CN103440408A - Rapid analysis method for landing safety probability of lunar probe - Google Patents

Rapid analysis method for landing safety probability of lunar probe Download PDF

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CN103440408A
CN103440408A CN2013103542623A CN201310354262A CN103440408A CN 103440408 A CN103440408 A CN 103440408A CN 2013103542623 A CN2013103542623 A CN 2013103542623A CN 201310354262 A CN201310354262 A CN 201310354262A CN 103440408 A CN103440408 A CN 103440408A
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gradient
landing
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menology
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CN103440408B (en
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李飞
张延新
孙泽洲
张熇
吴学英
王闯
马继楠
黄�俊
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Beijing Institute of Spacecraft System Engineering
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Abstract

The invention relates to a rapid analysis method for landing safety probability of a lunar probe. The rapid analysis method comprises the following steps: simulating landing of a lander on slopes of different angles to obtain slope threshold capable of turning over the lander; combining lunar surface landform models and detected data of Chang'e 2 to generate lunar surface landform models; dividing the lunar surface landform models into K landform models according to different slopes; performing N landing simulation experiments on each lunar surface landform model; analyzing according to the lunar surface data obtained by the Chang'e 2 to obtain a proportion Ci occupied by the slope ki in the lunar surface landform model; calculating a preliminary landing safety probability analysis result according to a full-probability formula. By using the technical scheme provided by the invention, a selection basis can be provided for a specific location for landing the lander on the lunar surface.

