A real-time distance determination method and device based on heterogeneous information compensation

Abstract

This invention relates to the field of deep space exploration technology, and particularly to a real-time distance determination method and apparatus based on heterogeneous information compensation. The method includes: determining first distance data obtained by a dynamics computer within each preset exploration cycle; if the dynamics computer receives second distance data sent by a ranging simulator, obtaining distance compensation data based on the second distance data and the first distance data of the exploration cycle in which the ranging command was sent; in all subsequent exploration cycles in which no new second distance data is received, obtaining target distance data for the exploration cycle based on the distance compensation data and the first distance data corresponding to each exploration cycle; if the dynamics computer receives second distance data sent by the ranging simulator again, repeating the above process to obtain the target distance data corresponding to each exploration cycle. The technical solution of this invention can improve the accuracy of distance data between the probe and the lunar surface.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, and in particular to a real-time distance determination method and apparatus based on heterogeneous information compensation. Background Technology

[0002] Future lunar exploration missions will need to achieve pinpoint landings at the lunar south pole with a landing accuracy on the order of hundreds of meters. During landing, image navigation technology is typically used to determine the probe's position (matching images captured by the probe with a reference image in the navigation map). The probe's altitude relative to the lunar surface is calculated based on the distance information output by the laser rangefinder (the distance between the probe and the lunar surface), and then processed by a dynamics computer using built-in dynamics and lunar models.

[0003] However, dynamic computers often perform calculations based on ideal lunar models, ignoring the changes in ranging output caused by the undulations of the lunar surface. This not only affects the accuracy of probe altitude detection, but also makes it difficult to determine the image scale during the use of image navigation technology, reducing the success rate of image matching and impacting landing safety.

[0004] Therefore, a new technical solution is urgently needed to solve the above-mentioned technical problems. Summary of the Invention

[0005] This invention provides a real-time distance determination method and apparatus based on heterogeneous information compensation, which can improve the accuracy of distance data between the probe and the lunar surface.

[0006] In a first aspect, the present invention provides a real-time distance determination method based on heterogeneous information compensation, comprising: Determine the initial distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset exploration cycle; If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed from the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probe cycle in which the ranging command is sent. The ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data. During all subsequent detection cycles in which no new second distance data is received, the target distance data for the detection cycle is obtained based on the distance compensation data and the first distance data corresponding to each detection cycle. If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the second distance data and the first distance data of the detection cycle in which the ranging command is sent, to obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

[0007] Secondly, the present invention provides a real-time distance determination device based on heterogeneous information compensation, comprising: The first distance acquisition module determines the first distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset exploration cycle. The distance compensation acquisition module is connected to the first distance acquisition module. If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed sent by the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probe cycle in which the ranging command is sent. The ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data. The target distance acquisition module is connected to the distance compensation acquisition module. In all subsequent detection cycles in which no new second distance data is received, the target distance data of the detection cycle is obtained based on the distance compensation data and the first distance data corresponding to each detection cycle. The real-time distance compensation module is connected to the distance compensation acquisition module and the target distance acquisition module respectively. If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the second distance data and the first distance data of the detection cycle in which the ranging command is sent, to obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

[0008] Thirdly, the present invention provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect of the present invention.

[0009] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method described in the first aspect of the present invention.

[0010] This invention provides a real-time distance determination method and apparatus based on heterogeneous information compensation. By fusing ideal distance data from a dynamics computer and real distance data from a distance measurement simulator, it can accurately reflect the influence of the real terrain of the landing area on the distance measurement simulation during the lander's descent, obtain precise distance data between the probe and the lunar surface, increase the matching success rate of image navigation technology under rugged terrain conditions, ensure the safe landing of the probe, and improve the reliability and credibility of ground closed-loop simulation verification. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0012] Figure 1 This is a flowchart of a real-time distance determination method based on heterogeneous information compensation provided by an embodiment of the present invention; Figure 2 This is a hardware architecture diagram of an electronic device provided in an embodiment of the present invention; Figure 3 This is a structural diagram of a real-time distance determination device based on heterogeneous information compensation provided in an embodiment of the present invention; Figure 4 It is based on Figure 1 The diagram illustrates a specific example of a real-time distance determination method based on heterogeneous information compensation. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0014] Please refer to Figure 1 This invention provides a real-time distance determination method based on heterogeneous information compensation, the method comprising: Step 100: Determine the first distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset exploration cycle; Step 102: If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed from the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probing cycle in which the ranging command was sent. Among them, the ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data; Step 104: In all subsequent detection cycles in which no new second distance data is received, obtain the target distance data for the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle; Step 106: If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the first distance data of the detection cycle in which the ranging command was sent, and obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

