CN101074880B - Method for scanning entry safety landing area in moon detector suspension stage - Google Patents
Method for scanning entry safety landing area in moon detector suspension stage Download PDFInfo
- Publication number
- CN101074880B CN101074880B CN2007101301877A CN200710130187A CN101074880B CN 101074880 B CN101074880 B CN 101074880B CN 2007101301877 A CN2007101301877 A CN 2007101301877A CN 200710130187 A CN200710130187 A CN 200710130187A CN 101074880 B CN101074880 B CN 101074880B
- Authority
- CN
- China
- Prior art keywords
- landing
- area
- center
- moon
- lining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Position Input By Displaying (AREA)
Abstract
A method for scan-selecting safety landing region of moon craft at hovering stage includes obtaining 3-D information of moon surface by utilizing sensor of moon surface-imaging defining region occupied by moon craft-landing as unit area being defined as landing center, moving said landing center as per fixed distance from inside to outside to judge whether each landing region on landing center is satisfied with landing condition or not and moving said landing center continuously to make judgment if it is not or otherwise moving moon craft to relevant position for landing.
Description
Technical field
The present invention relates to lunar orbiter and choose safe soft landing regional development and technology field according to the lunar surface geomorphology information at hovering phase.
Background technology
Before the Surveyor series lunar orbiter of the Lunar series lunar orbiter of USSR (Union of Soviet Socialist Republics) and the U.S. lands on the moon, the security of touchdown area is not differentiated, directly soft landing is to lunar surface; The Apollo series detector of the U.S. was chosen touchdown area to guarantee landing safety by the cosmonaut before landing.For unmanned soft lunar landing detector, in order to guarantee the safety of landing, control system must possess the ability of obtaining moon surface information and choosing the safe landing zone.Japan's SELENE-B detector has been installed scanning type laser view finder and figure image sensor, its objective is before landing moon surface imaging is detected obstacle and guarantees landing safety.But, do not see the relevant report of touchdown area choosing method.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art part, a kind of hovering phase at lunar orbiter is provided, the three-dimensional month surface information that can be provided according to moon surface imaging sensor obtains the scanning choosing method in the nearest safe landing zone of range finder.
The technical solution of method of the present invention is: method for scanning entry safety landing area in moon detector suspension stage is characterized in that may further comprise the steps:
(1) with month lunar surface three-dimensional information of surface imaging sensor acquisition corresponding region;
(2) size definition with lunar orbiter shared zone under the landing situation is a unit area, and the center of unit area is defined as the landing center;
(3) with the approaching lunar surface of current lunar orbiter on point as the initial differentiation point in landing center, outwards press the progressively mobile landing of fixed range center with clockwise or counterclockwise spiral form or circular pattern from the lining, whether the touchdown area of differentiating each landing center unit one belongs to area one by one satisfies landing conditions;
(4) if the touchdown area of landing center unit one belongs to area does not satisfy landing conditions, then continue mobile landing center and differentiate; If the touchdown area of landing center unit one belongs to area satisfies landing conditions, then lunar orbiter moves to the landing of described touchdown area place.
With the progressively mobile landing of fixed range center, fixed range equals moon distance of surface imaging sensor flat resolution in the described step (3).
With the progressively mobile landing of fixed range center, fixed range is 0.1～1m in the described step (3).
Landing conditions comprises the gradient and two conditions of maximum height of projection in the described step (3).
The described gradient is 0～8 °.
Described maximum height of projection is 0～20cm.
The present invention's beneficial effect compared with prior art is:
(1) in the horizontal shift scope of minimum, finds the place that is suitable for the detector landing, effect with certain minimizing fuel consumption;
(2) institute's favored area can guarantee detector landing safety.
Description of drawings
The unit area S that Fig. 1 chooses for the present invention;
Fig. 2 scans with clockwise spiral form for the landing center and chooses;
Fig. 3 scans with counterclockwise spiral form for the landing center and chooses;
Fig. 4 outwards scans from the lining with the form of annular for the landing center and chooses.
