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An energy optimization method for soft landing and obstacle avoidance of small celestial bodies

A technology of energy optimization and small celestial bodies, applied in the field of deep space exploration, to achieve the effect of ensuring safe implementation, reducing energy consumption, and large energy margin

Active Publication Date: 2019-10-18
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Description
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Problems solved by technology

[0006] The technical problem to be solved by the energy optimization method for soft landing and obstacle avoidance of small celestial bodies disclosed by the present invention is to ensure that the lander can effectively avoid obstacles while saving energy consumption and ensuring sufficient energy margin for the soft landing of small celestial bodies

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  • An energy optimization method for soft landing and obstacle avoidance of small celestial bodies
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  • An energy optimization method for soft landing and obstacle avoidance of small celestial bodies

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Embodiment 1

[0063] In order to verify the feasibility and beneficial effect of the method of the present invention, this embodiment takes the landing small celestial body Eros 433 as an example.

[0064] An energy optimization method for soft landing and obstacle avoidance of small celestial bodies disclosed in this embodiment includes the following steps:

[0065] Step 1: Determine the form of the energy-optimal guidance law for the soft landing of the small celestial body.

[0066] In the small celestial body inertial coordinate system, the dynamic model of the lander is

[0067]

[0068] where r=[x,y,z] T and v=[v x ,v y ,v z ] T are the position and velocity vectors, respectively;

[0069] a=[T x , T y , T z ] T are the three-axis components of the detector control force acceleration in the inertial system;

[0070] Respectively, the vector expression of gravitational acceleration of small celestial body is ω=[0 0 ω] T , take the rotation angular velocity of Eros 433 ...

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Abstract

The invention discloses an energy optimization method for soft landing and obstacle avoidance of a small celestial body, and belongs to the technical field of deep space exploration. The energy optimization method for soft landing and obstacle avoidance of the small celestial body comprises the following steps that energy consumption serves as an optimizing index, small celestial body soft landing energy optimal guidance law is obtained, and on the basis of the energy optimal guidance law, obstacle avoidance guidance law is obtained by adjusting time parameters; according to the obstacle avoidance guidance law, it can be ensured that in the landing process, a prober does not crash into the surface of the small celestial body, and meanwhile, energy consumption in the obstacle avoidance process is reduced to a large extent; and greater energy margin is provided for soft landing of the small celestial body, and safe implementation of tasks is ensured. According to the energy optimization method for soft landing and obstacle avoidance of the small celestial body, a landing device can effectively avoid obstacles, meanwhile, energy consumption is saved, and enough energy margin is ensured for soft landing of the small celestial body.

Description

technical field [0001] The invention relates to an energy optimization method for soft landing and obstacle avoidance of small celestial bodies, belonging to the technical field of deep space exploration. Background technique [0002] The future small celestial body landing detection mission expects to use corresponding guidance technology to enable the lander to achieve a precise and soft landing at the predetermined landing site, that is, focusing on the accuracy and safety of landing. [0003] For the landing safety of small celestial bodies, the following two aspects need to be considered: 1. During the landing process, the detector can effectively avoid obstacles without collision; 2. During the obstacle avoidance process, minimize energy consumption and ensure sufficient energy margin. Spend. [0004] The currently researched soft landing obstacle avoidance guidance for small celestial bodies usually adopts the method of artificial potential function, which describes ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/24G06F17/50
CPCB64G1/24G06F30/20
Inventor 崔平远龙嘉腾刘阳高艾徐瑞
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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