[0015] In this embodiment of the invention, to fully assess the impact of the rugged terrain conditions of the landing area on the distance monitoring results between the probe and the lunar surface, the invention employs a heterogeneous information compensation method. High-precision second distance data collected by the ranging simulator is used to correct the relatively ideal first distance data calculated by the dynamics computer, thus obtaining real-time target distance data. The dynamics computer is mainly used for ground-based closed-loop test dynamics simulation. It employs a multi-tasking real-time operating system, has built-in dynamics and kinematic models, and can simulate the outputs of different sensors. In this embodiment, the preset detection period of the dynamics computer is 8ms, meaning it calculates the first distance data between the probe and the lunar surface every 8ms. This first distance data is based on an ideal lunar sphere model and does not consider lunar surface topographic undulations. The ranging simulator is mainly used to simulate the ranging distance (second distance data) under lunar surface topographic undulations. Compared to the ideal distance data obtained by the dynamics computer, the ranging simulator provides real distance data considering the influence of terrain. The dynamics computer and the ranging simulator communicate via Ethernet. The dynamics computer sends a ranging command to the ranging simulator to start calculating the distance. After a certain interval, the ranging simulator returns the distance calculation result (second distance data) to the dynamics computer. Unlike the regular detection cycle of the dynamics computer, the distance simulator's calculation time varies, ranging from 56ms to 64ms. This causes a continuous change in the timing phase between the actual distance data output by the distance simulator and the ideal distance data output by the dynamics computer. After the dynamics computer initially sends a distance measurement command to the distance simulator, it may receive second distance data from the simulator several detection cycles later. This second distance data represents the actual distance between the probe and the lunar surface at the time the distance measurement command was issued. However, by the time the dynamics computer receives this second distance data, several detection cycles have already passed. Therefore, by comparing this second distance data with the first distance data at the time the distance measurement command was issued, the difference between the actual and ideal distance data can be obtained, i.e., the distance compensation data. This distance compensation data can be used to correct the first distance data in subsequent detection cycles. That is, before the dynamics computer receives new second distance data, the distance compensation data is added to the first distance data of each detection cycle to obtain the target distance data. When the dynamics computer receives second distance data from the distance simulator again, a new round of distance compensation data determination and first distance data correction process begins. It is understandable that each time the dynamics computer receives the second distance data, it compares the first distance data of the detection cycle in which the distance measurement command corresponding to the second distance data was issued (rather than the time when the second distance data was received) with the second distance data to obtain distance compensation data.By integrating ideal distance data from dynamic computer and real distance data from distance simulator, it fully utilizes the real-time nature of distance data from dynamic computer and the accuracy of distance data from distance simulator. It can output distance data that takes into account terrain undulations in real time, meeting the real-time requirements of ground closed-loop simulation systems.

[0016] In one embodiment of the present invention, it further includes: Before the dynamics computer receives the second distance data sent by the ranging simulator, the first distance data of each detection cycle is used as the target distance data.

[0017] In this embodiment, before the dynamics computer receives the second distance data for the first time, since there is no distance compensation data for correction, the first distance data can be directly used as the target distance data. Alternatively, the distance compensation data can be considered to be 0 at this point, and will be updated based on the second distance data acquired each time during subsequent calculations.

[0018] In one embodiment of the present invention, distance compensation data is obtained based on second distance data and first distance data within the detection period in which the ranging command is sent, including: Determine the first distance data within the detection cycle at which the dynamics computer sends the ranging command; Distance compensation data is obtained based on the difference between the second distance data and the first distance data.

[0019] In this embodiment, the difference between the second distance data and the first distance data is used as the distance compensation data. The sign of the distance compensation data can be used to indicate the direction of the height difference between the ideal distance and the actual distance.