Description

A kind of rapid analysis of lunar orbiter landing safe probability
Technical field
The present invention relates to a kind of landing safety analytical method, specifically, the present invention relates to a kind of rapid analysis of lunar orbiter landing safe probability.
Background technology
Planetary surface soft landing technology is the technology of the key in space flight survey of deep space field.To planetary probe, the safe impact analysis of landing is importance of soft landing technology to the topography and geomorphology of planetary surface, mainly to analyze lander to land on the landform with which kind of feature and overturning can not occur or analyze lander and specify on landform overturning-free probability occurs at certain, the result of this analysis can be used for design and analysis and the checking of detector landing index of correlation, and the selection to touch-down zone provides strong technical support, to the place of safety recognizer of independently being landed on lander, provide foundation.Particularly China's menology soft landing task first, need menology soft landing safe probability is carried out analyzing fast and effectively more.
Simulation lander landing at present is mainly that the menology topography and geomorphology model adopted exists two kinds of situations, and a kind of is the image data whole month of selecting the Chang'e-2 satellite shooting of lift-off in 2010.The highest resolution of the captured image of Chang'e-2 is 1.5m, the digital elevation figure resolution generated according to this image is 4m, yet actual lander is of a size of 3m～5m, same pixel size approaches, and the image of 1.5m resolution can not cover the touch-down zone of all preliminary elections, other regional image resolution ratio reaches 7m, reach 30m according to 7m image generating digital elevation map resolution, so directly adopt true menology topography and geomorphology digital model to have deviation for the safe simulation that lands in accuracy.
Another kind is to adopt the menology topography and landform character in the NASA1969 document to generate menology topography and geomorphology model for emulation.The document, by the analysis to whole menology, has obtained the statistics of several typical morphologic characteristicss.For No. three landing tasks of the goddess in the moon, the statistics of NASA typical case morphologic characteristics can not be accomplished in full accord with the morphologic characteristics in No. three preliminary election touch-down zones of the goddess in the moon, so reference can only be provided, can't describe the topography and landform character of preliminary election touchdown area in detail.
Summary of the invention
Purpose of the present invention provides a kind of rapid analysis of lunar orbiter landing safe probability, comprising:
A kind of rapid analysis of lunar orbiter landing safe probability comprises:
Step 1, simulation lander land on different gradient domatic, obtain causing the gradient threshold value of lander overturning;
Step 2, NASA menology topography and geomorphology model is combined with the Chang'e-2 detection data, generate touch-down zone menology topography and geomorphology model; Touch-down zone menology topography and geomorphology model comprises K the different square landform landform model of the big or small identical gradient, and the minimum baseline that the foursquare length of side can be identified the gradient with Chang'e-2 equates.Impact crater, stone parameter on each topography and geomorphology model are all identical, consistent with NASA menology topography and geomorphology model; Be gradient difference, the gradient is respectively k i, i=0,1 ...., K-1; Wherein K-1 means the maximal value of the Chang'e-2 identification gradient;
Step 3, the simplification landing emulation experiment of all carrying out on each topography and geomorphology model N time, when statistics lander on each topography and geomorphology model lands, angle of inclination is less than the number of times of described gradient threshold value, by the number of times that obtains all divided by N, obtain the overturning-free probability on each piece topography and geomorphology model, according to the safe probability P of each piece topography and geomorphology model of described overturning-free probability calculation i;
Step 4, the menology data analysis obtained according to Chang'e-2, obtaining the gradient in menology topography and geomorphology model is k ithe shared ratio C of the gradient i;
Step 5, according to total probability formula, calculate preliminary landing safe probability analysis result
Figure BDA00003665694000021
The emulation of again being landed of step 6, the situation that angle of inclination is greater than the gradient threshold value of described overturning during for all land, if there is the situation of overturning not, the ratio that according to the number of times of overturning not, accounts for total landing number of times is revised preliminary landing safe probability analysis result, obtains final landing safe probability analysis result.
Landing safe probability rapid analysis of the present invention, the mode that the menology graphical analysis result that adopts NASA document and Chang'e-2 to take combines generates menology topography and geomorphology model, overcoming knows clearly directly adopts true menology topography and geomorphology digital model in accuracy, to exist deviation and NASA document that reference can only be provided for the safe simulation that lands, and can't describe the problem of the topography and landform character of preliminary election touchdown area in detail.
The accompanying drawing explanation
Fig. 1 is the process flow diagram according to the rapid analysis of a kind of safe probability that lands of the present invention;
Fig. 2 illustrates the general Lip river Cruise impact crater model adopted according to the present invention;
Fig. 3 shows with reference to the stone shape in topography of lunar surface landforms image, and height diameter ratio is about 1/2;
Fig. 4 illustrates the sizing specification figure according to lander foot pad of the present invention.
