An optimal guidance method, system and storage medium for lunar soft landing based on safe landing channel

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

Active Publication Date: 2022-07-12
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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  • An optimal guidance method, system and storage medium for lunar soft landing based on safe landing channel
  • An optimal guidance method, system and storage medium for lunar soft landing based on safe landing channel
  • An optimal guidance method, system and storage medium for lunar soft landing based on safe landing channel

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Embodiment

[0121] 1) Experimental environment

[0122] In this section, simulation tests are carried out using the real lunar map dataset collected by the lunar probe. The obstacle point set was generated using the 50m-precision lunar digital elevation map taken by Chang'e 2. The map range of the data set was selected from 14° south latitude to 14° north latitude, and 18° west longitude to 70° west longitude, and a flat point in the center was selected as the predetermined map. The landing point establishes a fixed coordinate system on the lunar surface, and the landing point is set as the coordinate origin to filter out the area whose height is lower than the coordinate origin (it is considered that 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) Experimenta...

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Abstract

A lunar soft landing optimal guidance method, system and storage medium based on a safe landing channel relate to the technical field of lunar exploration soft landing control. The accuracy of the modulus will affect the results of the optimization, and it is difficult to apply to the extremely complex obstacle environment. The present invention includes: firstly: based on the obstacle point set of the predetermined landing point, using the error domain merged jump point method to generate an initial piecewise linear path; secondly: based on the initial path generated in step 1, using a convex decomposition algorithm to generate a safe path for each initial path Landing channel constraint; 3: Based on the piecewise linear path generated in step 1 and the landing channel constraint generated in step 2, the original problem is transformed into a second-order cone optimization problem by using the deceleration time distribution rule and solved, so as to obtain the optimal fuel avoidance problem. obstacle trajectory. The invention is used in the technical field of lunar exploration soft landing.

Description

technical field [0001] The invention relates to a lunar soft landing optimal guidance method based on a safe landing channel, and belongs to the technical field of lunar exploration soft landing control. Background technique [0002] The optimal guidance technology for lunar soft landing is an optimization problem. The existing patent document CN105929844B discloses an obstacle avoidance method for the soft landing of extraterrestrial celestial bodies in a multi-obstacle constrained environment. First, a fuel-optimized second-order cone programming model without obstacle constraints is established and standardized; The convex obstacle is analyzed and modeled, and the linear transformation 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; Simulation analysis of three different ty...

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Application Information

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Patent Type & Authority Patents(China)
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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