[0020] In one embodiment of the present invention, it further includes: If the distance compensation data is within the preset valid data range, the distance compensation data will be used as valid distance compensation data, so as to determine the target distance data in all subsequent detection cycles in which no new second distance data has been received. If the distance compensation data is not within the preset valid data range, the detection period of receiving the second distance data will be used as the current detection period; The detection cycle that is closest to the current detection cycle and has valid distance compensation data is taken as the closest detection cycle. The distance compensation data in the closest detection cycle is taken as the distance compensation data of the current detection cycle. The target distance data is determined in all subsequent detection cycles in which no new second distance data has been received using the distance compensation data of the current detection cycle. If there is no valid distance compensation data in the previous detection cycles, then the first distance data of each detection cycle will be used as the target distance data.

[0021] In this embodiment, the effective range of distance compensation data is typically between -2000 meters and 2000 meters. If the calculated distance compensation data falls within this range, it is considered valid data. Before receiving new second distance data, the first distance data for all subsequent detection cycles is corrected using this valid distance compensation data. If distance compensation data existed previously, the valid distance compensation data calculated for the current detection cycle replaces the previous distance compensation data. If the distance compensation data is not within the valid range, it is considered invalid data, and the previous distance compensation data is still used to correct the first distance data for subsequent detection cycles (when no new second distance data is received). If no distance compensation data existed previously (meaning the dynamics computer has never received second distance data), and there is no data for correction, the first distance data in each detection cycle is directly used as the target distance data.

[0022] In one embodiment of the present invention, target distance data for a detection period is obtained based on distance compensation data and first distance data corresponding to each detection period, including: The target distance data for each detection cycle is obtained by summing the distance compensation data and the first distance data corresponding to each detection cycle.

[0023] In this embodiment, the distance compensation data is added to the first distance data to obtain the target distance data. The sign of the distance compensation data is used to correct the first distance data in the direction of height.

[0024] by Figure 4 The embodiment shown is used as an example for illustration. At time T1, the dynamic calculation yields the ideal distance output (first distance data) d1_ideal, which is then sent to the ranging simulator to initiate distance calculation (range measurement command). At time T8, the ranging simulator outputs the actual distance d1_real corresponding to time T1 (second distance data). The terrain undulation is thus calculated. (Distance Compensation Data). Starting from time T9, this distance compensation data is used to correct the first distance data in each subsequent detection cycle. The compensated output is the current ideal distance data + (First distance data + distance compensation data), until the second distance data sent by the ranging simulator is received again, then update. The new distance compensation data is then used to correct the first distance data in subsequent detection cycles.

[0025] In the 8ms time slice of dynamics calculation task, the dynamics computer calculates the ideal distance output d(i)_ideal for the current frame. In the 8ms time slice of network communication task, the dynamics computer checks whether a distance calculation command has been sent to the ranging simulator. If a distance calculation command has been sent, Flag_js is set to 1, and the current ideal distance data d(k)_ideal is recorded, where k=i. In the 8ms time slice of network communication task, the dynamics computer checks whether distance data has been received from the ranging simulator. If distance data has been received and Flag_js is 1, the terrain undulation is calculated. Where d_real is the actual distance data considering terrain sent by the ranging simulator. The calculated terrain undulations... Perform a validity check. When -2000 < If the value is less than 2000, the calculated terrain undulation is considered valid. If... If valid, then update. The dynamics computer calculates the compensated distance data during the sensor output task in an 8ms time slice. . Initially 0.

[0026] In one embodiment of the present invention, the first distance data is obtained based on an ideal lunar sphere model and the motion state data of the probe.

[0027] In this embodiment, the first distance data is obtained based on an ideal lunar sphere model, a probe dynamics model, and a kinematic model. The dynamics computer, based on the built-in probe dynamics and kinematic models, calculates the three-dimensional coordinates of the probe's center of mass, velocity, and attitude angle within the current preset detection period; combined with the offset parameters of the laser ranging sensor's installation position on the probe, it calculates the spatial coordinates of the laser ranging sensor's transmitting endpoint; based on the standard radius of the ideal lunar sphere, it determines the coordinates of the intersection point between the transmitting endpoint extended towards the lunar center and the lunar sphere's surface; using the distance formula between two points in space, it calculates the straight-line distance between the transmitting endpoint coordinates and the intersection point coordinates to obtain the first distance data.