Embodiment
Embodiment 1:
The flat resolution of month surface imaging sensor is 0.1m, then by the moon surface imaging sensor can obtain the elevation information of the point of every interval 0.1m on the lunar surface.As shown in Figure 1, the area in lunar orbiter shared zone under the landing situation is defined as unit area S, the center of unit area S is defined as the landing center, the width of each grid is 0.1m among the figure.If unit area S is 0.2m * 0.2m, then S has the altitude information of 3 * 3 points.
Point on from current lunar orbiter over against the lunar surface of answering is the initial differentiation point in landing center, outwards put mobile landing center one by one from the lining with clockwise spiral form, as shown in Figure 2, all altitude informations in the unit area S at each place, landing center are carried out computing, and whether the touchdown area of judging corresponding unit area safety.
The condition in safe landing zone is: touchdown area in easy flights in 8 °, touchdown area internal projection height is less than 20cm.
If the n in the S size area * n group data (x
Ij, y
i, z
j) (i, j=1,2 ..., n), (y wherein
i, z
j) represent planimetric position, x
IjRepresentative (y
i, z
j) height located.The gradient in touch-down zone can be estimated to try to achieve by least square method.If the plane equation that is simulated by observation data is
x＝a
0+a
1y+a
2z
Wherein, a
0, a
1, a
2Be undetermined coefficient.Ask coefficient a
0, a
1, a
2Make
Reach minimum.Try to achieve coefficient by least square method
Then, require the touch-down zone gradient:
For guaranteeing " touchdown area internal projection height is less than 20cm ", promptly to guarantee
|a
0+a
1y
i+a
2z
j-x
ij|＜20cm(i，j＝1，2，…，n)
If the pairing unit area in landing center does not satisfy landing conditions, scanning is proceeded at the landing center, till searching safe touchdown area.
Data around the current landing point are:
(0.05，0.2，-0.1)(0.05，0.2，0)(0.05，0.2，0.1)(0.1，0.2，0.2)
(0.3，0.1，-0.1)?(0.3，0.1，0)?(0.3，0.1，0.1)?(0.1，0.1，0.2)
(0，0，-0.1) (0，0，0) (0，0，0.1) (0.2，0，0.2)
(0.3，-0.1，-0.1)(0.3，-0.1，0)(0.3，-0.1，0.1)(0，-0.1，0.2)
The first step: landing is centered close to current landing point (0,0,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.2；a
1＝0；a
2＝0；
The value that can calculate landing gradient θ is 0 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.1 0.1 0.1
0.2 0.2 0.2
0.1 0.1 0.1
Do not satisfy the condition of " touchdown area internal projection height is less than 20cm ".
Second step: move in the heart a step in will landing, be positioned at (0.3,0.1,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.09；a
1＝0.25；a
2＝0；
The value that can calculate landing gradient θ is 14 °, does not satisfy the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.09 0.09 0.09
0.18 0.18 0.18
0.09 0.09 0.09
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
The 3rd step: the landing center is moved to right a step again, be positioned at (0.3,0.1,0.1).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.11；a
1＝0；a
2＝0.08；
The value that can calculate landing gradient θ is 4.76 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.11 0.12 0.07
0.19 0.18 0.03
0.06 0.07 0.03
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
This point (0.3,0.1,0.1) is exactly the nearest landing center of the current lunar orbiter of distance, and lunar orbiter moves to the top of this point, and landing gets final product then.
Embodiment 2:
The flat resolution of month surface imaging sensor is 0.1m, then by the moon surface imaging sensor can obtain the elevation information of the point of every interval 0.1m on the lunar surface.As shown in Figure 1, the area in lunar orbiter shared zone under the landing situation is defined as unit area S, the center of unit area S is defined as the landing center, the width of each grid is 0.1m among the figure.If unit area S is 0.2m * 0.2m, then S has the altitude information of 3 * 3 points.
Point on from current lunar orbiter over against the lunar surface of answering is the initial differentiation point in landing center, outwards put mobile landing center one by one from the lining with counterclockwise spiral form, as shown in Figure 3, all altitude informations in the unit area S at each place, landing center are carried out computing, and whether the touchdown area of judging corresponding unit area safety.
