CN107792402B - A kind of carrier rocket grade recovery system and method - Google Patents
A kind of carrier rocket grade recovery system and method Download PDFInfo
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- CN107792402B CN107792402B CN201710864909.5A CN201710864909A CN107792402B CN 107792402 B CN107792402 B CN 107792402B CN 201710864909 A CN201710864909 A CN 201710864909A CN 107792402 B CN107792402 B CN 107792402B
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- 238000001514 detection method Methods 0.000 claims abstract description 87
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- 239000000523 sample Substances 0.000 claims description 11
- 239000002360 explosive Substances 0.000 claims description 4
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- 238000004064 recycling Methods 0.000 abstract description 10
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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
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G5/00—Ground equipment for vehicles, e.g. starting towers, fuelling arrangements
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Abstract
The invention discloses a kind of carrier rocket grade recovery system and methods, wherein the system comprises: recycling cabinet, detection device, signal receiving/transmission device, multiple air bags, air charging system, mobile mechanism and ground control system；Recycling cabinet is the not closed concave body structure in top；Detection device, signal receiving/transmission device and air charging system are separately positioned on recycling cabinet；Multiple air bags are separately positioned on the bottom and side of the recycling cabinet；Air charging system is connect with the multiple air bag respectively；Mobile mechanism's setting is in the recycling bottom of box；Ground control system passes through signal receiving/transmission device and the carrier rocket grade recovery system telecommunication.The present invention completes the recycling of sub- grade based on active service carrier rocket while to the less change of carrier rocket grade.
Description
Technical Field
The invention belongs to the technical field of aircraft systems, and particularly relates to a carrier rocket sublevel recovery system and a carrier rocket sublevel recovery method.
Background
In order to reduce launch cost of the carrier rocket, recycling and reusing the carrier rocket substages become an important technical route in the exploration and development process of the field of aircraft systems in various countries. The U.S. SPACEX company has successfully implemented a launch vehicle for offshore, terrestrial recovery and reuse, demonstrating the feasibility of a recovery reuse technology route.
At present, the commonly adopted recovery mode of the secondary stage of the carrier rocket is as follows: the parachute is retracted or the support is retracted vertically. The parachute and the landing support are both arranged on the carrier rocket sublevel, the weight of the carrier rocket sublevel is increased, the effective load of the carrier rocket sublevel is reduced, the aerodynamic shape of the rocket is changed to a large extent, and the risk in flight is increased.
Disclosure of Invention
The technical problem of the invention is solved: the defects of the prior art are overcome, and the carrier rocket sublevel recovery system and method are provided, which are based on an active carrier rocket and complete sublevel recovery while slightly changing the carrier rocket sublevel.
In order to solve the technical problem, the invention discloses a carrier rocket sublevel recovery system, which comprises: the device comprises a recovery box body, a detection device, a signal transceiving device, a plurality of air bags, an inflating device, a moving mechanism and a ground control system;
the recovery box body is a concave box body structure with the top end not closed;
the detection device, the signal receiving and transmitting device and the inflating device are respectively arranged on the recovery box body;
the air bags are respectively arranged at the bottom and the side of the recovery box body;
the inflation device is respectively connected with the plurality of airbags;
the moving mechanism is arranged at the bottom of the recovery box body;
and the ground control system is in remote communication with the carrier rocket sublevel recovery system through a signal transceiver.
In the above-described launch vehicle substage recovery system,
the detection device is used for detecting the states of the carrier rocket sublevel recovery system and the carrier rocket sublevel in real time to obtain detection information;
the signal transceiver is used for transmitting the detection information to a ground control system and receiving a control instruction returned by the ground control system;
the ground control system is used for receiving the detection information sent by the signal transceiver, predicting the point of the signal according to the detection information and generating a control instruction; and controlling the movement of the moving mechanism and/or controlling the inflating device to inflate the airbags through the control instruction.
In the above launch vehicle substage recovery system, the probe information includes: recovering system detection information and rocket sublevel detection information;
recovery system probe information indicating the relative position between the launch vehicle substage recovery system and the launch vehicle substage;
rocket substage detection information for indicating a real-time status of the rocket substage.