[0028] In one embodiment of the present invention, the second distance data is obtained based on real lunar surface terrain data and the location data of the probe.

[0029] In this embodiment, the second distance data is obtained based on real three-dimensional terrain data of the lunar surface and the probe's position information. After receiving the ranging command sent by the dynamics computer, the ranging simulator loads the real three-dimensional terrain data of the landing area (preferably the lunar south pole landing area); obtains the probe's position information within the exploration period corresponding to the ranging command; and calculates the straight-line distance from the probe's laser ranging sensor emission endpoint to the actual landing point on the lunar surface based on the probe's position information and the real three-dimensional terrain data, thus obtaining the second distance data.

[0030] like Figure 2 , Figure 3 As shown, this specification provides a real-time distance determination device based on heterogeneous information compensation. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, as... Figure 2 The diagram shown is a hardware architecture diagram of an electronic device for determining real-time distance based on heterogeneous information compensation, as provided in an embodiment of this specification. Except for... Figure 2 In addition to the processor, memory, network interface, and non-volatile memory shown, the electronic device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, a device in a logical sense is formed by the CPU of the electronic device in which it is located reading the corresponding computer program from the non-volatile memory into the memory for execution.

[0031] like Figure 3 As shown, this embodiment provides a real-time distance determination device based on heterogeneous information compensation, comprising: The first distance acquisition module 300 determines the first distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset detection cycle. The distance compensation acquisition module 302 is connected to the first distance acquisition module. If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed sent by the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probe cycle in which the ranging command is sent. The ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data. The target distance acquisition module 304 is connected to the distance compensation acquisition module. In all subsequent detection cycles in which no new second distance data is received, the target distance data of the detection cycle is obtained based on the distance compensation data and the first distance data corresponding to each detection cycle. The real-time distance compensation module 306 is connected to the distance compensation acquisition module and the target distance acquisition module respectively. If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the second distance data and the first distance data of the detection cycle in which the ranging command is sent, to obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

[0032] In the embodiments of this specification, the first distance acquisition module 300 can be used to execute step 100 in the above method embodiments, the distance compensation acquisition module 302 can be used to execute step 102 in the above method embodiments, the target distance acquisition module 304 can be used to execute step 104 in the above method embodiments, and the real-time distance compensation module 306 can be used to execute step 106 in the above method embodiments.

[0033] In one embodiment of this specification, it further includes: Before the dynamics computer receives the second distance data sent by the ranging simulator, the first distance data of each detection cycle is used as the target distance data.

[0034] In one embodiment of this specification, obtaining distance compensation data based on the second distance data and the first distance data within the detection period in which the ranging command is sent includes: Determine the first distance data within the detection period at which the dynamics computer sends the ranging command; The distance compensation data is obtained based on the difference between the second distance data and the first distance data.

[0035] In one embodiment of this specification, it further includes: If the distance compensation data is within a preset valid data range, then the distance compensation data is used as valid distance compensation data, so as to determine the target distance data in all subsequent detection cycles in which no new second distance data is received; If the distance compensation data is not within the preset valid data range, the detection period for receiving the second distance data will be used as the current detection period; The detection cycle that is closest to the current detection cycle and has valid distance compensation data is taken as the closest detection cycle. The distance compensation data in the closest detection cycle is taken as the distance compensation data of the current detection cycle. The target distance data is determined in all subsequent detection cycles in which no new second distance data is received using the distance compensation data of the current detection cycle. If there is no valid distance compensation data in the previous detection cycles, then the first distance data of each detection cycle will be used as the target distance data.

[0036] In one embodiment of this specification, obtaining the target distance data for the detection period based on the distance compensation data and the first distance data corresponding to each detection period includes: The target distance data for the detection period is obtained by summing the distance compensation data and the first distance data corresponding to each detection period.

[0037] In one embodiment of this specification, the first distance data is obtained based on an ideal lunar sphere model and the motion state data of the probe.

[0038] In one embodiment of this specification, the second distance data is obtained based on real lunar surface terrain data and the location data of the probe.

