CN110542423A - moon soft landing vertical approach obstacle avoidance guidance method - Google Patents
moon soft landing vertical approach obstacle avoidance guidance method Download PDFInfo
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- CN110542423A CN110542423A CN201910668412.5A CN201910668412A CN110542423A CN 110542423 A CN110542423 A CN 110542423A CN 201910668412 A CN201910668412 A CN 201910668412A CN 110542423 A CN110542423 A CN 110542423A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
Abstract
The invention discloses a moon soft landing vertical approach obstacle avoidance guidance method, which comprises the following steps: 1) setting a calculation period of the detector guidance instruction as T, and updating guidance parameters once in every N calculation periods of the guidance instruction; assuming that an external navigation system is established under an inertial coordinate system, the position vector of a target landing point provided by the navigation system in the current period is ri and the velocity vector is vi; designing a counter k to be a non-negative integer, wherein the initial value of the counter k is 0; the inertial coordinate system is represented by i, the origin is at the center of the moon, and the three coordinate axes point to a fixed direction in the inertial space; n is more than or equal to 1; 2) establishing a guidance coordinate system in a fixed direction in space by taking a target landing point as a center, and obtaining a rotation matrix from an inertial system to the guidance coordinate system; 3) resolving to obtain a guidance parameter; 4) and calculating to obtain a guidance instruction, and handing the guidance instruction to an external attitude control system and an engine for execution.
Description
Technical Field
the invention relates to a moon soft landing vertical approach obstacle avoidance guidance method, and belongs to the field of spacecraft guidance control.
Background
For soft landing of the moon, the terrain is an important factor endangering the landing safety. Therefore, in the descending and flying process, the distribution situation of the obstacle on the surface of the moon is observed, a safe landing point is searched, and the flight track is changed to implement obstacle avoidance. Existing landing probe barriers generally use an inclined descent trajectory, for example, apollo uses a descent trajectory having an angle of 16 ° to 24 ° with the horizontal plane, and Chang' e # uses a descent trajectory having an angle of 45 ° with the horizontal plane. This approach requires a relatively large flat area, which is advantageous for probes landing in the moon's area. However, this trajectory of descent is very unfavorable for landing missions that extend over the meteorite crater, to the south of the moon, to the back, etc. Firstly, for a detector navigation system depending on distance measurement relative measurement, the bumpy flight path can be aggravated by the fluctuant ground; secondly, there is a risk of accidental impact during descent in terrain with severe changes.
Therefore, for such rough terrain landing tasks, it is preferable to use a vertical approach descent trajectory. The advantages are that: firstly, the vertical projection position of the detector on the lunar surface is basically fixed when the detector vertically descends, so that the influence of terrain change is eliminated, and the method is favorable for the stability of a ranging correction navigation system; and secondly, when the landing platform descends vertically, the detector can observe the same landing area continuously and stably, and obstacle avoidance is facilitated. However, after the descending track is changed to be vertical, the original approach guidance method is not suitable any more, and the main problems include: firstly, a guidance coordinate system based on the direction of a target landing point relative to a detector can have the problem of rapid angle rotation when the guidance coordinate system vertically descends, and secondly, the guidance parameter resolving period is the same as the guidance instruction resolving period, so that guidance and attitude control self-oscillation easily occurs; and thirdly, after the landing points are updated, the guidance parameters cannot be updated in time, and the guidance response is slow.
disclosure of Invention
the technical problem solved by the invention is as follows: the defects of the prior art are overcome, the lunar soft landing vertical approach obstacle avoidance guidance method is provided, and the safety landing requirement under the rugged terrain environment on the back of the moon or in the south pole area is met.
the technical scheme of the invention is as follows:
A moon soft landing vertical approach obstacle avoidance guidance method comprises the following steps:
1) Setting a calculation period of the detector guidance instruction as T, and updating guidance parameters once in every N calculation periods of the guidance instruction; assuming that an external navigation system is established under an inertial coordinate system, the position vector of a target landing point provided by the navigation system in the current period is ri and the velocity vector is vi; designing a counter k to be a non-negative integer, wherein the initial value of the counter k is 0; the inertial coordinate system is represented by i, the origin is at the center of the moon, and the three coordinate axes point to a fixed direction in the inertial space; n is more than or equal to 1;
2) Establishing a guidance coordinate system in a fixed direction in space by taking a target landing point as a center, and obtaining a rotation matrix from an inertial system to the guidance coordinate system;
3) Resolving to obtain a guidance parameter;
4) And calculating to obtain a guidance instruction, and handing the guidance instruction to an external attitude control system and an engine for execution.