In the above launch vehicle substage recovery system, the rocket substage probe information includes: rocket sublevel detection information after primary ignition, rocket sublevel detection information after secondary ignition and rocket sublevel detection information after tertiary ignition;
a ground control system for:
receiving rocket sublevel detection information after primary ignition, obtaining a predicted landing point after the primary ignition according to the rocket sublevel detection information after the primary ignition, and generating a first motion control instruction according to the predicted landing point after the primary ignition; controlling the movement of the moving mechanism through the first movement control instruction so as to enable the carrier rocket sublevel recovery system to move to a predicted landing point after one ignition;
receiving rocket sublevel detection information after secondary ignition, obtaining a predicted landing point after secondary ignition according to the rocket sublevel detection information after secondary ignition, and generating a second motion control instruction according to the predicted landing point after secondary ignition; controlling the movement of the moving mechanism through the second movement control instruction so as to enable the carrier rocket sublevel recovery system to move to the predicted landing point after secondary ignition;
receiving rocket sublevel detection information after three times of ignition, obtaining a predicted landing point after three times of ignition according to the rocket sublevel detection information after three times of ignition, and generating a third motion control instruction according to the predicted landing point after three times of ignition; and controlling the movement of the moving mechanism through the third movement control instruction so as to move the carrier rocket sublevel recovery system to the predicted landing point after three times of ignition.
In the above launch vehicle substage recovery system, the rocket substage detection information includes: real-time position, real-time velocity and real-time attitude of the launch vehicle substage.
In the above launch vehicle substage recovery system, the ground control system is configured to:
receiving and recovering system detection information;
judging whether the carrier rocket substages touch the bottom of the recovery box body or not according to the relative position between the carrier rocket substage recovery system and the carrier rocket substages indicated by the recovery system detection information;
generating an inflation control instruction when it is determined that the launch vehicle substage touches the bottom of the recovery tank;
and controlling the inflating device to inflate the airbags through the inflation control instruction.
In the above-mentioned launch vehicle substage recovery system, the inflator is configured to rapidly inflate the plurality of airbags by an explosive rapid inflation method or a compressed gas inflation method according to the inflation control instruction, so as to fix the launch vehicle substage by the plurality of airbags that are inflated and deployed.
In the launch vehicle substage recovery system, the deployment time of the airbags is: 10 milliseconds.
In the above launch vehicle substage recovery system, further comprising: a plurality of tail flame exhaust holes;
and the plurality of tail flame exhaust holes are respectively arranged at the bottom of the recovery box body and used for exhausting airflow generated by tail flames of the carrier rocket substages when the carrier rocket substages enter the recovery box body.
Correspondingly, the invention also discloses a carrier rocket sublevel recovery method, which comprises the following steps:
detecting the states of the carrier rocket sublevel recovery system and the carrier rocket sublevel in real time through a detection device to obtain detection information;
generating the detection information to a ground control system through a signal transceiver;
the ground control system carries out the point-falling prediction according to the detection information and generates a control instruction;
and controlling the movement of the moving mechanism and/or controlling an inflating device to inflate a plurality of air bags through a control instruction, so as to realize the recovery of the secondary stage of the carrier rocket.
The invention has the following advantages:
the invention discloses a carrier rocket sublevel recovery system which can be arranged on the ground, soft landing and fixing of a carrier rocket sublevel are realized based on a recovery box body, a detection device, a signal transceiver, a plurality of air bags, an inflation device, a moving mechanism and a ground control system, and recovery of the carrier rocket sublevel is completed.
Drawings
FIG. 1 is a schematic diagram of a launch vehicle substage recovery system according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating the steps of a launch vehicle substage recovery method according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, common embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, a schematic structural diagram of a launch vehicle substage recovery system according to an embodiment of the present invention is shown. In this embodiment, the launch vehicle substage recovery system may include: the recovery box 100, the detection device 200, the signal transceiver 300, the plurality of airbags 400, the inflator 500, the moving mechanism 600, and the ground control system 700. The carrier rocket sublevel recovery system is used as a ground device for carrier rocket sublevel recovery and can be arranged at any appropriate position such as land, ship decks and the like to realize the recovery of the carrier rocket sublevels. The meaning of the carrier rocket substage can be a rocket core substage or a combination of the rocket core substage and boosting.
As shown in fig. 1, the recycling bin is a concave bin structure with an unsealed top end; the detection device, the signal receiving and transmitting device and the inflating device are respectively arranged on the recovery box body; the air bags are respectively arranged at the bottom and the side of the recovery box body; the inflation device is respectively connected with the plurality of airbags; the moving mechanism is arranged at the bottom of the recovery box body; and the ground control system is in remote communication with the carrier rocket sublevel recovery system through a signal transceiver.
