中文核心期刊

中国高校优秀科技期刊

中国宇航学会深空探测技术专业委员会会刊

高级检索

留言板

尊敬的读者、作者、审稿人, 关于本刊的投稿、审稿、编辑和出版的任何问题, 您可以本页添加留言。我们将尽快给您答复。谢谢您的支持!

姓名
邮箱
手机号码
标题
留言内容
验证码

小行星复杂形貌自适应附着轨迹动态规划方法

葛丹桐 朱圣英

葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文). doi: 10.15982/j.issn.2096-9287.2021.20200072
引用本文: 葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文). doi: 10.15982/j.issn.2096-9287.2021.20200072
GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration. doi: 10.15982/j.issn.2096-9287.2021.20200072
Citation: GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration. doi: 10.15982/j.issn.2096-9287.2021.20200072

小行星复杂形貌自适应附着轨迹动态规划方法

doi: 10.15982/j.issn.2096-9287.2021.20200072
基金项目: 国家重点研发计划资助项目(2019YFA0706500);国家自然科学基金(61873302,61973032);基础科研项目(JCKY2018602B002,JCKY2019602D022);民用航天预研项目;中国博士后科学基金项目(2020M680388)
详细信息
    作者简介:

    葛丹桐(1992– ),女,博士后,主要研究方向:行星探测自主导航、着陆制导与控制。通讯地址:北京市海淀区中关村南大街5号,北京理工大学宇航学院(100081)电话:(010)68918910 E-mail:gedt@bit.edu.cn

    通讯作者:

    朱圣英(1982– ),男,副教授,博士生导师,主要研究方向:深空探测自主导航、特征提取与匹配、着陆轨迹优化与控制。本文通讯作者。通讯地址:北京市海淀区中关村南大街5号,北京理工大学宇航学院(100081)电话:(010)68913550 E-mail:zhushy@bit.edu.cn

  • ● Taking system state uncertainties and trajectory tracking deviations into account,a multi-objective optimal waypoint sequence is generated. ● A real-time evaluation of the conflict between environment obstacles and the nominal trajectory is carried out. ● Onboard computation burden is reduced by changing the minimum number of waypoints to avoid the newly-detected obstacles. ● Through an autonomous switch between robust tracking and local waypoint re-planning,system environment adaptability is improved.
  • 中图分类号: V442

Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability

  • 摘要: 针对小行星表面复杂崎岖形貌对附着安全构成的威胁,提出一种形貌自适应附着轨迹动态规划方法。基于构建的附着过程多目标最优路径点序列,结合障碍检测信息在线评估探测器受到的碰撞威胁大小,当障碍与标称附着轨迹产生冲突时,通过设计最少路径点局部重规划方法,实现路径点鲁棒跟踪与局部避障轨迹动态规划的自主切换,增强探测器对复杂形貌环境的自适应能力,提高小行星附着任务安全性。
    Highlights
    ● Taking system state uncertainties and trajectory tracking deviations into account,a multi-objective optimal waypoint sequence is generated. ● A real-time evaluation of the conflict between environment obstacles and the nominal trajectory is carried out. ● Onboard computation burden is reduced by changing the minimum number of waypoints to avoid the newly-detected obstacles. ● Through an autonomous switch between robust tracking and local waypoint re-planning,system environment adaptability is improved.
  • 图  1  算法结构

