CN106672265A - Small celestial body fixed-point landing guidance control method based on light stream information - Google Patents
Small celestial body fixed-point landing guidance control method based on light stream information Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
Abstract
The invention relates to a small celestial body fixed-point landing guidance control method, in particular to a small celestial body fixed-point landing guidance control method based on light stream information and belongs to the field of deep space exploration. The method utilizes a light stream method to obtain the light stream information of a detector, wherein a camera is utilized to obtain sight line information of a landing zone, the light stream information in the step 2 and the sight line information of the landing zone in the step 3 are utilized to design a control law required by the landing process of the detector, the control acceleration a of the detector is calculated and is substituted into a formula (1), the positional deviation in the horizontal direction is corrected, and further the horizontal position of the detector is constrained to achieve fixed-point landing. The method utilizes the satellite-borne navigation camera to obtain the sight line information of the landing zone without introduction of a new sensor device, and the method has the potential of a standby navigation guidance scheme.
Description
Technical field
The present invention relates to a kind of small feature loss landing guidance control method, more particularly to a kind of small feature loss based on Optic flow information
Accuracy Guidance and control method, belongs to deep-space detection field.
Background technology
Small feature loss landing detection is a key content of survey of deep space task, and compared to planet celestial body, small feature loss has
Light weight, it is in irregular shape the characteristics of, this causes its nearby to there is irregular weak gravitational field.Under this gravitational field environment, visit
Survey task has strict requirements to the speed of landing mission end detector.Simultaneously because in the presence of communication delay more long, using
The traditional navigation based on Deep Space Network, control model, detector cannot realize high accuracy soft landing.In order to succeed
Into scientific investigation task, landing detection mission independence, the demand of real-time are met, various countries researcher is for autonomous in recent years
Navigation, Guide and Controlling method has carried out substantial amounts of research work.
First technology [1] is (referring to Johnson A E, Cheng Y, Matthies L H.Machine vision for
autonomous small body navigation[C].IEEE Aerospace Conference Proceedings,
2000,7:661-671), JPL laboratories propose a set of small feature loss soft landing navigation, Guidance and control based on computer vision
Scheme, by tracking multiple image characteristic point, counts with reference to laser elevation and detector motion is estimated, while completing right
The reconstruct of touch-down zone landform.
Traditional Navigation, Guide and Controlling method based on computer vision, with independence is strong, high precision, real-time
The advantages of good.But whole process is computationally intensive, image procossing poor reliability, and features of terrain information is needed, it is only applicable to
The detection mission of known environment.
First technology [2] is (referring to Heriss é B, Hamel T, Mahony R, et al.Landing a VTOL
unmanned aerial vehicle on a moving platform using optical flow[J].IEEE
Transactions on Robotics,2012,28(1):77-89.), researcher proposes a kind of using Optic flow information pair
The method that unmanned plane carries out Guidance and control, is successfully realized unmanned plane independent landing, and carried out verification experimental verification.
Traditional Guidance and control method based on Optic flow information, it is small with amount of calculation, the advantages of calculating speed is fast, and not
Priori landform characteristic information is needed, can be detected for circumstances not known.But due to lacking the position constraint of horizontal direction, visit
Surveying device can not realize accuracy, it is impossible to meet the mission requirements in the precision landing of small feature loss surface.
The content of the invention
The Guidance and control method based on Optic flow information the invention aims to solve traditional can not realize accuracy
Problem, propose a kind of small feature loss accuracy Guidance and control method based on Optic flow information.The method is believed by introducing sight line
Breath, row constraint is entered to detector horizontal level, realizes accuracy.
The purpose of the present invention is realized by the following method.
A kind of small feature loss accuracy Guidance and control method based on Optic flow information, comprises the following steps that：
Step one, set up system dynamics equation.
The kinetics equation of detector is set up in the case where landing point connects firmly coordinate system：
Wherein, r is position vector of the detector under landing point coordinate system, and v is the velocity of detector, and ω is target
Celestial bodies rotation angular velocity vector, the target celestial body gravitational acceleration that g is subject to for detector, a is the control acceleration of detector.
