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火星精确定点着陆多信息融合自主导航与控制方法研究
黄翔宇1,2, 徐超1,2, 胡荣海1,2, 李茂登1,2, 郭敏文1,2, 胡锦昌1,2
1.北京控制工程研究所, 北京 100094;2.空间智能控制技术重点实验室, 北京 100094
摘要:
针对火星定点采样、载人登陆和基地构建等任务的需求,提出了一种火星精确定点着陆多信息融合自主导航与控制(Guidance Navigation and Control,GNC)方案。针对大气进入前的高精度导航需求,提出了基于X射线脉冲星和火星表面陆标图像的融合自主导航方法;针对火星着陆探测进入、下降和着陆(Entry,Descent and Landing,EDL)过程的高精度绝对和相对导航需求,提出了基于陆标图像、IMU(Inertial Measurement Unit)和测距测速信息的多信息融合自主导航方法;针对精确定点着陆要求,设计了大气进入和动力下降过程的制导与控制算法。数学仿真结果表明,提出的方案能够实现高精度的定点着陆(精度100 m)和相对避障(精度为0.5 m),可满足任务需求。
关键词:  定点着陆;自主导航;信息融合;GNC方案
DOI:10.15982/j.issn.2095-7777.2019.04.006
分类号:
基金项目:国家自然科学基金资助项目(61673057,61803028);民用航天预先研究资助项目
Research of Autonomous Navigation and Control Scheme Based on Multi-Information Fusion for Mars Pinpoint Landing
HUANG Xiangyu1,2, XU Chao1,2, HU Ronghai1,2, LI Maodeng1,2, GUO Minwen1,2, HU Jinchang1,2
1.Beijing Institute of Control Engineering, Beijing 100094, China;2.Science and Technology on Space Intelligent Control Laboratory, Beijing 100094, China
Abstract:
An autonomous guidance,navigation and control(GNC)scheme based on multi-information fusion is proposed for Mars pinpoint landing mission. Before entering the Mars atmosphere,an autonomous navigation scheme fusing X-Ray pulsars and Mars landmark images is employed to satisfy the requirement of high precision navigation. Then,during Mars entry,descent and landing(EDL)phase,a multi-information fusion navigation scheme is constructed for absolute and relative navigation with high precision, which consists of Mars landmark images, inertial measurement unit (IMU) and ranging and velocity sensors. With the demands of pinpoint landing, a guidance and control algorithm is also designed for Mars atmosphere entry phase and powered descent phase. Finally,numerical simulation is performed,which indicates that the landing accuracy is better than 100 m and the hazard avoidance accuracy is around 0.5 m when adopting the proposed GNC scheme.
Key words:  pinpoint landing;autonomous navigation;information fusion;GNC scheme