Embodiment
The rapid analysis that the purpose of this invention is to provide a kind of lunar orbiter landing safe probability, as Fig. 1～Fig. 4 comprises:
Step 1, simulate three-dimensional lander kinetic model and land on different gradient domatic, obtain causing the gradient threshold value of lander overturning;
Constantly increase the domatic angle that lander lands, can think that when lander starts to occur the overturning phenomenon this angle is exactly gradient threshold value.
Simulate lunar orbiter with lander in the application, the quality of lander, profile etc. are all simulated the lunar orbiter manufacture.
Step 2, NASA menology topography and geomorphology model is combined with the Chang'e-2 detection data, generate touch-down zone menology topography and geomorphology model; Touch-down zone menology topography and geomorphology model comprises K the different square landform landform model of the big or small identical gradient, and the minimum baseline that the foursquare length of side can be identified the gradient with Chang'e-2 equates.Impact crater, stone parameter on each topography and geomorphology model are all identical, consistent with NASA menology topography and geomorphology model; Be gradient difference, the gradient is respectively k i, i=0,1 ...., K-1; Wherein K-1 means the maximal value of the Chang'e-2 identification gradient;
Put down in writing the design parameter of the impact crater model of menology and stone model in the NASA document in Table 1, draw the gradient model of menology after the detection data statistical analysis of Chang'e-2 satellite, generate menology topography and geomorphology model according to the record of above-mentioned NASA document and the detection data of Chang'e-2 in computing machine, do like this topography and landform character that can take into account accuracy and preliminary election touchdown area.Simultaneously, this step can also be simplified calculating, makes the analytical approach of landing safe probability possess the realizability on engineering.If the menology topography and geomorphology model of the touchdown area directly generated in applying step two can cause calculating numerous and diverse, can not realize
Step 3, the simplification landing emulation experiment of all carrying out on each topography and geomorphology model N time, when statistics lander on each topography and geomorphology model lands, angle of inclination is less than the number of times of described gradient threshold value, by the number of times that obtains all divided by N, obtain the overturning-free probability on each piece topography and geomorphology model, according to the safe probability P of each piece topography and geomorphology model of described overturning-free probability calculation i;
See Fig. 4 according to the size relationship model of lander foot pad, thereby can in computing machine, calculate the land angles of rear four foot pad planes, place and reference level surface of lander and obtain the angle of inclination of lander, in order to simplify calculating, being actually four foots that calculate lander pads at the plane, projection place of menology topography and geomorphology model and the angle of reference level surface, the angle of inclination while landing as lander.Due to emulation on the topography and geomorphology model impact crater and stone, may exist and act on impact crater in four foot pads, yet may exist and act on stone, so this angle can just not equal value of slope usually.
Step 4, the menology data analysis obtained according to Chang'e-2, obtaining the gradient in menology topography and geomorphology model is k ithe shared ratio C of the gradient i;
The gradient ratio of menology topography and geomorphology model, gradient model is that we utilizes the detection data of Chang'e-2 to carry out a large amount of statistic analysis to draw, can guarantee to reflect more really the situation in the landing site of preliminary election.
Step 5, according to total probability formula, calculate preliminary landing safe probability analysis result
Figure BDA00003665694000041
The emulation of again being landed of step 6, the situation that angle of inclination is greater than the gradient threshold value of described overturning during for all land, if there is the situation of overturning not, the ratio that according to the number of times of overturning not, accounts for total landing number of times is revised preliminary landing safe probability analysis result, obtains final landing safe probability analysis result.
Landing safe probability rapid analysis of the present invention, solved a difficult problem of carrying out lander landing addressing at moonscape, the mode that the menology graphical analysis result that technical scheme of the present invention adopts NASA document and Chang'e-2 to take combines generates menology topography and geomorphology model, overcome the true menology topography and geomorphology of direct employing digital model and in accuracy, existed deviation and NASA document that reference can only be provided for the safe simulation that lands, can't describe the problem of the topography and landform character of preliminary election touchdown area in detail.
Also comprise that outside aforesaid five steps the step that PRELIMINARY RESULTS is revised can further guarantee the correctness of result of calculation.
More preferably, above-mentioned K gets 10, N and gets 10000, and the gradient is got respectively K 0=0 °, K 1=1 °, K 2=2 °, K 3=3 °, K 4=4 °, K 5=5 °, K 6=6 °, K 7=7 °, K 8=8 °, K 9=9 °.
Concrete scheme is:
Step 1, simulation lander land on different angles domatic, obtain causing the gradient threshold value of lander overturning;
Constantly increase the domatic angle that lander lands, can think that when lander starts to occur the overturning phenomenon this angle is exactly gradient threshold value.
Step 2, the menology topography and geomorphology model of putting down in writing in the NASA document is combined with the Chang'e-2 detection data, generate menology topography and geomorphology model;
