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“嫦娥三号”探测器软着陆自主导航与制导技术
黄翔宇1,2, 张洪华1,3, 王大铁1,4, 李骥1,5, 关软峰1,6, 王鹏基1,7
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;6.空间智能控制技术重点实验室，北京100194;7.空间智能控制技术重点实验室，北京100195
摘要:
“嫦娥三号”探测器首次实现了我国航天器在地外天体软着陆，制导导航与控制技术是软着陆任务成功的关键。针对高安全和高可靠软着陆任务的要求，设计了包含接力避障的软着陆飞行程序，提出了单波束分时修正与多波束融合修正的自主导航方法和自适应动力显式制导、无迭代多项式粗避障制导以及内外环结合的精避障制导等方法。实际在轨飞行结果表明，导航算法提供了高精度的状态估计，制导算法实现了高精度状态控制和有效避障机动，确保了软着陆落月的安全性和可靠性。
关键词:  “嫦娥三号”探测器  软着陆  自主导航  制导律
DOI：
分类号:V448
基金项目:国家中长期科技发展规划重大专项资助项目
Autonomous Navigation and Guidance for Change-3 Soft Landing
HUANG Xiangyu1,2, ZHANG Honghua1,3, WANG Datie1,4, LI Ji1,5, GUAN Yifeng1,6, WANG Pengji1,7
1.Beijing Institute of Control Engineering,Beijing 100190,China;2.Science and Technology on Space Intelligent Control Laboratory,Beijing 100194,China;3.Science and Technology on Space Intelligent Control Laboratory,Beijing 100195,China;4.Science and Technology on Space Intelligent Control Laboratory,Beijing 100196,China;5.Science and Technology on Space Intelligent Control Laboratory,Beijing 100197,China;6.Science and Technology on Space Intelligent Control Laboratory,Beijing 100198,China;7.Science and Technology on Space Intelligent Control Laboratory,Beijing 100199,China
Abstract:
Chang' e-3 implemented its soft landing on the moon which is the first time for a Chinese spacecraft to conduct soft landing on an extraterrestrial body. GNC is the key to achieve successful soft landing. For the desire of high safe and reliable soft landing, the soft landing flight program including rough-fine-relay hazard avoidance is designed, the autonomous navigation method based on single beam time-sharing correction and multi-beams fusion filter, and the self- adaption powered explicit guidance, the non-iteration polynomial large hazard avoidance guidance, the inner-outer-loop small hazard avoidance guidance are presented. The real flight result of Chang' e-3 shows integration that the high-precision states is estimated by navigation algorithm, the high-precision states control and effective hazard avoidance maneuver are implemented by guidance algorithm to ensure the safety and reliability for lunar soft landing.
Key words:  Chang' e-3  soft landing  autonomous navigation  guidance