In a preferred embodiment of the invention, the recycling box body is used as a structural body of the carrier rocket substage recycling system and can be designed and manufactured by adopting high-strength materials. Wherein, the shape of the recovery box body can be any appropriate shape, including but not limited to: cubic, rectangular, cylindrical, and the like. For example, the recovery tank may have a square structure with a length of 10.7m by 10.7m and a thickness of 0.7 m. The detection means may in particular be a detection radar. The moving mechanism may be composed of an engine, wheels, a hydraulic pump, and the like.
In a preferred embodiment of the present invention, the detection device may be configured to detect the states of the launch vehicle substage recovery system and the launch vehicle substage in real time, so as to obtain detection information. And the signal transceiver can be used for transmitting the detection information to a ground control system and receiving a control command returned by the ground control system. The ground control system can be used for receiving the detection information sent by the signal transceiver, predicting the point of the signal according to the detection information and generating a control instruction; and controlling the movement of the moving mechanism and/or controlling the inflating device to inflate the airbags through the control instruction.
Preferably, the probe information includes, but is not limited to: and recovering system detection information and rocket sublevel detection information. Wherein recovery system probe information may be used to indicate a relative position between the launch vehicle substage recovery system and the launch vehicle substage. The rocket substage detection information may be used to indicate a real-time state of the launch vehicle substage, for example, the rocket substage detection information may carry motion information of the launch vehicle substage, such as real-time speed, position, attitude, trajectory inclination, sideslip angle, attitude relative to a geographic coordinate system, axial overload, normal overload, and the like.
In a preferred embodiment of the invention, during the process of recovering the carrier rocket sublevels, three times of point drop prediction can be carried out, wherein the three times of point drop prediction correspond to three times of ignition of the carrier rocket sublevels (first ignition, after the carrier rocket sublevels reach the highest point along with the carrier rocket, the first time of recovery ignition of the carrier rocket sublevels is carried out to prepare for reentry, second ignition, after the carrier rocket sublevels enter the atmosphere, the second time of recovery ignition of the carrier rocket sublevels is carried out to control the descending speed of the carrier rocket sublevels, and third ignition, after the carrier rocket sublevels are about 10km away from a carrier rocket sublevel recovery system, the third time of recovery ignition of the carrier rocket sublevels is carried. It should be noted that, the number of times of the point drop prediction may be selected according to the actual situation, which is not limited in this embodiment.
Preferably, the detection device can detect the state of the substages of the triple-ignition carrier rocket in real time corresponding to the triple-point-drop prediction to obtain rocket substage detection information after each ignition. That is, the rocket-level probe information may include: the rocket sublevel detection information after the first ignition, the rocket sublevel detection information after the second ignition and the rocket sublevel detection information after the third ignition.
Accordingly, the ground control system may be specifically configured to:
receiving rocket sublevel detection information after primary ignition, obtaining a predicted landing point after the primary ignition according to the rocket sublevel detection information after the primary ignition, and generating a first motion control instruction according to the predicted landing point after the primary ignition; controlling the movement of the moving mechanism through the first movement control instruction so as to enable the carrier rocket sublevel recovery system to move to a predicted landing point after one ignition;
receiving rocket sublevel detection information after secondary ignition, obtaining a predicted landing point after secondary ignition according to the rocket sublevel detection information after secondary ignition, and generating a second motion control instruction according to the predicted landing point after secondary ignition; controlling the movement of the moving mechanism through the second movement control instruction so as to enable the carrier rocket sublevel recovery system to move to the predicted landing point after secondary ignition;
receiving rocket sublevel detection information after three times of ignition, obtaining a predicted landing point after three times of ignition according to the rocket sublevel detection information after three times of ignition, and generating a third motion control instruction according to the predicted landing point after three times of ignition; and controlling the movement of the moving mechanism through the third movement control instruction so as to move the carrier rocket sublevel recovery system to the predicted landing point after three times of ignition.
In a preferred embodiment of the invention, after the triple firing of the launch vehicle substage is completed, the deployment of the airbag may be controlled based on the relative position between the launch vehicle substage recovery system and the launch vehicle substage as indicated by the recovery system probe information.