Put down in writing the design parameter of the impact crater model of menology and stone model in the NASA document in Table 1, draw the gradient model of menology after the detection data statistical analysis of Chang'e-2 satellite, generate menology topography and geomorphology model according to the record of above-mentioned NASA document and the detection data of Chang'e-2 in computing machine, do like this topography and landform character that can take into account accuracy and preliminary election touchdown area.
Step 3, described menology topography and geomorphology model is decomposed into to the topography and geomorphology model of 10 50m * 50m according to different gradient, landform impact crater, stone parameter on each topography and geomorphology model are all identical, be gradient difference, the gradient is respectively 0 °, 1 °, 2 °, 3 °, 4 °, 5 °, 6 °, 7 °, 8 °, 9 °;
This step is in order to simplify calculating, makes the analytical approach of landing safe probability possess the realizability on engineering.If the menology topography and geomorphology model of the touchdown area directly generated in applying step two can cause calculating numerous and diverse, can not realize.
Step 4, the landing emulation experiment of all carrying out 10000 times on each topography and geomorphology model, when statistics lander on each topography and geomorphology model lands, angle of inclination is less than the number of times of described gradient threshold value.The number of times of acquisition, all divided by 10000, is obtained to the overturning-free probability on each piece topography and geomorphology model, according to the safe probability P of each piece topography and geomorphology model of described overturning-free probability calculation 0, P 1, P 2, P 3, P 4, P 5, P 6, P 7, P 8, P 9.See Fig. 4 according to the size relationship model of lander foot pad, thereby can in computing machine, calculate the land angles of rear four foot pad planes, place and reference level surface of lander and obtain the angle of inclination of lander, in order to simplify calculating, being actually four foots that calculate lander pads at the plane, projection place of menology topography and geomorphology model and the angle of reference level surface, the angle of inclination while landing as lander.Due to emulation on the topography and geomorphology model impact crater and stone, may exist and act on impact crater in four foot pads, yet may exist and act on stone, so this angle can just not equal value of slope usually.
Step 5, the menology view data obtained according to Chang'e-2 are analyzed, obtain the gradient ratio data of menology topography and geomorphology model, suppose that the shared ratio of the gradient that this ratio data is 0 °, 1 °, 2 °, 3 °, 4 °, 5 °, 6 °, 7 °, 8 °, 9 ° is respectively C 0, C 1, C 2, C 3, C 4, C 5, C 6, C 7, C 8, C 9;
The gradient ratio of menology topography and geomorphology model, gradient model is that we utilizes the detection data of Chang'e-2 to carry out a large amount of statistic analysis to draw, can guarantee to reflect more really the situation in the landing site of preliminary election.
Step 6, according to total probability formula, calculate preliminary landing safe probability analysis result P=P 0* C 0+ P 1* C 1+ P 2* C 2+ P 3* C 3+ P 4* C 4+ P 5* C 5+ P 6* C 6+ P 7* C 7+ P 8* C 8+ P 9* C 9.
Step 7, the situation that angle of inclination is greater than described overturning gradient threshold value during for all land are carried out emulation again, if there is the situation of overturning not, the ratio that according to the number of times of overturning not, accounts for total landing number of times is revised preliminary landing safe probability analysis result, obtain final landing safe probability analysis result, utilize this probability analysis result to select to be applicable to the moonscape of spacecraft landing.
For example, when lunar orbiter need to be when moonscape lands, utilize method of the present invention to judge the moon landing surface of the current selected safety of whether landing, whether be greater than the threshold value of setting when front surface landing safe probability, (if being that safe probability is greater than setting threshold), think that spacecraft can be landed at the moonscape of current selected, otherwise (being that safe probability is less than setting threshold), change the moon landing surface of current selected, until find safe landing surface.
While landing for all emulation, angle of inclination is greater than gradient threshold value situation, if again simulate the situation that does not occur overturning while landing in former place, need result is revised, way is that the emulation landing is carried out in all places that angle of inclination is greater than gradient threshold value when landing again, the number of times of statistics overturning, utilize the number of times of this overturning to be revised P.
Illustrate: for example, carry out 10000 emulation on 0 ° of slope on corresponding moon table model and land, wherein to be greater than the number of times of gradient threshold value be 1000 times at the lander pitch angle, and safe probability P lands 0=(10000-1000)/10000=90%.Then the corresponding moon table position emulation that relanded in these 1000 simulation processes, if the actual overturning of lander 400 times, overturning is 600 times, that landing safe probability P 0=(10000-400)/10000=96%.
Landing safe probability rapid analysis of the present invention, the mode that the menology graphical analysis result that adopts NASA document and Chang'e-2 to take combines generates menology topography and geomorphology model, overcoming knows clearly directly adopts true menology topography and geomorphology digital model in accuracy, to exist deviation and NASA document that reference can only be provided for the safe simulation that lands, and can't describe the problem of the topography and landform character of preliminary election touchdown area in detail.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Subordinate list 1: menology topography and geomorphology model data
Figure BDA00003665694000071