    Fig.  1  Structure of the algorithm

    图  2  仿真地形与初始最优路径点序列

    Fig.  2  Simulated terrain model and the initial optimal waypoint sequence

    图  3  X-Z平面内的初始最优路径点序列

    Fig.  3  The Pareto optimal waypoint sequence on the X-Z plane

    图  4  实际跟踪轨迹在X-Z平面投影

    Fig.  4  The projection of the landing trajectory on the X-Z plane

    图  5  探测器位置与速度在X轴和Z轴的变化

    Fig.  5  Positions and velocities of the spacecraft on X and Z axes

    图  6  X-Z平面内的重规划路径点序列

    Fig.  6  The re-planning waypoint sequence on the X-Z plane

  • [1] OGAWA N, TERUI F, YASUDA S, et al. Image-based autonomous navigation of Hayabusa2 using artificial landmarks: design and in-flight results in landing operations on asteroid Ryugu[C]//AIAA SCITECH 2020 Forum. [S. l.]: AIAA, 2020.
    [2] EVERETT D, MINK R, LINN T, et al. Designing to sample the unknown: lessons from OSIRIS-REx project systems engineering[C]//2017 IEEE Aerospace Conference. [S. l.]: IEEE, 2017.
    [3] 崔平远,葛丹桐,朱圣英,等. 行星着陆点自主评估与选取研究进展[J]. 中国科学:技术科学,2020. doi:  10.1360/SST-2020-0228
    [4] BIELE J, ULAMEC S, MAIBAUM M, et al. The landing(s) of Philae and inferences about comet surface mechanical properties[J]. Science, 2015, 349: 6247.
    [5] YOSHIKAWA K, KIKUCHI S, SAWADA H, et al. Hayabusa 2 spacecraft dynamics and operational design of final descent and touchdown in sampling mission[C]//AIAA SCITECH 2020 Forum. [S. l.]: AIAA, 2020.
    [6] 于洋,宝音贺西. 小天体附近的轨道动力学研究综述[J]. 深空探测学报(中英文),2014,1(2):93-104.

    YU Y,BAOYIN H X. Review of orbital dynamics in the vicinity of solar system small celestial bodies scientific vision for future missions[J]. Journal of Deep Space Exploration,2014,1(2):93-104.
    [7] 袁旭,朱圣英,乔栋,等. 小天体着陆动力学参数不确定性影响分析[J]. 深空探测学报(中英文),2014,1(2):134-139.

    YUAN X,ZHU S Y,QIAO D,et al. Impact analysis of dynamic parameters uncertainty on small celestial body landing[J]. Journal of Deep Space Exploration,2014,1(2):134-139.
    [8] KAWAGUCHI J,FUJIWARA A,UESUGI T. Hayabusa—its technology and science accomplishment summary and Hayabusa-2[J]. Acta Astronautica,2008,62(10-11):639-647. doi:  10.1016/j.actaastro.2008.01.028
    [9] YANG H W,BAI X L,BAOYIN H X. Rapid generation of time-optimal trajectories for asteroid landing via convex optimization[J]. Journal of Guidance Control Dynamics,2017,40(3):628-641. doi:  10.2514/1.G002170
    [10] LEE U,MESBAHI M. Constrained autonomous precision landing via dual quaternions and model predictive control[J]. Journal of Guidance,Control,and Dynamics,2017,40(2):292-308.
    [11] GUI H,VUKOVICH G. Robust adaptive tracking of rigid body motion with applications to asteroid proximity operations[J]. IEEE Transactions on Aerospace and Electronic Systems,2017,53(1):419-430. doi:  10.1109/TAES.2017.2650778
    [12] 袁旭,朱圣英,崔平远. 小天体自主附着多滑模面鲁棒制导方法研究[J]. 深空探测学报(中英文),2015,2(4):345-351.

    YUAN X,ZHU S Y,CUI P Y. Study on robust multiple sliding surface guidance method for autonomous small celestial body landing[J]. Journal of Deep Space Exploration,2015,2(4):345-351.
    [13] GE D T,CUI P Y,ZHU S Y. Recent development of autonomous GNC technologies for small celestial body descent and landing[J]. Progress in Aerospace Sciences,2019,110:100551. doi:  10.1016/j.paerosci.2019.06.002
    [14] STENTZ A. Optimal and efficient path planning for partially-known environments[C]//IEEE International Conference on Robotics and Automation. [S. l.]: IEEE, 1994.
    [15] KOENIG S,LIKHACHEV M. Fast replanning for navigation in unknown terrain[J]. IEEE Transactions on Robotics,2005,21(3):354-363. doi:  10.1109/TRO.2004.838026
    [16] 黄鲁,周非同. 基于路径优化D*Lite算法的移动机器人路径规划[J]. 控制与决策,2020,35(4):877-884.