Preferably, the ground control system may be specifically configured to: receiving and recovering system detection information; judging whether the carrier rocket substages touch the bottom of the recovery box body or not according to the relative position between the carrier rocket substage recovery system and the carrier rocket substages indicated by the recovery system detection information; generating an inflation control instruction when it is determined that the launch vehicle substage touches the bottom of the recovery tank; and controlling the inflating device to inflate the airbags through the inflation control instruction.
Preferably, the inflator may be specifically configured to rapidly inflate the multiple airbags by an explosive rapid inflation method or a compressed gas inflation method according to the inflation control instruction, so as to fix the launch vehicle substage by inflating and deploying the multiple airbags.
Wherein, the deployment time of the air bag can be realized to be about 10 milliseconds by adopting an explosive quick inflation mode or a compressed gas inflation mode. The air bag can fix the carrier rocket sublevel, and the carrier rocket sublevel is prevented from falling down when entering the recovery box body. In addition, because the relative speed of the carrier rocket substage when reaching the ground is not completely zero, the arrangement of the air bag plays a role in protecting the carrier rocket substage, and damage caused by collision between the carrier rocket substage and the recovery box body is avoided.
In a preferred embodiment of the present invention, as shown in fig. 1, the launch vehicle substage recovery system may further include: a plurality of tail flame exhaust holes 800. The carrier rocket secondary-stage tail flame recovery box comprises a recovery box body, a plurality of tail flame exhaust holes and a plurality of carrier rocket secondary-stage tail flames, wherein the tail flame exhaust holes are respectively arranged at the bottom of the recovery box body and used for exhausting airflow generated by the tail flames of the carrier rocket secondary stages when the carrier rocket secondary stages enter the recovery box body. The radius of the tail flame exhaust hole can be selected according to actual conditions, for example, the radius of the tail flame exhaust hole can be, but is not limited to: 500 mm.
In the embodiment of the present invention, the following points need to be explained:
one is as follows:
in the launching process of the carrier rocket, the launching inertia system is used as a navigation coordinate system, and in the recovery process of the secondary carrier rocket, the northeast is used as the navigation coordinate system, so that in the recovery process of the secondary carrier rocket through the secondary carrier rocket recovery system, the ground control system can also be used for establishing the conversion relation from the launching inertia system to the northeast coordinate system. Preferably, the transformation of the emission inertial system to the northeast coordinate system may be as follows:
O-XYZ stands for the emission inertial system, OO-XEYNZRRepresenting the northeast coordinate system. Wherein, OO-XEYNZRIs defined as follows: using the predicted landing point of the carrier rocket sublevel as the origin O of the coordinate systemO，OOYNThe axis pointing in the horizontal north-ward direction, OOZRThe axis being positive upwards along the local normal, OOXEShaft and OOYN、OOZRThe shaft constitutes a right-hand system. Then, the direction cosine array from the transmission inertial system to the northeast coordinate system is:
K＝sinB2cosωetcosAsinB1
L＝cosB2cosωetcosAsinB1-cosB2sinωetsinA+sinB2cosAcosB1
M＝-sinB2cosωetsinAsinB1-sinB2sinωetcosA+cosB2sinAcosB1
N＝-cosB2cosωetsinAsinB1-cosB2sinωetcosA+sinB2sinAcosB1
wherein A represents the azimuth angle of the transmitting inertial system, B1Representing the latitude of the transmitting inertial system, B2Denotes the latitude, omega, of the northeast coordinate systemeRepresenting angular velocity of rotation of the earthAnd t represents the time of flight of the launch vehicle substage.
The second step is as follows:
the detection device can be used for emitting infrared laser with adjustable beam direction when detecting the states of the carrier rocket substage recovery system and the carrier rocket substage in real time so as to realize guidance of the carrier rocket substage. Preferably, the guidance process of the launch vehicle substage may be as follows:
the carrier rocket substage adopts an overload control strategy on the basis of tracking a program angle instruction, an improved beam steering guidance method is adopted for guidance, a detection device emits infrared laser with adjustable beam direction, a laser receiving device is arranged on the carrier rocket substage, a guidance instruction is generated by proportional guidance to follow the guidance of the laser beam, and the adjustment of relative position and the correction of attitude are completed:
wherein N represents a normal overload, k1Denotes the scale guide coefficient, k2Representing the terminal constraint factor, v representing the velocity total of the launch vehicle substages,representing the line-of-sight angular rate between the substage of the launch vehicle and the recovery casing, lambda representing the line-of-sight angle between the substage of the launch vehicle and the recovery casing, g0Is a constant.