[0039] It is understood that the structures illustrated in the embodiments of this specification do not constitute a specific limitation on a real-time distance determination device based on heterogeneous information compensation. In other embodiments of this specification, a real-time distance determination device based on heterogeneous information compensation may include more or fewer components than illustrated, or combine some components, or split some components, or have different component arrangements. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0040] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiments in this specification, and the specific details can be found in the descriptions in the method embodiments in this specification, so they will not be repeated here.

[0041] This specification also provides an electronic device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a real-time distance determination method based on heterogeneous information compensation according to any embodiment of this specification.

[0042] This specification also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform a real-time distance determination method based on heterogeneous information compensation according to any embodiment of this specification.

[0043] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0044] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute a part of this specification.

[0045] Storage media embodiments for providing program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0046] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0047] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0049] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this specification, and are not intended to limit them. Although this specification has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this specification.

Claims

1. A real-time distance determination method based on heterogeneous information compensation, characterized in that, include: Determine the initial distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset exploration cycle; If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed from the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probe cycle in which the ranging command is sent. The ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data. During all subsequent detection cycles in which no new second distance data is received, the target distance data for the detection cycle is obtained based on the distance compensation data and the first distance data corresponding to each detection cycle. If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the second distance data and the first distance data of the detection cycle in which the ranging command is sent, to obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

2. The method according to claim 1, characterized in that, Also includes: Before the dynamics computer receives the second distance data sent by the ranging simulator, the first distance data of each detection cycle is used as the target distance data.

3. The method according to claim 1, characterized in that, The distance compensation data obtained based on the second distance data and the first distance data within the detection period at which the ranging command was sent includes: Determine the first distance data within the detection period at which the dynamics computer sends the ranging command; The distance compensation data is obtained based on the difference between the second distance data and the first distance data.

4. The method according to claim 3, characterized in that, Also includes: If the distance compensation data is within a preset valid data range, then the distance compensation data is used as valid distance compensation data, so as to determine the target distance data in all subsequent detection cycles in which no new second distance data is received; If the distance compensation data is not within the preset valid data range, the detection period for receiving the second distance data will be used as the current detection period; The detection cycle that is closest to the current detection cycle and has valid distance compensation data is taken as the closest detection cycle. The distance compensation data in the closest detection cycle is taken as the distance compensation data of the current detection cycle. The target distance data is determined in all subsequent detection cycles in which no new second distance data is received using the distance compensation data of the current detection cycle. If there is no valid distance compensation data in the previous detection cycles, then the first distance data of each detection cycle will be used as the target distance data.

5. The method according to claim 1, characterized in that, The step of obtaining the target distance data for the detection period based on the distance compensation data and the first distance data corresponding to each detection period includes: The target distance data for the detection period is obtained by summing the distance compensation data and the first distance data corresponding to each detection period.

6. The method according to claim 1, characterized in that, The first distance data is obtained based on an ideal lunar sphere model and the motion state data of the probe.

7. The method according to claim 1, characterized in that, The second distance data is obtained based on real lunar surface terrain data and the location data of the probe.

8. A real-time distance determination device based on heterogeneous information compensation, characterized in that, include: The first distance acquisition module determines the first distance data between the probe and the lunar surface to be landed, obtained by the dynamics computer in each preset exploration cycle. The distance compensation acquisition module is connected to the first distance acquisition module. If the dynamics computer receives the second distance data between the probe and the lunar surface to be landed sent by the ranging simulator, it obtains distance compensation data based on the second distance data and the first distance data of the probe cycle in which the ranging command is sent. The ranging command is the command sent by the dynamics computer to the ranging simulator to obtain the second distance data. The target distance acquisition module is connected to the distance compensation acquisition module. In all subsequent detection cycles in which no new second distance data is received, the target distance data of the detection cycle is obtained based on the distance compensation data and the first distance data corresponding to each detection cycle. The real-time distance compensation module is connected to the distance compensation acquisition module and the target distance acquisition module respectively. If the dynamics computer receives the second distance data sent by the ranging simulator again, it repeats the process of obtaining distance compensation data based on the second distance data and the first distance data of the detection cycle in which the ranging command is sent, to obtaining the target distance data of the detection cycle based on the distance compensation data and the first distance data corresponding to each detection cycle, so as to obtain the target distance data corresponding to each detection cycle.

9. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-7.

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