The condition in safe landing zone is: touchdown area in easy flights in 8 °, touchdown area internal projection height is less than 20cm.
Data around the current landing point are:
(0.05，0.2，0.2)(0.05，0.2，-0.1)(0.05，0.2，0)(0.05，0.2，0.1)
(0.2，0.1，0.2)?(0.3，0.1，-0.1)?(0.3，0.1，0)?(0.3，0.1，0.1)
(0.15，0，0.2) (0，0，-0.1) (0，0，0) (0，0，0.1)
(0，-0.1，0.2) (0.3，-0.1，-0.1)(0.3，-0.1，0)(0.3，-0.1，0.1)
The first step: landing is centered close to current landing point (0,0,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.2；a
1＝0；a
2＝0；
The value that can calculate landing gradient θ is 0 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.1 0.1 0.1
0.2 0.2 0.2
0.1 0.1 0.1
Do not satisfy the condition of " touchdown area internal projection height is less than 20cm ".
Second step: move in the heart a step in will landing, be positioned at (0.3,0.1,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.09；a
1＝0.25；a
2＝0；
The value that can calculate landing gradient θ is 14 °, does not satisfy the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.09 0.09 0.09
0.18 0.18 0.18
0.09 0.09 0.09
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
The 3rd step: the landing center is moved to left a step again, be positioned at (0.3,0.1 ,-0.1).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.13；a
1＝0；a
2＝-0.08；
The value that can calculate landing gradient θ is 4.76 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.02 0.12 0.11
0.07 0.18 0.19
0.08 0.07 0.06
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
This point (0.3,0.1 ,-0.1) is exactly the nearest landing center of the current lunar orbiter of distance, and lunar orbiter moves to the top of this point, and landing gets final product then.
Embodiment 3:
The flat resolution of month surface imaging sensor is 0.1m, then by the moon surface imaging sensor can obtain the elevation information of the point of every interval 0.1m on the lunar surface.As shown in Figure 1, the area in lunar orbiter shared zone under the landing situation is defined as unit area S, the center of unit area S is defined as the landing center, the width of each grid is 0.1m among the figure.If unit area S is 0.2m * 0.2m, then S has the altitude information of 3 * 3 points.
Point on from current lunar orbiter over against the lunar surface of answering is the initial differentiation point in landing center, it is mode according to annular, the outwards mobile landing center from the lining, as shown in Figure 4, all altitude informations in the unit area S at each place, landing center are carried out computing, and whether the touchdown area of judging corresponding unit area safety.
The condition in safe landing zone is: touchdown area in easy flights in 8 °, touchdown area internal projection height is less than 20cm.
Data around the current landing point are:
(0.3，0.1，-0.1) (0.3，0.1，0) (0.3，0.1，0.1) (0，0.1，0.2)
(0，0，-0.1) (0，0，0) (0，0，0.1) (0.2，0，0.2)
(0.3，-0.1，-0.1) (0.3，-0.1，0)?(0.3，-0.1，0.1)?(0.1，-0.1，0.2)
(0.05，-0.2，-0.1)?(0.05，-0.2，0)(0.05，-0.2，0.1)(0.1，-0.2，0.2)
The first step: landing is centered close to current landing point (0,0,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.2；a
1＝0；a
2＝0；
The value that can calculate landing gradient θ is 0 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.1 0.1 0.1
0.2 0.2 0.2
0.1 0.1 0.1
Do not satisfy the condition of " touchdown area internal projection height is less than 20cm ".
Second step: the landing center is moved down a step, be positioned at (0.3 ,-0.1,0).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.09；a
1＝-0.25；a
2＝0；
The value that can calculate landing gradient θ is 14 °, does not satisfy the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.09 0.09 0.09
0.18 0.18 0.18
0.09 0.09 0.09
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
The 3rd step: the landing center is moved to right a step again, be positioned at (0.3 ,-0.1,0.1).
By 9 groups of coefficients that data obtain in the unit area:
a
0＝0.11；a
1＝0；a
2＝0.08；
The value that can calculate landing gradient θ is 4.76 °, satisfies the condition of " the touch-down zone gradient is less than 8 ° ";
The height of projection that can calculate 9 points respectively is:
0.11 0.12 0.07
0.19 0.18 0.03
0.06 0.07 0.03
Satisfy the condition of " touchdown area internal projection height is less than 20cm ".