And thirdly:
suppose that (δ r)x δry δrz) Coordinate points, t, in the northeast coordinate system representing the difference between the current position of the launch vehicle substage recovery system and the current position of the launch vehicle substagesThe landing residual time of the carrier rocket substage is shown, so that the carrier rocket substage can be ensured to be recovered by the carrier rocket substage recovery system at tsWithin-10 s, (δ r)xδry δrz) Is zero.
In conclusion, the carrier rocket sublevel recovery system can be arranged on the ground, soft landing and fixing of a carrier rocket sublevel are realized based on the recovery box body, the detection device, the signal transceiver, the air bags, the inflation device, the moving mechanism and the ground control system, and recovery of the carrier rocket sublevel is completed.
Secondly, the arrangement of the air bag realizes the fixation of the carrier rocket sublevel, prevents the carrier rocket sublevel from falling down when entering the recovery box body, reduces the recovery difficulty, and can realize the recovery without the complete vertical and stable landing of the carrier rocket sublevel. And the arrangement of the air bag plays a role in protecting the carrier rocket sublevel, and avoids the damage caused by the collision of the carrier rocket sublevel and the recovery box body. In addition, the air bag can be repeatedly used, and the cost is reduced.
Thirdly, the carrier rocket sublevel recovery system can realize the automatic recovery of the carrier rocket sublevel, does not need personnel to participate in the recovery work on site, avoids the casualty risk and has high safety.
In addition, the carrier rocket sublevel recovery system can be widely applied to various environments such as land, sea and the like, and has a wide application prospect.
Based on the embodiment, the invention also discloses a carrier rocket sublevel recovery method which is realized based on the carrier rocket sublevel recovery system. Referring to fig. 2, a flow chart of steps of a launch vehicle substage recovery method according to an embodiment of the present invention is shown. In this embodiment, the launch vehicle substage recovery method includes:
step 201, detecting the states of the carrier rocket sublevel recovery system and the carrier rocket sublevel in real time through a detection device to obtain detection information.
And 202, generating the detection information to a ground control system through a signal transceiver.
And 203, predicting a drop point by the ground control system according to the detection information, and generating a control instruction.
And 204, controlling the movement of the moving mechanism and/or controlling an inflating device to inflate a plurality of air bags through a control command, so as to realize the recovery of the secondary stage of the carrier rocket.
For the method embodiment, since it corresponds to the system embodiment, the description is relatively simple, and for the relevant points, reference may be made to the description of the system embodiment section.
The embodiments in the present description are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. A launch vehicle substage recovery system, comprising: the device comprises a recovery box body, a detection device, a signal transceiving device, a plurality of air bags, an inflating device, a moving mechanism and a ground control system;
the recovery box body is a concave box body structure with the top end not closed;
the detection device, the signal receiving and transmitting device and the inflating device are respectively arranged on the recovery box body;
the air bags are respectively arranged at the bottom and the side of the recovery box body;
the inflation device is respectively connected with the plurality of airbags;
the moving mechanism is arranged at the bottom of the recovery box body;
the ground control system is in remote communication with the carrier rocket sublevel recovery system through a signal transceiver;
wherein,
the detection device is used for detecting the states of the carrier rocket sublevel recovery system and the carrier rocket sublevel in real time to obtain detection information;
the signal transceiver is used for transmitting the detection information to a ground control system and receiving a control instruction returned by the ground control system;
the ground control system is used for receiving the detection information sent by the signal transceiver, predicting the point of the signal according to the detection information and generating a control instruction; and controlling the movement of the moving mechanism and/or controlling the inflating device to inflate the airbags through the control instruction.
2. A launch vehicle substage recovery system according to claim 1 in which said probe information includes: recovering system detection information and rocket sublevel detection information;
recovery system probe information indicating the relative position between the launch vehicle substage recovery system and the launch vehicle substage;
rocket substage detection information for indicating a real-time status of the rocket substage.