    HUANG L,ZHOU F T. Path planning of moving robot based on path optimization of D* Lite algorithm[J]. Control and Decision,2020,35(4):877-884.
    [17] LU P. Theory of fractional-polynomial powered descent guidance[J]. Journal of Guidance,Control,and Dynamics,2020,43(3):398-409.
    [18] CUI P Y,QIN T,ZHU S Y,et al. Trajectory curvature guidance for Mars landings in hazardous terrains[J]. Automatica,2018,93:161-171. doi:  10.1016/j.automatica.2018.03.049
    [19] DUERI D,BEHÇET A,SCHARF D P,et al. Customized real-time interior-point methods for onboard powered-descent guidance[J]. Journal of Guidance Control and Dynamics,2016,40(2):197-212.
    [20] LI T, LONGMAN R W. Designing iterative learning control of non-minimum phase systems to converge to zero tracking error[C]//AIAA/AAS Astrodynamics Specialist Conference. [S. l.]: AIAA, 2017.
    [21] WERNER R A,SCHEERES D J. Exterior gravitation of a polyhedron derived and compared with harmonic and mascon gravitation representations of Asteroid 4769 Castalia[J]. Celestial Mechanics and Dynamical Astronomy,1996,65(3):313-344.
    [22] YUAN X,YU Z S,CUI P Y,et al. Probability-based hazard avoidance guidance for planetary landing[J]. Acta Astronautica,2018,144:12-22. doi:  10.1016/j.actaastro.2017.11.039
    [23] 王汀,郭延宁,张瑶,等. 基于模型预测控制的多约束火星精确着陆制导律研究[J]. 深空探测学报(中英文),2016,3(4):377-383.

    WANG T,GUO Y N,ZHANG Y,et al. Model predictive control guidance for constrained Mars pinpoint landing[J]. Journal of Deep Space Exploration,2016,3(4):377-383.
    [24] EREN U,PRACH A,KOCER B,et al. Model predictive control in aerospace systems:current state and opportunities[J]. Journal of Guidance,Control,and Dynamics,2017,40(7):1541-1566.
    [25] GAL-EDD J, CHEUVRONT A. The OSIRIS-REx asteroid sample return mission operations design[C]//13th International Conference on Space Operations. Pasadena, CA: [s. n.], 2014.
  • [1] 王卓, 徐瑞.  基于多目标优化的深空探测器姿态组合规划方法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2096-9287.2021.20200069
    [2] 陈上上, 关轶峰, 于萍, 李骥, 张晓文.  基于粒子群优化的月球陨石坑探测轨迹规划 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2020.20191031007
    [3] 王颖, 唐明亮, 郝钏钏, 朱亮聪, 冯继航.  一种适应多目标轨道的运载火箭弹道制导设计方法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2020.20200038
    [4] 丹尼尔T.布瑞特.  小行星与陨石的光谱联系 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2019.05.004
    [5] 张荣桥, 黄江川, 赫荣伟, 耿言, 孟林智.  小行星探测发展综述 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2019.05.002
    [6] 于天一, 费江涛, 李立春, 程肖.  月面巡视器路径规划方法研究 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2019.04.011
    [7] 李春来, 刘建军, 严韦, 封剑青, 任鑫, 刘斌.  小行星探测科学目标进展与展望 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2019.05.003
    [8] 彭德云, 邹雪梅, 李亮.  月球背面探测任务多目标协同控制模式设计 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2018.06.007
    [9] 张韵, 刘岩, 李俊峰.  小行星防御动能撞击效果评估 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2017.01.008
    [10] 安然, 王敏, 梁新刚.  基于不变流形的地-月L2点转移轨道优化设计 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2017.03.008
    [11] 邓剑峰, 高艾, 崔平远.  基于改进多模型的火星大气进入自适应估计方法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2017.06.006
    [12] 魏祥泉, 黄建明, 顾冬晴, 陈凤.  火星车自主导航与路径规划技术研究 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2016.03.012
    [13] 宁晓琳, 李卓, 黄盼盼, 杨雨青, 刘刚, 房建成.  火星探测器捕获段自适应卡尔曼滤波方法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2016.03.007
    [14] 徐青, 王栋, 邢帅, 蓝朝桢.  小行星形貌测绘与表征技术 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2016.04.007
    [15] 王茜茜, 谢慕君, 李元春.  基于模糊参数优化的小行星软着陆控制方法研究 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2015.02.010
    [16] 王栋, 徐青, 邢帅, 刘衷瑞.  小行星形貌特征的分析与描述 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2015.04.010
    [17] 王琼, 于登云, 贾阳.  Risk Theta*:一种基于地形危险度的任意航向路径规划算法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2014.04.004
    [18] 范双菲, 赵方方, 李夏菁, 唐忠樑, 贺威.  基于SINS/CNS组合导航系统的多模型自适应估计算法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2014.04.005
    [19] 董元元, 崔祜涛, 田阳.  基于栅格地图的火星车路径规划方法 . 深空探测学报(中英文), doi: 10.15982/j.issn.2095-7777.2014.04.007
    [20] 尚海滨, 崔平远, 熊旭, 武小宇.  载人小行星探测目标选择与轨道优化设计 . 深空探测学报(中英文),
  • 加载中
计量
  • 文章访问数:  56
  • 被引次数: 0
出版历程
  • 收稿日期:  2020-11-03
  • 录用日期:  2020-08-15
  • 修回日期:  2020-12-04
  • 网络出版日期:  2021-05-06