This point (0.3 ,-0.1,0.1) is exactly the nearest landing center of the current lunar orbiter of distance, and lunar orbiter moves to the top of this point, and landing gets final product then.
Claims (8)
1. method for scanning entry safety landing area in moon detector suspension stage is characterized in that may further comprise the steps:
(1) with month lunar surface three-dimensional information of surface imaging sensor acquisition corresponding region;
(2) size definition with lunar orbiter shared zone under the landing situation is a unit area, and the center of unit area is defined as the landing center;
(3) with the approaching lunar surface of current lunar orbiter on point as the initial differentiation point in landing center, outwards move the landing center from the lining with fixed range, whether the touchdown area of differentiating each landing center unit one belongs to area one by one satisfies landing conditions; Described fixed range equals moon distance of surface imaging sensor flat resolution, is 0.1～1m;
(4) if the touchdown area of landing center unit one belongs to area does not satisfy landing conditions, then continue mobile landing center and differentiate; If the touchdown area of landing center unit one belongs to area satisfies landing conditions, then lunar orbiter moves to the landing of described touchdown area place.
2. method for scanning entry safety landing area in moon detector suspension stage according to claim 1 is characterized in that: in the described step (3) from the lining outwards mobile landing center, be with spiral form from the lining outwards mobile landing center.
3. method for scanning entry safety landing area in moon detector suspension stage according to claim 2 is characterized in that: described outwards mobile landing center is with clockwise spiral form from the lining with spiral form.
4. method for scanning entry safety landing area in moon detector suspension stage according to claim 2 is characterized in that: described outwards mobile landing center is with counterclockwise spiral form from the lining with spiral form.
5. method for scanning entry safety landing area in moon detector suspension stage according to claim 1 is characterized in that: in the described step (3) from the lining outwards mobile landing center, be mode according to annular, the outwards mobile landing center from the lining.
6. method for scanning entry safety landing area in moon detector suspension stage according to claim 1 is characterized in that: landing conditions comprises the gradient and two conditions of maximum height of projection in the described step (3).
7. method for scanning entry safety landing area in moon detector suspension stage according to claim 6 is characterized in that: the described gradient is 0～8 °.
8. method for scanning entry safety landing area in moon detector suspension stage according to claim 6 is characterized in that: described maximum height of projection is 0～20cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101301877A CN101074880B (en) | 2007-07-24 | 2007-07-24 | Method for scanning entry safety landing area in moon detector suspension stage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101301877A CN101074880B (en) | 2007-07-24 | 2007-07-24 | Method for scanning entry safety landing area in moon detector suspension stage |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101074880A CN101074880A (en) | 2007-11-21 |
| CN101074880B true CN101074880B (en) | 2010-06-16 |
Family
ID=38976065
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101301877A Active CN101074880B (en) | 2007-07-24 | 2007-07-24 | Method for scanning entry safety landing area in moon detector suspension stage |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101074880B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101231169B (en) * | 2008-01-31 | 2010-06-09 | 北京控制工程研究所 | Method for regulating self-determination integral time of ultraviolet moon sensor |
| CN102116631B (en) * | 2009-12-31 | 2013-05-22 | 北京控制工程研究所 | Method for autonomous determination of gravity direction of moon |
| CN103644918A (en) * | 2013-12-02 | 2014-03-19 | 中国科学院空间科学与应用研究中心 | Method for performing positioning processing on lunar exploration data by satellite |