Claims (2)

1. the rapid analysis of a lunar orbiter landing safe probability, is characterized in that, comprising:
Step 1, simulation lander land on different gradient domatic, obtain causing the gradient threshold value of lander overturning;
Step 2, NASA menology topography and geomorphology model is combined with the Chang'e-2 detection data, generate touch-down zone menology topography and geomorphology model; Touch-down zone menology topography and geomorphology model comprises K the square landform landform model that size is identical, the gradient is different, and the minimum baseline that the foursquare length of side can be identified the gradient with Chang'e-2 equates; Impact crater, stone parameter on each topography and geomorphology model are all identical, consistent with NASA menology topography and geomorphology model; Be gradient difference, the gradient is respectively k i, i=0,1 ...., K-1;
Step 3, the landing emulation experiment of all carrying out N time on each topography and geomorphology model, when statistics lander on each topography and geomorphology model lands, angle of inclination is less than the number of times of described gradient threshold value, by the number of times that obtains all divided by N, obtain the overturning-free probability on each piece topography and geomorphology model, according to the safe probability P of each piece topography and geomorphology model of described overturning-free probability calculation i;
Step 4, the menology data analysis obtained according to Chang'e-2, obtaining the gradient in menology topography and geomorphology model is k ithe shared ratio C of the gradient i;
Step 5, according to total probability formula, calculate preliminary landing safe probability analysis result
Figure FDA00003665693900011
The emulation of again being landed of step 6, the situation that angle of inclination is greater than the gradient threshold value of described overturning during for all land, if there is the situation of overturning not, the ratio that according to the number of times of overturning not, accounts for total landing number of times is revised preliminary landing safe probability analysis result, obtains final landing safe probability analysis result.
2. the rapid analysis of lunar orbiter landing safe probability according to claim 1, it is characterized in that, described menology topography and geomorphology model is decomposed into to the topography and geomorphology model of 10 50m * 50m according to different gradient, K gets 10, N gets 10000, and the gradient is got respectively K 0=0 °, K 1=1 °, K 2=2 °, K 3=3 °, K 4=4 °, K 5=5 °, K 6=6 °, K 7=7 °, K 8=8 °, K 9=9 °.
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CN107590479A (en) * 2017-09-26 2018-01-16 京东方科技集团股份有限公司 A kind of road analysis and processing method and device
CN109598243A (en) * 2018-12-06 2019-04-09 山东大学 A kind of moonscape safe landing area's selection method and system
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CN113609594A (en) * 2021-08-18 2021-11-05 北京空间飞行器总体设计部 Method for determining safe separation condition of heat-proof outsole

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CN104035333A (en) * 2014-05-23 2014-09-10 北京空间飞行器总体设计部 Optimization method for powered lowering initial key parameters of deep space probe
CN104035333B (en) * 2014-05-23 2015-06-10 北京空间飞行器总体设计部 Optimization method for powered lowering initial key parameters of deep space probe
CN105931293A (en) * 2016-04-19 2016-09-07 北京理工大学 Planet surface safe landing terrain simulation and generation method based on random fractal
CN105931293B (en) * 2016-04-19 2018-11-16 北京理工大学 Planetary surface safe landing terrain simulation and generation method based on random fractal
CN107590479A (en) * 2017-09-26 2018-01-16 京东方科技集团股份有限公司 A kind of road analysis and processing method and device
CN107590479B (en) * 2017-09-26 2020-04-10 京东方科技集团股份有限公司 Road analysis processing method and device
CN109598243A (en) * 2018-12-06 2019-04-09 山东大学 A kind of moonscape safe landing area's selection method and system
CN111459047A (en) * 2020-03-04 2020-07-28 北京空间飞行器总体设计部 Motion control decision support system for lunar surface inspection device
CN111459047B (en) * 2020-03-04 2021-04-06 北京空间飞行器总体设计部 Motion control decision support system for lunar surface inspection device
CN113609594A (en) * 2021-08-18 2021-11-05 北京空间飞行器总体设计部 Method for determining safe separation condition of heat-proof outsole
CN113609594B (en) * 2021-08-18 2022-03-15 北京空间飞行器总体设计部 Method for determining safe separation condition of heat-proof outsole

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