3. A launch vehicle substage recovery system according to claim 2 in which said rocket substage probe information includes: rocket sublevel detection information after primary ignition, rocket sublevel detection information after secondary ignition and rocket sublevel detection information after tertiary ignition;
a ground control system for:
receiving rocket sublevel detection information after primary ignition, obtaining a predicted landing point after the primary ignition according to the rocket sublevel detection information after the primary ignition, and generating a first motion control instruction according to the predicted landing point after the primary ignition; controlling the movement of the moving mechanism through the first movement control instruction so as to enable the carrier rocket sublevel recovery system to move to a predicted landing point after one ignition;
receiving rocket sublevel detection information after secondary ignition, obtaining a predicted landing point after secondary ignition according to the rocket sublevel detection information after secondary ignition, and generating a second motion control instruction according to the predicted landing point after secondary ignition; controlling the movement of the moving mechanism through the second movement control instruction so as to enable the carrier rocket sublevel recovery system to move to the predicted landing point after secondary ignition;
receiving rocket sublevel detection information after three times of ignition, obtaining a predicted landing point after three times of ignition according to the rocket sublevel detection information after three times of ignition, and generating a third motion control instruction according to the predicted landing point after three times of ignition; and controlling the movement of the moving mechanism through the third movement control instruction so as to move the carrier rocket sublevel recovery system to the predicted landing point after three times of ignition.
4. A launch vehicle substage recovery system according to claim 2 in which the rocket substage probe information includes: real-time position, real-time velocity and real-time attitude of the launch vehicle substage.
5. A launch vehicle substage recovery system according to claim 2 in which the ground control system is adapted to:
receiving and recovering system detection information;
judging whether the carrier rocket substages touch the bottom of the recovery box body or not according to the relative position between the carrier rocket substage recovery system and the carrier rocket substages indicated by the recovery system detection information;
generating an inflation control instruction when it is determined that the launch vehicle substage touches the bottom of the recovery tank;
and controlling the inflating device to inflate the airbags through the inflation control instruction.
6. A launch vehicle substage recovery system according to claim 5 in which the inflation means is adapted to rapidly inflate the airbags using either an explosive rapid inflation mode or a compressed gas inflation mode in accordance with the inflation control instructions to secure the launch vehicle substage by inflating the deployed airbags.
7. The launch vehicle substage recovery system of claim 6 wherein the plurality of airbags have a deployment time of: 10 milliseconds.
8. The launch vehicle substage recovery system of claim 1 further comprising: a plurality of tail flame exhaust holes;
and the plurality of tail flame exhaust holes are respectively arranged at the bottom of the recovery box body and used for exhausting airflow generated by tail flames of the carrier rocket substages when the carrier rocket substages enter the recovery box body.
9. A launch vehicle substage recovery method, comprising:
detecting the states of the carrier rocket sublevel recovery system and the carrier rocket sublevel in real time through a detection device to obtain detection information;
generating the detection information to a ground control system through a signal transceiver;
the ground control system carries out the point-falling prediction according to the detection information and generates a control instruction;
the movement of the moving mechanism is controlled through a control instruction and/or the inflating device is controlled to inflate a plurality of air bags, so that the recovery of the carrier rocket sublevels is realized.
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| CN109436384B (en) * | 2018-12-04 | 2023-07-18 | 燕山大学 | Manipulator for rocket recovery |
| CN109720608B (en) * | 2018-12-04 | 2023-08-18 | 燕山大学 | Vehicle-mounted movable hydraulic buffer landing platform for rocket recovery |
| CN109987257B (en) * | 2018-12-27 | 2021-02-19 | 蓝箭航天空间科技股份有限公司 | Rocket recovery system |
| CN109665123A (en) * | 2018-12-28 | 2019-04-23 | 蓝箭航天技术有限公司 | Recyclable device for space launch vehicle |
| CN111994308B (en) * | 2019-04-19 | 2022-03-04 | 蓝箭航天空间科技股份有限公司 | Auxiliary recovery system for rocket recovery |
| CN110160407B (en) * | 2019-05-24 | 2021-09-07 | 上海宇航系统工程研究所 | Carrier rocket sublevel landing area range control system |
| CN111216930A (en) * | 2020-03-13 | 2020-06-02 | 北京星际荣耀空间科技有限公司 | Rocket sublevel landing recovery system and method |
| CN114152152B (en) * | 2021-11-12 | 2023-11-24 | 大连船舶重工集团有限公司 | Marine rocket recovery method for compensating drop point deviation during autonomous navigation |
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