摘要
针对月球着陆区未知地形和障碍引起的着陆风险问题,提出了一种粗精结合的月球软着陆自主障碍识别与避障制导方法,主要包括着陆过程的粗精结合障碍识别与着陆区选取、基于图像信息的高精度相对导航和基于变推力发动机的自主避障制导等算法.理论推导与仿真分析表明,该技术能够保证着陆器选取到安全着陆区,并自主避障精确到达该区域,提高了软着陆任务的安全性,已成功应用于实际工程任务.
An autonomous hazard detection and rough-fine hazard-avoidance guidance method for soft lunar landing is presented to mitigate the landing risks due to the uncertainty and hazards of the lunar terrain, such as surface roughness and slope. The method is composed of rough-fine hazard detection and a landing site selection algorithm. The high-precision relative autonomous navigation algorithm is based on image data, and the autonomous hazard-avoidance guidance algorithm is based on an adjusted thrust engine. The theoretic deduction and simulation analysis shows that a safe landing site is acquired and autonomous pinpoint hazard avoidance is achieved using the presented method. The method can be used to improve the achievement of a soft landing and has been successfully used in the Chang＇e-3 soft landing mission.
出处
《中国科学：信息科学》
CSCD
北大核心
2015年第8期1046-1059,共14页
Scientia Sinica(Informationis)
基金
国家中长期科技发展规划重大专项资助项目
关键词
软着陆
障碍识别
自主避障
导航制导
图像导航
soft landing
hazard detection
autonomous hazard avoidance
navigation and guidance
optical nav-igation
作者简介
WU WeiRen was born in 1953. He re- ceived his Ph.D. degree in Electrical En- gineering from the Huazhong University of Science and Technology, Wuhan, in 2004. Currently, he is Chief Designer of the China Lunar Exploration Project at the Lunar Exploration and Aerospace Engineering Center. Dr. Wu is a mem- ber of IAA, Chairman of the Deep Space Exploration Technology Committee af- filiate to the Chinese Society of Astro-nautics, and an editorial board member of Chinese Science Bul- letin. His research interests include space TT ＆ C and space engineering.
通信作者．E-mail：huangxyhit@sina．com HUANG XiangYu was born in 1976. He received his Ph.D. degree in Space- craft Design from the Harbin Institute of Technology of China in 2005. He is now a Professor at Beijing Institute of Control Engineering, CAST, China. His research interests include autonomous guidance, navigation, and control for deep space spacecraft.