the process of obtaining the rotation matrix from the inertial system to the guidance coordinate system in the step 2) is as follows:
According to the image processing of the navigation camera, finding a flat landing zone, and taking the central point of the landing zone as a new safe landing point, otherwise, keeping the original value of the safe landing point; if the updated safe landing point is obtained in the period, changing the current period into a guidance parameter resolving period; then, establishing a guidance coordinate system by taking the safe landing point as an origin and taking the local fixed direction as a reference, and further obtaining a rotation matrix of the inertial system to the guidance coordinate system;
the specific process of the step 2) is as follows:
setting the current target landing point position as a new safe landing point obtained again by a navigation and obstacle avoidance sensor if the target landing point is the new safe landing point, and setting k to be 0;
establishing a guidance coordinate system by taking the safe landing point as a center, wherein the x-axis direction points to the safe landing point from the moon center and represents the local vertical direction; the two axes of y and z are in the local horizontal plane; if a preset reference direction pi exists in the space and the included angle between the z axis of the established guidance coordinate system and the vector pi is required to be minimum, the three axes of the guidance coordinate system in the inertial space are expressed as follows:
z＝x×y
the rotation matrix from the inertial system to the guided coordinate system is calculated as follows:
When the guidance parameters are obtained through resolving in the step 3), if the current period is a parameter resolving period, the position and speed parameters of the detector given by the navigation system are converted into a guidance coordinate system; calculating guidance time by taking the position, the speed and the acceleration of the vertical motion terminal as constraints and taking the change rate of the vertical acceleration of the terminal equal to 0 as a design target; calculating a guidance parameter according to the guidance time;
The specific process of the step 3) is as follows:
setting the lead time to be tgo, and setting the initial value to be a number larger than 10;
(3.1) if tgo >10 is satisfied and k is 0, then updating the guidance parameters is performed as follows:
Firstly, converting the position and the speed of a detector into a guidance coordinate system, and obtaining the position rg and the speed vg of a relative target landing point in the guidance coordinate system;
Wherein, ω m is the angular velocity of the moon rotating relative to the inertia space, and is the representation of the velocity direction vector of the moon rotation angle in the inertia system, and they are known quantities;
calculating to obtain the remaining guidance time:
Setting a target acceleration vector of the guidance terminal as a target speed as a target position vector rtg; the three quantities are designed values, the x component, namely the value of the difference between the acceleration generated by the maximum thrust of the engine and the gravity acceleration of the moon is greater than 0 and less than 0, and the y component and the z component are both 0; the x component of (a) is a number not greater than 0, and the y and z components are both 0; the x component in the rtg is the terminal height in the vertical approaching process, the value is a number larger than 0, and the y component and the z component of the rtg are both 0;
Assuming that the target of the terminal vertical acceleration rate is zero, let it be the x component of vg and the x component of rg, then the guidance time tgo is calculated as follows:
calculating updated guidance parameters c1, c2 and c 3:
(3.2) if tgo >10 is not satisfied and k is 0:
t←t-T
the symbol "←" represents an assignment; the guidance parameters c1, c2, c3 are not updated.
the specific process of the step 4) is as follows:
when T is k · T, the command acceleration in the guidance system is calculated as follows
Wherein gg is a gravity acceleration vector under a guidance system;
converting the instruction acceleration under the guidance system into the instruction acceleration under the inertia system to obtain the instruction acceleration and outputting the instruction acceleration to an external attitude control system and an engine for execution, so that the longitudinal axis of the detector, namely the thrust direction of the engine is coincident with the thrust direction, and the acceleration generated by the thrust output by the engine is equal to the target;
Updating k ← k +1 by a counter k, and judging that k is 0 if k is larger than or equal to N;
Judging the ending condition: if tgo <0, ending the vertical approaching obstacle avoidance guidance, and returning to the step 1 in the next period).
compared with the prior art, the invention has the beneficial effects that:
Firstly, the establishing mode of the guidance coordinate system is modified, the guidance coordinate system is established in a fixed space direction by taking the target landing point as the center, and the large-scale rotation of the coordinate axis direction of the guidance coordinate system caused by the small-scale change of the detector relative to the direction of the target landing point in the vertical descending track is avoided.
Secondly, a guidance parameter updating period and a guidance instruction updating period are separated, so that guidance stability is improved;
Thirdly, after the landing points are obtained again, the guidance parameters are immediately recalculated, and the response speed of the guidance law is improved.
Drawings
Fig. 1 is a structural diagram of a moon soft landing vertical approach obstacle avoidance guidance method.
fig. 2 is a schematic diagram of guidance instruction output under a guidance system in a vertical approach obstacle avoidance process.
Fig. 3 is a schematic diagram of a motion trajectory in a vertical approaching obstacle avoidance process.
