Soft landing obstacle avoidance simulation test system

Abstract

A soft landing obstacle avoidance simulation test system comprises a six-freedom-degree motion simulation device, a high-simulation lunar surface simulation sand board screen, a GNC simulation computer, a sensor and executing mechanism simulation interface box, a dynamic emulation computer and a ground test general control computer. Three-axis rotation and three-dimensional translational motion relative to the lunar surface of a prober are simulated through the six-freedom-degree motion simulation device. The landform of the lunar surface for the prober to land on and the characteristics of lunar surface reflection to a sensor are simulated through the high-simulation lunar surface simulation sand board screen. Guidance, navigation and control calculation is performed by the GNC simulation computer according to the output of the sensor and executing mechanism simulation interface box and measured information of the landing navigation sensor to acquire executing mechanism control instructions, the executing mechanism control instructions are sent to the dynamic emulation computer for orbit and posture dynamic calculation and parameter update, and six-freedom-degree motion parameters are generated to be used for driving the six-freedom-degree motion simulation device. The ground test general control computer is responsible for control over the whole test system and data management.

Description

technical field [0001] The invention relates to a semi-physical simulation test system, especially a simulation test system built in a laboratory for ground verification of lunar surface obstacle identification and obstacle avoidance control schemes, which can be applied to the soft landing guidance of the moon and deep space celestial bodies , Ground test verification of the navigation and control (GNC) scheme. Background technique [0002] In the 1960s and 1970s, Apollo and Surveyor of the United States and Luna of the Soviet Union successively realized soft landing missions on the moon. Designing a reliable and effective lunar soft landing guidance, navigation and control scheme, and making it fully and effectively verified on the ground is the key to the success of lunar soft landing. With the further development of computer and mathematical simulation technology, most of the earth satellite GNC algorithms based on conventional sensors can be effectively verified throug...

AI Technical Summary

Problems solved by technology

This system is the first test system in China for the verification of the lunar soft landing GNC scheme. The measurement characteristics of the navigation sensor are not completely linear, so the real performance of the relative measurement and imaging of the landing navigation sensor cannot be fully tested; (2) The position and velocity of the three-dimensional translational motion also need to be scaled, so it cannot provide imaging sensors. Real dynamic working environment; (3) There is no real simulation of the interface between each sensor (including conventional sensors and landing navigation sensors) and the control computer, so the transmission timing and delay between the interfaces cannot affect the control scheme. Verification; (4) The equipment for simulating the detector's six-degree-of-freedom movement is completed by a three-axis turntable fixed on the ground and a sand table screen placed on the guide rail, and the test effect is not intuitive enough

Therefore, it is difficult for the test system to realize the 1:1 real lunar surface imaging, obstacle recognition and comprehensive and effective ground simulation verification of the six-degree-of-freedom obstacle avoidance control scheme in the process of soft landing hovering, obstacle avoidance and slow descent.

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