Step 2, the Optic flow information that detector is obtained using optical flow method：
Based on pin-hole imaging principle, the light stream that can obtain current time detector using camera speed and depth information is believed
Breath：
Wherein, w=(u, v) is the Optic flow information of detector, (Vx,Vy,Vz) it is point-to-point speed of the camera under inertial system,
(ωx,ωy,ωz) it is angular velocity of rotation of the camera under inertial system,For in three dimensions any point M in camera coordinates system
The coordinate of lower Z axis, (x, y) is coordinates of the point M in camera imaging plane correspondence subpoint, and f is known navigation camera focus.
Step 3, the sight line information that touch-down zone is obtained using camera：
Using the relative line of sight navigated between camera observation detector and touch-down zone, the survey of relative line of sight is obtained
Angle information.Relation between detector position, attitude and observed quantity can be given by formula (3) and formula (4)：
Wherein,Angle Information for touch-down zone with respect to line of sight；(X, Y, Z) is touch-down zone under inertial system
Coordinate；(x', y', z') is the coordinate of detector under inertial system；Aij, i, j=1,2,3 are camera coordinates system relative to inertial system
Each component of direction cosine matrix A.
Angle Information using touch-down zone with respect to line of sightTo realize to level in detector landing mission
The amendment of direction position.
Step 4, the control acceleration a for asking for detector：
The touch-down zone sight line information that the Optic flow information and step 3 obtained using step 2 are obtained, design detector landed
The control law of Cheng Suoxu, asks for the control acceleration a of detector, is brought into formula (1), it is therefore an objective to correct horizontal direction position inclined
Difference.
Repeat step two to four, to realize small feature loss accuracy.
The control law can be：Ratio control form or sliding formwork control form.
When the control law is ratio control form：
A=kw(w*-w)+kζ(ζ*-ζ) (5)
Wherein w*,ζ*It is desired smooth flow valuve and the angle of sight, w, ζ are the light flow valuve and the angle of sight at detector current time,
kw,kζThe respectively control gain and the control gain of sight line angular displacement of light stream deviation.
Beneficial effect
1st, a kind of small feature loss accuracy Guidance and control method based on Optic flow information given by the present invention, by introducing
The amendment of horizontal direction position, can realize accuracy of the detector on small feature loss surface, and with algorithm it is simple, calculate
The small advantage of amount.
2nd, the method obtains the sight line information in touch-down zone using satellite-based navigation camera, it is not necessary to introduces new sensor and sets
It is standby, and with the potential quality as standby navigational guidance scheme.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the small feature loss accuracy Guidance and control method based on Optic flow information of the present invention；
Fig. 2 is pin-hole imaging schematic diagram；
Fig. 3 is touch-down zone sight line information schematic diagram；
Fig. 4 is detector track along the x-axis direction under small feature loss landing point coordinate system；
Fig. 5 is detector track along the y-axis direction under small feature loss landing point coordinate system；
Fig. 6 is detector track along the z-axis direction under small feature loss landing point coordinate system.
Specific embodiment
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
Embodiment 1
A kind of small feature loss accuracy Guidance and control method based on Optic flow information, comprises the following steps that：
Step one, set up system dynamics equation.
The kinetics equation of detector is set up in the case where landing point connects firmly coordinate system：
Wherein r is position vector of the detector under landing point coordinate system, and v is the velocity of detector, and ω is target
Celestial bodies rotation angular velocity vector, the target celestial body gravitational acceleration that g is subject to for detector, a is the control acceleration of detector.