Detailed Description
As shown in fig. 1, the detailed process of the present invention is as follows:
1) obtaining external navigation data
setting a calculation period of the detector guidance instruction as T, and updating guidance parameters once in every N calculation periods of the guidance instruction; assuming that an external navigation system is established under an inertial coordinate system, the position vector of a target landing point provided by the navigation system in the current period is ri and the velocity vector is vi; designing a counter k to be a non-negative integer, wherein the initial value of the counter k is 0; the inertial coordinate system is represented by i, the origin is at the center of the moon, and the three coordinate axes point to a fixed direction in the inertial space; n is more than or equal to 1.
2) establishing a guidance coordinate system
Setting the current target landing point position as a new safe landing point obtained again by a navigation and obstacle avoidance sensor if the target landing point is the new safe landing point, and setting k to be 0;
Establishing a guidance coordinate system by taking the safe landing point as a center, wherein the x-axis direction points to the safe landing point from the center of the moon, and the x-axis direction is the local vertical direction; the y and z axes are in the local horizontal plane, and the specific direction can be set according to the requirement: if a preset reference direction pi exists in the space and the included angle between the z axis of the established guidance coordinate system and the vector pi is required to be minimum, the representation of the three axes of the guidance coordinate system in the inertial space can be calculated as follows:
z＝x×y(3)
the rotation matrix from the inertial system to the guided coordinate system can be calculated as follows
3) Guidance parameter solution
the guidance time is represented by tgo, and the initial value is a number greater than 10.
a) If tgo >10 and k is 0, then
Firstly, converting the position and the speed of a detector into a guidance coordinate system, and obtaining the position rg and the speed vg of a relative target landing point in the guidance coordinate system;
where ω m is the magnitude of the angular velocity of the moon rotating relative to the inertial space, and is a representation of the velocity vector of the moon rotation angle in the direction of the inertial system, and they are known quantities.
the remaining guidance time is then calculated.
setting a target acceleration vector of the guidance terminal as a target speed as a target position vector rtg; the three quantities are designed values, the x component is a value which is larger than 0 and smaller than the difference between the acceleration generated by the maximum thrust of the engine and the gravity acceleration of the moon, and the y component and the z component are both 0; the x component of (a) is a number not greater than 0, and the y and z components are both 0; the x component in the rtg is the terminal height in the vertical approaching process, the value is a number larger than 0, and the y component and the z component of the rtg are both 0;
assuming that the target of the terminal vertical acceleration rate is zero, let it be the x component of vg and the x component of rg, then the guidance time tgo is calculated as follows:
Calculating updated guidance parameters c1, c2 and c3
b) If tgo >10 is not satisfied and k is 0, then
t←t-T
The symbol "←" represents an assignment; the guidance parameters c1, c2, c3 are not updated.
4) commanded acceleration calculation
when T is k · T, the command acceleration in the guidance system can be calculated as follows
wherein gg is a gravity acceleration vector under a guidance system and is known. Then, it is converted into inertia system to obtain
and then the output is output to an external attitude control system and an engine to be executed, so that the longitudinal axis of the detector, namely the thrust direction of the engine is coincident with the longitudinal axis of the detector, and the acceleration and the magnitude generated by the output thrust of the engine are equal.
Followed by an update of the counter k
k ← k +1, and when k is judged to be equal to or greater than N, k ═ 0
and finally, judging the ending condition: if tgo <0, ending the vertical approaching obstacle avoidance guidance, and returning to the step 1 in the next period).
simulation analysis
Assuming that a certain detector enters an approaching obstacle avoidance process at a height of 3000m at a vertical speed of-30 m/s and at a speed direction upward as positive and a horizontal speed of 0, an initial target landing point is right below the detector, and the value of a guidance terminal parameter is rtg ═ 3,0,0] T. The guidance instruction calculation period T is 0.1s, and the guidance parameter update period is 10 times the guidance instruction calculation period, that is, N is 10. When the probe descends to the height of 1500m, the target safe landing point is determined to be 180m away from the initial target landing point. The target acceleration vector approaching the descending process under the guidance system is shown in fig. 2, and after the safe landing point is updated, the guidance acceleration has sudden change with a certain amplitude, so that the original descending flight trend is changed; the corresponding flight trajectory is shown in fig. 3, the detector first descends in a vertical manner, and after the obstacle avoidance starts, the detector descends and translates to the position above the target safe landing point. Simulation results show that the moon soft landing vertical approach obstacle avoidance guidance method provided by the invention is effective.
those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (6)
1. a moon soft landing vertical approach obstacle avoidance guidance method is characterized by comprising the following steps:
1) setting a calculation period of the detector guidance instruction as T, and updating guidance parameters once in every N calculation periods of the guidance instruction; assuming that an external navigation system is established under an inertial coordinate system, the position vector of a target landing point provided by the navigation system in the current period is ri and the velocity vector is vi; designing a counter k to be a non-negative integer, wherein the initial value of the counter k is 0; the inertial coordinate system is represented by i, the origin is at the center of the moon, and the three coordinate axes point to a fixed direction in the inertial space; n is more than or equal to 1;
2) establishing a guidance coordinate system in a fixed direction in space by taking a target landing point as a center, and obtaining a rotation matrix from an inertial system to the guidance coordinate system;
3) Resolving to obtain a guidance parameter;
4) and calculating to obtain a guidance instruction, and handing the guidance instruction to an external attitude control system and an engine for execution.
