CN110826174B - Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process - Google Patents
Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process Download PDFInfo
- Publication number
- CN110826174B CN110826174B CN201910913138.3A CN201910913138A CN110826174B CN 110826174 B CN110826174 B CN 110826174B CN 201910913138 A CN201910913138 A CN 201910913138A CN 110826174 B CN110826174 B CN 110826174B
- Authority
- CN
- China
- Prior art keywords
- lander
- power
- landing
- lunar surface
- terrain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D10/00—Energy efficient computing, e.g. low power processors, power management or thermal management
Landscapes
- Engineering & Computer Science (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- Remote Sensing (AREA)
- Data Mining & Analysis (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
A method for determining the distance between a lander and a lunar surface in consideration of three-dimensional terrain in a power landing month simulation process acquires lunar surface three-dimensional terrain data near a landing zone of a lander target; determining a track change envelope in the process of landing months under power according to deviation brought by the power of the lander engine in the process of landing months; intercepting target landing zone topographic data covered by a track change envelope from acquired lunar surface three-dimensional topographic data near a landing zone of a lander target; defining a terrain file format, and generating a binary terrain file for downloading according to the intercepted target landing area terrain data covered by the track change envelope; downloading the binary topography file into a ground simulation computer; and the ground simulation computer obtains the distance relative to the lunar surface in the process of landing under the power of the lander considering the lunar surface topography according to the binary topography file and the three-dimensional topography searching mode. The invention can verify the safety and effectiveness of the moon back power reduction guidance.
Description
Technical Field
The method for determining the distance between the lander and the lunar surface by considering the three-dimensional topography in the power landing month simulation process can be applied to real-time simulation verification based on the three-dimensional topography in the landing process of the goddess fourth, the goddess fifth and the Mars.
Background
In the process of moon soft landing power descent, real-time position and speed can be calculated through inertial navigation, but the result of inertial navigation calculation can drift and error along with time, so that the distance data of a distance measuring sensor is required to be used for correcting the inertial navigation error. The commonly used distance measuring sensors are laser distance measuring sensors and microwave distance measuring sensors. The measurement output of the distance measuring sensor of any system is directly influenced by the lunar surface topography, so that the inertial navigation correction effect is influenced, and the stability of the guidance law of the lander and the safety of the lunar landing are further influenced.
And the goddess E type four-moon detector is landed on the Aitegen basin at the back of the moon, and compared with the rainbow bay landing area at the front of the goddess E type three-moon, the Aitegen basin at the back has more rugged and complex terrain and larger landing difficulty. In order to comprehensively and truly reflect the influence of the lunar back surface topography on the power descent process, a lunar surface three-dimensional topography needs to be added into a ground real-time simulation system to verify the influence of the lunar surface three-dimensional topography on the output of a ranging sensor and landing safety in the power descent process.
From the research of domestic patents and documents, the technical difficulties and disadvantages related to three-dimensional topographic simulation of the back of the moon are as follows:
(1) The lunar surface three-dimensional terrain file contains three-dimensional terrain data of the whole lunar surface, the data size of the file is large, and the file is usually above the GB level and cannot be directly used for terrain searching;
(2) A unified standard interface is not arranged between the lunar three-dimensional topography file and the simulation computer, so that the lunar three-dimensional topography file cannot be effectively imported into the simulation computer;
(3) The traditional three-dimensional terrain searching mode needs to consume a great deal of time, has high real-time requirements for a simulation system, and cannot meet the real-time requirements of simulation.
Disclosure of Invention
The technical problems solved by the invention are as follows: the method for determining the distance between the lander and the lunar surface by considering the three-dimensional terrain in the process of simulating the falling month under power is provided for overcoming the defects of the prior art. The method for intercepting the topographic data file meeting the requirements according to the track change envelope in the process of falling months under power is provided; a data interface between a lunar three-dimensional terrain file and an imitation computer is designed; the three-dimensional terrain searching mode is designed, the defect of the traditional three-dimensional terrain searching mode is overcome, and the real-time requirement of simulation can be effectively met.