Step 2, the Optic flow information that detector is obtained using optical flow method：
In Fig. 2, point M is any point in three dimensions, and point m is corresponding subpoints of the point M in camera imaging plane, point m
Coordinate be (x, y), f is known navigation camera focus, then the coordinate of point M and point m has following relation：
If impact point M is motionless in space, in detector flight course, camera corresponding point M has the translational motion also to have rotation
Transhipment is dynamic, then speed of the point M under camera coordinates system can be expressed as：
VM=-Vt-ω'×M (8)
In formula × it is vectorial multiplication cross, Vt=(Vx,Vy,Vz)TIt is point-to-point speed of the camera under inertial system, ω '=(ωx,
ωy,ωz)TIt is angular velocity of rotation of the camera under inertial system,It is seats of the point M under camera coordinates system
Mark, formula (8) is launched to obtain：
Light stream refers to the instantaneous velocity that pixel is moved and produced on the image plane, therefore by the coordinate of formula (2) midpoint m
(x, y) differentiates the light stream (u, v) that just can obtain at projection plane point m to the time respectively, and its unit is that pixel is per second, its expression
Formula is respectively as shown in formula (10) and formula (11)：
(u, v) and Block- matching calculated from formula (10) and formula (11) calculate (Δ i, Δ j) is between the two
Unit it is inconsistent, therefore Conversion of measurement unit need to be carried out, its transformational relation is：
Wherein h is simulation step length, and unit is the second.
Bringing formula (9) into formula (10) and formula (11) respectively can obtain between light stream and camera speed and depth information
Corresponding relation formula：
From formula (13) as can be seen that point-to-point speed under inertial system of light stream and camera, rotary speed andIt is relevant,
And the light stream that light stream is caused by camera translationWith the light stream caused by camera rotationTwo parts are constituted；Wherein
Translation light stream and camera point-to-point speed, relative depth informationIt is relevant；Rotation light stream it is relevant with camera rotary speed, and and phase
It is unrelated to depth.If installing IMU inertial navigation units in detector, rotation light stream just can be by being calculated, so as to draw translation
Light stream.
Step 3, the sight line information that touch-down zone is obtained using camera：
Using the relative line of sight navigated between camera observation detector and touch-down zone, the survey of relative line of sight is obtained
Angle information.Fig. 3 gives measuring principle figure.Relation between detector position, attitude and observed quantity can by formula (14) and
Formula (15) is given：
Wherein,Angle Information for touch-down zone with respect to line of sight；(X, Y, Z) is touch-down zone under inertial system
Coordinate；(x', y', z') is the coordinate of detector under inertial system；Aij, i, j=1,2,3 are camera coordinates system relative to inertial system
Each component of direction cosine matrix A.
Angle Information using touch-down zone with respect to line of sightTo realize to level in detector landing mission
The amendment of position.
Step 4, the control acceleration a for asking for detector：
The touch-down zone sight line information that the Optic flow information and step 3 obtained using step 2 are obtained, design detector landed
The control law of Cheng Suoxu, asks for the control acceleration a of detector, is brought into formula (1), it is therefore an objective to correct the position of horizontal direction
Deviation.
The control law is ratio control form：
A=kw(w*-w)+kζ(ζ*-ζ) (16)
Wherein w*,ζ*It is desired smooth flow valuve and the angle of sight, w, ζ are the light flow valuve and the angle of sight at detector current time,
kw,kζThe respectively control gain and the control gain of sight line angular displacement of light stream deviation.
Repeat step two to four, to realize small feature loss accuracy.
The present embodiment carries out simulating, verifying by target satellite of 433Eros asteroids, and simulated conditions are：In small feature loss landing point
Under coordinate system, the initial position of detector is [- 1000, -1000,1500]T, dbjective state is zero point, and small feature loss surface is landed
Point position is [0,0,0]T。
The simulation result of accompanying drawing 4-6 shows, with different initial velocities, has carried out 4 groups of emulation, the landing that the present embodiment is proposed
Control method, introduces the sight line information in touch-down zone on the basis of Optic flow information, and detector horizontal direction position is modified,
Successfully realize accuracy of the detector on small feature loss surface.
Above-described specific descriptions, purpose, technical scheme and beneficial effect to inventing have been carried out further specifically
It is bright, should be understood that and the foregoing is only specific embodiment of the invention, for explaining the present invention, it is not used to limit this
The protection domain of invention, all any modification, equivalent substitution and improvements within the spirit and principles in the present invention, done etc., all should
It is included within protection scope of the present invention.