| CN105468825B (en) * | 2015-11-18 | 2017-03-29 | 北京理工大学 | The dynamic (dynamical) parameter simulation method of recoverable capsule soft landing |
| CN106527473A (en) * | 2016-10-27 | 2017-03-22 | 上海航天控制技术研究所 | Obstacle-avoidance landing method on lunar surface |
| CN108459610B (en) * | 2018-02-27 | 2021-02-05 | 北京控制工程研究所 | Method for inhibiting liquid sloshing during lander power descent |
| CN109598243B (en) * | 2018-12-06 | 2021-08-24 | 山东大学 | Moon surface safe landing area selection method and system |
| CN113819924A (en) * | 2021-09-10 | 2021-12-21 | 北京控制工程研究所 | Method for quickly calibrating initial reference of inertial navigation test |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86103031A (en) * | 1985-04-04 | 1986-12-24 | 森德斯特兰德数据控制公司 | Improved microwave landing system (MLS) |
| CN1847791A (en) * | 2006-05-12 | 2006-10-18 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
-
2007
- 2007-07-24 CN CN2007101301877A patent/CN101074880B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN86103031A (en) * | 1985-04-04 | 1986-12-24 | 森德斯特兰德数据控制公司 | Improved microwave landing system (MLS) |
| CN1847791A (en) * | 2006-05-12 | 2006-10-18 | 哈尔滨工业大学 | Verification system for fast autonomous deep-space optical navigation control prototype |
Non-Patent Citations (4)
| Title |
|---|
| 王吉力，崔乃刚，刘暾.通过"建立月球垂线"实现月球软着陆方法研究.导弹与航天运载技术 4.2000,(4),45-47. |
| 王吉力,崔乃刚,刘暾.通过"建立月球垂线"实现月球软着陆方法研究.导弹与航天运载技术 4.2000,(4),45-47. * |
| 耿殿伍，宋政吉，姜兴渭.月球软着陆的时间最优安全着陆区搜索算法.中国空间科学技术 4.2006,(4),6-10. |
| 耿殿伍,宋政吉,姜兴渭.月球软着陆的时间最优安全着陆区搜索算法.中国空间科学技术 4.2006,(4),6-10. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101074880A (en) | 2007-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101074880B (en) | Method for scanning entry safety landing area in moon detector suspension stage | |
| CN102173313B (en) | Soft landing relay obstacle avoiding method | |
| CN105644785B (en) | A kind of UAV Landing method detected based on optical flow method and horizon | |
| US7786900B2 (en) | Method of aiding navigation for aircraft in an emergency situation | |
| CN103411621B (en) | A kind of vision/INS Combinated navigation method of the optical flow field towards indoor mobile robot | |
| CN104637073B (en) | It is a kind of based on the banding underground structure detection method for shining upon shadow compensation | |
| CN102435174B (en) | Method and device for detecting barrier based on hybrid binocular vision | |
| CN104808685A (en) | Vision auxiliary device and method for automatic landing of unmanned aerial vehicle | |
| CN105512628A (en) | Vehicle environment sensing system and method based on unmanned plane | |
| CN101109640A (en) | Unmanned aircraft landing navigation system based on vision | |
| CN102541069A (en) | Loss of separation avoidance maneuvering | |
| CN103778411B (en) | Circle detection method and device based on raster image division | |
| CN104714555A (en) | Three-dimensional independent exploration method based on edge | |
| CN103472450A (en) | Non-uniform space configuration distributed SAR moving target three-dimensional imaging method based on compressed sensing | |
| CN112014856B (en) | Road edge extraction method and device suitable for cross road section | |
| Tanveer et al. | Monitoring 2011–2020 traffic patterns in Wuhan (China) with COSMO-SkyMed SAR, amidst the 7th CISM military world games and COVID-19 outbreak | |
| CN106767768A (en) | A kind of autonomous navigation method of Double Satellite | |
| US20220215621A1 (en) | Three-dimensional model-based coverage path planning method for unmanned aerial vehicles | |
| CN103035004B (en) | The method of circular target centralized positioning under a kind of Large visual angle | |
| CN110208783A (en) | Intelligent vehicle localization method based on environment profile | |
| Wübbold et al. | Application of an autonomous robot for the collection of nearshore topographic and hydrodynamic measurements | |
| CN104836990B (en) | A kind of pier anticollision frequency image monitoring system and monitoring method | |
| CN109544607A (en) | A kind of cloud data registration method based on road mark line | |
| CN103513247B (en) | Method for matching synthetic aperture radar image and optical image same-name point | |
| CN107220632A (en) | A kind of pavement image dividing method based on normal direction feature |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |