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Moon soft landing optimal guidance method and system based on safe landing channel and storage medium

A technology for safe landing and soft landing, applied in control/adjustment system, three-dimensional position/course control, sustainable traffic, etc., can solve problems such as difficult to apply to obstacle environment, modeling accuracy affects optimization, etc.

Active Publication Date: 2022-01-11
HARBIN INST OF TECH
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Problems solved by technology

[0004] In order to solve the problem that the existing optimal guidance method for lunar soft landing is to model obstacles, the accuracy of the modeling will affect the optimization results, and it is difficult to apply to extremely complex obstacle environments, so as to realize the lunar lander in extremely complex environments. Safe soft landing in an obstacle environment, and then provide an optimal guidance method, system and storage medium for lunar soft landing based on a safe landing channel

Method used

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  • Moon soft landing optimal guidance method and system based on safe landing channel and storage medium
  • Moon soft landing optimal guidance method and system based on safe landing channel and storage medium
  • Moon soft landing optimal guidance method and system based on safe landing channel and storage medium

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Embodiment

[0121] 1) Experimental environment

[0122] In this section, the real lunar surface map data set collected by the lunar probe is used for simulation testing. Use the 50m-accurate digital elevation map of the lunar surface taken by Chang'e-2 to generate a set of obstacle points. The range of the data set map is 14° south latitude to 14° north latitude, 18° west longitude to 70° west longitude, and a flat point in the center is selected as the predetermined The landing point establishes a fixed coordinate system on the lunar surface, and sets the landing point as the origin of the coordinates to filter out the areas whose height is lower than the origin of the coordinates (considering low-lying land is not an obstacle) to generate the corresponding obstacle point set.

[0123] The simulation test software environment of all algorithms in this paper is Windows 10+MATLAB 2020, and the hardware environment is Intel(R) Core(TM) i5-1135G7 CPU+16.0GB RAM.

[0124] 2) Experimental res...

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Abstract

The invention discloses a lunar soft landing optimal guidance method and system based on a safe landing channel and a storage medium, relates to the technical field of lunar exploration soft landing control. According to the scheme, the problems that an existing lunar soft landing optimal guidance method is generally used for modeling obstacles, however, the modeling precision of the existing lunar soft landing optimal guidance method affects an optimization result and is difficult to adapt to an extremely complex obstacle environment are solved. The method comprises the following steps: 1, based on an obstacle point set of a predetermined landing point, generating an initial piecewise linear path by adopting an error domain merging jump point method; 2, based on the initial path generated in the step 1, generating a safe landing channel constraint for each section of initial path by using a convex decomposition algorithm; and 3, based on the piecewise linear path generated in the step 1 and the landing channel constraint generated in the step 2, converting an original problem into a second-order cone optimization problem by utilizing a deceleration time distribution rule, and solving the second-order cone optimization problem so as to obtain an obstacle avoidance track with optimal fuel. The method is applied to the technical field of lunar exploration soft landing.

Description

technical field [0001] The invention relates to an optimal guidance method for lunar soft landing based on a safe landing channel, and belongs to the technical field of lunar exploration soft landing control. Background technique [0002] Optimal guidance technology for lunar soft landing is an optimization problem. The existing patent document CN105929844B discloses an obstacle avoidance method in a multi-obstacle constrained environment for the soft landing of an extraterrestrial celestial body. First, a fuel-optimized second-order cone programming model without obstacle constraints is established and standardized; secondly, for the surface of Mars Convex obstacles are analyzed and modeled, and linear conversion is performed to convert non-convex constraints into convex constraints, which are integrated into the second-order cone programming problem, and a complete optimal second-order cone programming model considering obstacle constraints is established; finally, through...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101Y02T90/00
Inventor 白成超郭继峰唐浩楠
Owner HARBIN INST OF TECH
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