The technical scheme of the invention is as follows: a distance determining method of a lander relative to a lunar surface considering three-dimensional terrain in a power landing month simulation process comprises the following steps:
(1) Acquiring lunar surface three-dimensional topographic data near a lander target landing zone;
(2) Determining a track change envelope in the process of landing months under power according to deviation brought by the power of the lander engine in the process of landing months; intercepting target landing zone topographic data covered by the track change envelope from the lunar surface three-dimensional topographic data near the landing zone of the lander target obtained in the step (1);
(3) Defining a terrain file format, and generating a binary terrain file for downloading according to the terrain file format according to the target landing area terrain data covered by the track change envelope intercepted in the step (2);
(4) Downloading the binary topography file into a ground simulation computer;
(5) Determining a three-dimensional terrain searching mode;
(6) And the ground simulation computer obtains the distance relative to the lunar surface in the process of landing under the power of the lander considering the influence of the lunar surface topography according to the binary topography file and the three-dimensional topography searching mode.
Preferably, the lander is: the lander carries the necessary equipment to achieve the goal of a slow descent, soft landing from the lunar orbit to the lunar surface.
Preferably, the power falling month process means: the lander starts to power down from a height of 15 km from the lunar surface, passes through the topography of the high and low fluctuation of the lunar back surface and finally falls on a preset area of a target landing zone.
Preferably, the track change envelope in the process of falling under power for a month means: and according to the position deviation and the speed deviation of the lander, which are measured at the beginning moment of power descent, the thrust deviation and the specific impulse deviation of the engine, which are used in the power descent process, and the sensor deviation, the track change envelope in the power descent month process is obtained through multiple simulation of the power descent process.
Preferably, intercepting target landing zone topographic data covered by the track change envelope, specifically: and intercepting the topographic data corresponding to the envelope according to the track change envelope in the process of falling months under power from the topographic data of the target falling area with a wider range.
Preferably, the vicinity of the target landing zone means: setting a radius with the center of the target falling area as the center of the circle, wherein the radius is defined as the vicinity of the target falling area.
Preferably, the acquiring of the three-dimensional lunar surface topographic data in the vicinity of the target landing zone is as follows: three-dimensional topography of the area near the lunar back antarctic Aitegen basin is acquired, including corresponding latitude, longitude, and altitude data.
Preferably, the deviation caused during the landing month under the power of the lander engine comprises: engine bias, rail bias, sensor bias, and actuator bias.
Preferably, a topography file format is defined, specifically: the file format may convert latitude, longitude and altitude data information of the terrain data into a format that is easy for engineering implementation and computer recognition.
Preferably, the binary topography file is downloaded into a ground simulation computer, specifically: the binary topography file is downloaded into the ground simulation computer memory using a commercial software Multiprog, with its "file download" function.
Compared with the prior art, the invention has the advantages that:
(1) According to the invention, the engine thrust deviation, the thrust eccentricity and the specific impulse deviation in the power descent simulation process, the position deviation and the speed deviation of initial measurement of the power descent, and the navigation sensor deviation and the actuating mechanism deviation in the power descent simulation process are considered, and the track change envelope in the power descent month process is obtained through multiple simulation of the power descent process, so that the terrain data range for the power descent simulation process is determined, the three-dimensional terrain data of the whole lunar surface is not directly used, the terrain data quantity is greatly reduced, and the terrain search is more convenient.
(2) The invention designs a data interface between a lunar three-dimensional topographic file and an emulation computer, and defines a simplified three-dimensional topographic data storage format: three-dimensional topographic data is defined as a minimum longitude value, a maximum longitude value, a number of longitude points (the number of longitudes in the topographic file, the assumed equal interval distribution of longitudes), a minimum latitude value, a maximum latitude value, a number of latitude points (the number of latitudes in the topographic file, the assumed equal interval distribution of latitudes), and altitude information at different longitudes and different latitudes. Such a storage format may effectively import terrain data files into the simulation computer in a unified, canonical interface. The storage format has strong universality, is simple to use, has clear and definite physical meaning and is suitable for engineering application.
(3) The invention simplifies the traditional three-dimensional terrain search into the search in a two-dimensional plane by designing an efficient three-dimensional terrain search mode. Compared with three-dimensional terrain search, the two-dimensional plane search greatly simplifies the search flow, improves the search efficiency, greatly reduces the search time consumption, has stronger instantaneity, and is suitable for being applied to ground real-time simulation system test.
Drawings
FIG. 1 is a flow of real-time simulation of the lunar surface three-dimensional terrain in power descent.