2. the moon soft landing vertical approach obstacle avoidance guidance method according to claim 1, characterized in that: the process of obtaining the rotation matrix from the inertial system to the guidance coordinate system in the step 2) is as follows:
According to the image processing of the navigation camera, finding a flat landing zone, and taking the central point of the landing zone as a new safe landing point, otherwise, keeping the original value of the safe landing point; if the updated safe landing point is obtained in the period, changing the current period into a guidance parameter resolving period; and then, establishing a guidance coordinate system by taking the safe landing point as an origin and taking the local fixed direction as a reference, and further obtaining a rotation matrix of the inertial system to the guidance coordinate system.
3. The moon soft landing vertical approach obstacle avoidance guidance method according to claim 2, characterized in that: the specific process of the step 2) is as follows:
setting the current target landing point position as a new safe landing point obtained again by a navigation and obstacle avoidance sensor if the target landing point is the new safe landing point, and setting k to be 0;
establishing a guidance coordinate system by taking the safe landing point as a center, wherein the x-axis direction points to the safe landing point from the moon center and represents the local vertical direction; the two axes of y and z are in the local horizontal plane; if a preset reference direction pi exists in the space and the included angle between the z axis of the established guidance coordinate system and the vector pi is required to be minimum, the three axes of the guidance coordinate system in the inertial space are expressed as follows:
z＝x×y
the rotation matrix from the inertial system to the guided coordinate system is calculated as follows:
4. The moon soft landing vertical approach obstacle avoidance guidance method according to claim 2, characterized in that: when the guidance parameters are obtained through resolving in the step 3), if the current period is a parameter resolving period, the position and speed parameters of the detector given by the navigation system are converted into a guidance coordinate system; calculating guidance time by taking the position, the speed and the acceleration of the vertical motion terminal as constraints and taking the change rate of the vertical acceleration of the terminal equal to 0 as a design target; and calculating the guidance parameters according to the guidance time.
5. The moon soft landing vertical approach obstacle avoidance guidance method according to claim 4, characterized in that: the specific process of the step 3) is as follows:
setting the lead time to be tgo, and setting the initial value to be a number larger than 10;
(3.1) if tgo >10 is satisfied and k is 0, then updating the guidance parameters is performed as follows:
firstly, converting the position and the speed of a detector into a guidance coordinate system, and obtaining the position rg and the speed vg of a relative target landing point in the guidance coordinate system;
wherein, ω m is the angular velocity of the moon rotating relative to the inertia space, and is the representation of the velocity direction vector of the moon rotation angle in the inertia system, and they are known quantities;
calculating to obtain the remaining guidance time:
setting a target acceleration vector of the guidance terminal as a target speed as a target position vector rtg; the three quantities are designed values, the x component, namely the value of the difference between the acceleration generated by the maximum thrust of the engine and the gravity acceleration of the moon is greater than 0 and less than 0, and the y component and the z component are both 0; the x component of (a) is a number not greater than 0, and the y and z components are both 0; the x component in the rtg is the terminal height in the vertical approaching process, the value is a number larger than 0, and the y component and the z component of the rtg are both 0;
assuming that the target of the terminal vertical acceleration rate is zero, let it be the x component of vg and the x component of rg, then the guidance time tgo is calculated as follows:
calculating updated guidance parameters c1, c2 and c 3:
(3.2) if tgo >10 is not satisfied and k is 0:
t←t-T
the symbol "←" represents an assignment; the guidance parameters c1, c2, c3 are not updated.
6. the moon soft landing vertical approach obstacle avoidance guidance method according to claim 5, characterized in that: the specific process of the step 4) is as follows:
when T is k · T, the command acceleration in the guidance system is calculated as follows
Wherein gg is a gravity acceleration vector under a guidance system;
Converting the instruction acceleration under the guidance system into the instruction acceleration under the inertia system to obtain the instruction acceleration and outputting the instruction acceleration to an external attitude control system and an engine for execution, so that the longitudinal axis of the detector, namely the thrust direction of the engine is coincident with the thrust direction, and the acceleration generated by the thrust output by the engine is equal to the target;
Updating k ← k +1 by a counter k, and judging that k is 0 if k is larger than or equal to N;
Judging the ending condition: if tgo <0, ending the vertical approaching obstacle avoidance guidance, and returning to the step 1 in the next period).
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