanning measurement points at the effective moments of the asynchronous signals, the rotation compensation and translation compensation process is as follows: interpolate the attitude information and translation information of the detector obtained at each synchronous signal moment during the scanning period to obtain the attitude information and translation information of the detector at the effective moments of the asynchronous signals; perform rotation compensation and translation compensation on the scanning measurement points at the effective moments of the asynchronous signals based on the attitude information and translation information of the detector at the effective moments of the asynchronous signals to obtain the position vector of the scanning measurement points at the effective moments of the asynchronous signals in the celestial body fixed coordinate system at time T0.

[0053] Step 6: Determine the landing area terrain data in the celestial body fixed coordinate system at time T0 based on the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0, which is used for the subsequent identification of the landing safety zone.

[0054] Based on the above embodiment, a specific example is described below.

[0055] In this embodiment, a method for acquiring three-dimensional terrain during the high-dynamic landing of an extraterrestrial body is disclosed, which is suitable for acquiring three-dimensional terrain and calculating safety points without hovering during the high-dynamic landing of an extraterrestrial body. The detector is provided with a control computer, a three-dimensional measurement sensor and a platform sensor. The schematic diagram of the terrain scanned by the detector is shown in FIG. Figure 1 As shown in the figure, the interaction process between the control computer and the three-dimensional measurement sensor is as follows Figure 2 As shown. Among them:

[0056] 1) ΔT represents the interval between the control computer sending the scanning instruction and the first synchronization signal. ΔT should be sufficient for the 3D measurement sensor to correctly receive the scanning instruction and be ready.

[0057] 2) The synchronization signal cycle between the control computer and the three-dimensional measurement sensor is 16ms. The reason for determining 16ms is as follows: when the detector angular velocity is less than 10° / s, the maximum angle change within 16ms is 0.08°, and the three-dimensional position measurement error caused by scanning imaging at a height of 100m is 0.014m. When the detector velocity is less than 5m / s, the acceleration is less than 1m / s 2 When , the maximum position change within 16ms is 0.000064m, and the three-dimensional position measurement error caused is 0.000064m.

[0058] 3) Scanning instruction: After receiving the scanning instruction from the control computer, the three-dimensional measurement sensor waits for the control computer to send a synchronization signal, and uses the first valid synchronization signal as the initial imaging time T0, and establishes the celestial body fixed coordinate system at time T0 with time T0 and the sub-satellite point of the detector at time T0. The scanning time for each scan is no more than 500ms.

[0059] 4) Transmission of detector motion information: The control computer sends the detector motion information (including posture information and translation information) during scanning imaging to the three-dimensional measurement sensor.

[0060] 5) Compensation calculation: The three-dimensional measurement sensor performs motion compensation on each scanning measurement point of the three-dimensional measurement sensor according to the motion information of the detector received during the scanning period, obtains the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0, and calculates the safe landing point based on this.

[0061] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0062] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object, characterized in that: include: During the three-dimensional terrain acquisition task, when preparing to start acquiring the three-dimensional terrain, the control computer first sends a scanning instruction to the three-dimensional measurement sensor, and then sends a synchronization signal to the three-dimensional measurement sensor and the platform sensor; When the three-dimensional measurement sensor receives the first synchronization signal, the laser scanning is started to scan the terrain of the landing area, and the celestial body fixed coordinate system at time T0 is established; wherein time T0 is the time when the three-dimensional measurement sensor receives the first synchronization signal; The control computer records the angular velocity measurement information and acceleration measurement information at the effective moment of the synchronization signal measured by the platform sensor, and calculates the motion information of the detector during the scanning period; The three-dimensional measurement sensor completes the scanning of the terrain of the landing area according to the preset scanning time; the control computer stops sending the synchronization signal to the three-dimensional measurement sensor after the preset scanning time is exceeded, and sends the movement information of the detector during the scanning period to the three-dimensional measurement sensor; After receiving the motion information of the detector during scanning, the three-dimensional measurement sensor performs motion compensation on each scanning measurement point of the three-dimensional measurement sensor according to the motion information of the detector during scanning, and obtains the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0; According to the position vector of each scanning measurement point of the three-dimensional measurement sensor in the celestial body fixed coordinate system at time T0, the landing area terrain data in the celestial body fixed coordinate system at time T0 is determined for the subsequent identification of the landing safety zone.

2. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 1, characterized in that: The origin of the celestial body fixed coordinate system at time T0 is the sub-satellite point of the detector at time T0, the X-axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north.

3. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 2, characterized in that: The motion information of the detector includes: the attitude information and translation information of the detector; wherein the attitude information of the detector includes: the attitude Euler angle of the detector body relative to the local celestial northeast coordinate system; the translation information of the detector includes: the velocity vector of the detector body relative to the local celestial northeast coordinate system.

4. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 3, characterized in that: The motion compensation for each scanning measurement point of the three-dimensional measurement sensor includes: rotation compensation and translation compensation.

5. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 4, characterized in that: The scanning measurement points of the three-dimensional measurement sensor include: scanning measurement points at the effective time of the synchronous signal and scanning measurement points at the effective time of the asynchronous signal.

6. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 5, characterized in that: For the scanning measurement point at the effective time of the synchronization signal, the rotation compensation process is as follows: According to the attitude information of the detector obtained at each synchronization signal moment during the scanning period, the transformation matrix C of the detector body coordinate system relative to the celestial body fixed coordinate system at the measurement moment is obtained. Cg(i) ; Among them, the origin of the celestial body fixed coordinate system at the measurement time is the sub-satellite point of the detector at the measurement time, the X axis points to the sky, the Y and Z axes are in the local horizontal plane, the Y axis points to the east, and the Z axis points to the north; the detector body coordinate system is the three-dimensional rectangular coordinate system fixed to the detector; Based on the transformation matrix C Cg(i) , the position vector P of the scanning measurement point in the detector body coordinate system at the time when the synchronization signal is effective 1(i) The coordinate system is transformed to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at the measurement time. 2(i) :P 2(i) =C Cg(i) ·P 1(i) .

7. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 6, characterized in that: For the scanning measurement point at the effective time of the synchronization signal, the translation compensation process is as follows: According to the translation information of the detector obtained at each synchronization signal moment during the scanning period, the velocity vector V of the detector body relative to the local celestial northeast coordinate system is determined. i ; According to V i , for the position vector P 2(i) Perform translation compensation to obtain the position vector P of the scanning measurement point at the effective time of the synchronization signal in the celestial body fixed coordinate system at time T0 3(i) : Wherein, Δt represents the period of the synchronization signal.

8. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 7, characterized in that: For the scanning measurement point at the effective time of the asynchronous signal, the rotation compensation and translation compensation process are as follows: Interpolate the attitude information and translation information of the detector obtained at each synchronization signal moment during the scanning period to obtain the attitude information and translation information of the detector at the effective moment of the asynchronous signal; According to the attitude information and translation information of the detector at the effective time of the asynchronous signal, rotation compensation and translation compensation are performed on the scanning measurement point at the effective time of the asynchronous signal to obtain the position vector of the scanning measurement point at the effective time of the asynchronous signal in the celestial body fixed coordinate system at time T0.

9. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 1, characterized in that: During non-3D terrain acquisition missions, the control computer does not send synchronization signals to the 3D measurement sensors.

10. The method for acquiring three-dimensional terrain during high-dynamic landing of an extraterrestrial object according to claim 1, characterized in that: The detector is provided with a control computer, a three-dimensional measurement sensor and a platform sensor; the platform sensor comprises: at least three gyroscopes and at least three accelerometers.

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