小行星复杂形貌自适应附着轨迹动态规划方法

doi: 10.15982/j.issn.2096-9287.2021.20200072
    基金项目:  国家重点研发计划资助项目(2019YFA0706500);国家自然科学基金(61873302,61973032);基础科研项目(JCKY2018602B002,JCKY2019602D022);民用航天预研项目;中国博士后科学基金项目(2020M680388)
    作者简介:

    葛丹桐(1992– ),女,博士后,主要研究方向:行星探测自主导航、着陆制导与控制。通讯地址:北京市海淀区中关村南大街5号,北京理工大学宇航学院(100081)电话:(010)68918910 E-mail:gedt@bit.edu.cn

    通讯作者: 朱圣英(1982– ),男,副教授,博士生导师,主要研究方向:深空探测自主导航、特征提取与匹配、着陆轨迹优化与控制。本文通讯作者。通讯地址:北京市海淀区中关村南大街5号,北京理工大学宇航学院(100081)电话:(010)68913550 E-mail:zhushy@bit.edu.cn
  • ● Taking system state uncertainties and trajectory tracking deviations into account,a multi-objective optimal waypoint sequence is generated. ● A real-time evaluation of the conflict between environment obstacles and the nominal trajectory is carried out. ● Onboard computation burden is reduced by changing the minimum number of waypoints to avoid the newly-detected obstacles. ● Through an autonomous switch between robust tracking and local waypoint re-planning,system environment adaptability is improved.
  • 中图分类号: V442

摘要: 针对小行星表面复杂崎岖形貌对附着安全构成的威胁,提出一种形貌自适应附着轨迹动态规划方法。基于构建的附着过程多目标最优路径点序列,结合障碍检测信息在线评估探测器受到的碰撞威胁大小,当障碍与标称附着轨迹产生冲突时,通过设计最少路径点局部重规划方法,实现路径点鲁棒跟踪与局部避障轨迹动态规划的自主切换,增强探测器对复杂形貌环境的自适应能力,提高小行星附着任务安全性。

注释:
1)  ● Taking system state uncertainties and trajectory tracking deviations into account,a multi-objective optimal waypoint sequence is generated. ● A real-time evaluation of the conflict between environment obstacles and the nominal trajectory is carried out. ● Onboard computation burden is reduced by changing the minimum number of waypoints to avoid the newly-detected obstacles. ● Through an autonomous switch between robust tracking and local waypoint re-planning,system environment adaptability is improved.

English Abstract

葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文). doi: 10.15982/j.issn.2096-9287.2021.20200072
引用本文: 葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文). doi: 10.15982/j.issn.2096-9287.2021.20200072
GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration. doi: 10.15982/j.issn.2096-9287.2021.20200072
Citation: GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration. doi: 10.15982/j.issn.2096-9287.2021.20200072
参考文献 (25)

返回顶部

目录

    /

    返回文章
    返回