月球软着陆过程高精度自主导航避障方法

王大铁; 李骥; 黄翔宇; 张洪华

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月球软着陆过程高精度自主导航避障方法
王大铁^1,2, 李骥^1,3, 黄翔宇^1,4, 张洪华^1,5
1.北京控制工程研究所，北京100190;2.空间智能控制技术重点实验室，北京100190;3.空间智能控制技术重点实验室，北京100191;4.空间智能控制技术重点实验室，北京100192;5.空间智能控制技术重点实验室，北京100193

摘要:

针对未知地形和障碍会危及着陆安全的问题，给出了一种月球软着陆过程高精度自主导航避障方法，主要包括基于IMU配以测距测速修正的自主绝对导航、障碍识别与目标着陆点选取、针对目标着陆点的相对导航与相对避障控制等算法。该方法在保证着陆精度的同时也大大降低了着陆过程遇到障碍的风险，提高了系统的安全性，已成功应用于实际工程任务。

关键词: 自主导航自主避障月球软着陆

DOI：

分类号:V448

基金项目:国家中长期科技发展规划重大专项以及民口973和民用航天资助项目

A Pinpoint Autonomous for Navigation and Hazard Avoidance Method Lunar Soft Landing

WANG Datie^1,2, LI Ji^1,3, HUANG Xiangyu^1,4, ZHANG Honghua^1,5

1.Beijing Institute of Control Engineering,Beijing 100190,China;2.Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China;3.Science and Technology on Space Intelligent Control Laboratory,Beijing 100191,China;4.Science and Technology on Space Intelligent Control Laboratory,Beijing 100192,China;5.Science and Technology on Space Intelligent Control Laboratory,Beijing 100193,China

Abstract:

The terrain uncertainty and hazard such as surface roughness and slope will threaten the safety of soft landing. A pinpoint autonomous navigation and hazard avoidance method for lunar soft landing is proposed in this paper,which is composed of the autonomous navigation algorithm based on range-velocity-updated inertial navigation, the algorithm of hazard detection and targeted landing site selection, the relative navigation algorithm to the targeted landing site, and the relative hazard avoidance control algorithm. The method can be used to reduce the risk of safe landing and has been successfully used in the Chang' e-3 soft landing mission.

Key words: autonomous navigation autonomous hazard avoidance lunar soft landing