Claims (3)
1. a kind of small feature loss accuracy Guidance and control method based on Optic flow information, it is characterised in that：Comprise the following steps that：
Step one, set up system dynamics equation；
The kinetics equation of detector is set up in the case where landing point connects firmly coordinate system：
Wherein, r is position vector of the detector under landing point coordinate system, and v is the velocity of detector, and ω is target celestial body
Spin velocity vector, the target celestial body gravitational acceleration that g is subject to for detector, a is the control acceleration of detector；
2nd, the Optic flow information of detector is obtained using optical flow method：
Based on pin-hole imaging principle, the Optic flow information of current time detector can be obtained using camera speed and depth information：
Wherein, w=(u, v) is the Optic flow information of detector, (Vx,Vy,Vz) it is point-to-point speed of the camera under inertial system, (ωx,
ωy,ωz) it is angular velocity of rotation of the camera under inertial system,It is M Z axis under camera coordinates system in any point in three dimensions
Coordinate, (x, y) is point M in the coordinate of camera imaging plane correspondence subpoint, and f is known navigation camera focus；
Step 3, the sight line information that touch-down zone is obtained using camera：
Using the relative line of sight navigated between camera observation detector and touch-down zone, the angle measurement for obtaining relative line of sight is believed
Breath；Relation between detector position, attitude and observed quantity can be given by formula (3) and formula (4)：
Wherein,Angle Information for touch-down zone with respect to line of sight；(X, Y, Z) is the seat in touch-down zone under inertial system
Mark；(x', y', z') is the coordinate of detector under inertial system；Aij, i, j=1,2,3 are side of the camera coordinates system relative to inertial system
To each component of cosine matrix A；
Angle Information using touch-down zone with respect to line of sightTo realize to horizontal direction in detector landing mission
The amendment of position；
Step 4, the control acceleration a for asking for detector：
The touch-down zone sight line information that the Optic flow information and step 3 obtained using step 2 are obtained, design detector landing mission institute
The control law for needing, asks for the control acceleration a of detector, is brought into formula (1), it is therefore an objective to correct horizontal direction position deviation；
Repeat step two to four, to realize small feature loss accuracy.
2. a kind of small feature loss accuracy Guidance and control method based on Optic flow information as claimed in claim 1, its feature exists
In：The control law can be：Ratio control form or sliding formwork control form.
3. a kind of small feature loss accuracy Guidance and control method based on Optic flow information as claimed in claim 1 or 2, its feature
It is：When the control law is ratio control form：
A=kw(w*-w)+kζ(ζ*-ζ) (5)
Wherein w*,ζ*It is desired smooth flow valuve and the angle of sight, w, ζ are the light flow valuve and the angle of sight at detector current time, kw,kζPoint
Not Wei light stream deviation control gain and sight line angular displacement control gain.
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| CN110239744A (en) * | 2019-06-28 | 2019-09-17 | 北京理工大学 | Thrust Trajectory Tracking Control method is determined in a kind of landing of small feature loss |
| CN110466805A (en) * | 2019-09-18 | 2019-11-19 | 北京理工大学 | Asteroid landing guidance method based on optimization Guidance Parameter |
| CN112249369A (en) * | 2020-09-28 | 2021-01-22 | 上海航天控制技术研究所 | Rocket power fixed-point landing guidance method |
| CN113030517A (en) * | 2021-02-18 | 2021-06-25 | 北京控制工程研究所 | Attitude correction method by using speed measuring sensor in Mars landing process |
| CN115309057A (en) * | 2022-09-05 | 2022-11-08 | 北京理工大学 | Safe landing guidance method for planet surface complex terrain area |
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| CN113030517B (en) * | 2021-02-18 | 2022-10-28 | 北京控制工程研究所 | Attitude correction method by using speed measuring sensor in Mars landing process |
| CN115309057A (en) * | 2022-09-05 | 2022-11-08 | 北京理工大学 | Safe landing guidance method for planet surface complex terrain area |
| CN115309057B (en) * | 2022-09-05 | 2023-08-11 | 北京理工大学 | Planet surface complex terrain area safe landing guidance method |
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