Fig. 2 is a schematic diagram of a three-dimensional terrain search mode.
Fig. 3 is an example of ranging sensor output under the influence of three-dimensional terrain.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific embodiments.
The invention relates to a method for determining the distance between a lander and a lunar surface by considering three-dimensional terrain in the process of simulating a falling month under power, which comprises the following steps: (1) Acquiring lunar surface three-dimensional topographic data near a lander target landing zone; (2) Determining a track change envelope in the process of landing months under power according to deviation brought by the power of the lander engine in the process of landing months; intercepting target landing zone topographic data covered by the track change envelope from the lunar surface three-dimensional topographic data near the landing zone of the lander target obtained in the step (1); (3) Defining a terrain file format, and generating a binary terrain file for downloading according to the terrain file format according to the target landing area terrain data covered by the track change envelope intercepted in the step (2); (4) Downloading the binary topography file into a ground simulation computer; (5) designing a three-dimensional terrain searching mode; (6) And the ground simulation computer obtains the distance relative to the lunar surface in the process of landing under the power of the lander considering the lunar surface topography according to the binary topography file and the three-dimensional topography searching mode. The invention can truly simulate the rugged terrain of the Chang E No. four Aitegen basin, comprehensively and truly reflect the influence of the terrain on the soft landing of the back of the month, and further verify the safety and effectiveness of the power decline guidance of the back of the month.
The invention is used for the simulation process of the goddess Chang's moon under the power of Chang's E No. four. The land area of Chang's fourth is located on the back of moon, the land area of the back of Chang's fourth is very complex compared with the rainbow bay land area of the front of Chang's third, the measuring output of the microwave distance measuring sensor and the laser distance measuring sensor can be seriously affected, after inertial navigation correction is introduced into the output of the ranging sensor, the influence of terrain change can be coupled into power descent navigation, guidance and control, and abnormal power descent height correction can be caused under severe conditions, and the power descent height correction fails in the moon. The distance determining method of the lander relative to the lunar surface considering the three-dimensional terrain, which is provided by the invention, can be used for simulating the output of the ranging sensor, so that the comprehensive influence of the rugged terrain on the lunar back on navigation, guidance and control in the power descent process of the lander can be truly simulated.
The invention relates to a method for determining the distance between a lander and a lunar surface by considering three-dimensional terrain in the process of simulating a lunar landing under power, wherein the flow and the steps are shown in a figure 1, and the method further has the following preferable scheme:
(1) The method comprises the steps of obtaining three-dimensional lunar surface topographic data of the vicinity of a lander target landing zone, wherein the three-dimensional lunar surface topographic data comprises the following specific steps:
the vicinity of the lander target landing zone is defined as an area taking the lander target landing point as the center and taking 50 km as the radius, and the lunar surface three-dimensional topographic data of the vicinity of the lander target landing zone can be obtained from lunar surface topographic data published by the NASA or national astronomical station of the national academy of China, wherein the lunar surface three-dimensional topographic data comprises the heights corresponding to different latitude points with different longitudes and distance from the lunar surface.
(2) Determining a track change envelope in the process of landing months under power according to deviation brought by the power of the lander engine in the process of landing months; intercepting target landing zone topographic data covered by a track change envelope from the lunar surface three-dimensional topographic data near the landing zone of the lander target obtained in the step (1), wherein the method specifically comprises the following steps:
in the power landing month simulation process, there are engine thrust deviation, thrust eccentricity, specific impulse deviation, sensor deviation and actuating mechanism deviation, and these deviations can make the track deviate from the nominal track in the power landing month simulation process. Because the deviation has randomness, the landing month simulation is carried out under the action of the deviation for many times, and a plurality of tracks can be obtained. By counting a plurality of tracks, the maximum envelope of the tracks can be obtained. And (3) intercepting three-dimensional terrain data corresponding to the track maximum envelope from the lunar surface three-dimensional terrain data near the lander target landing zone acquired in the step (1) within the longitude and latitude range of the track maximum envelope. The preferable scheme is as follows: and (3) projecting the obtained track maximum envelope in a two-dimensional plane formed by longitude and latitude, comprehensively considering the deviation of a sensor and an actuating mechanism in the process of simulating the landing month under power and the errors of navigation and guidance on the basis of the projection, and expanding the longitude and latitude ranges obtained by projection by 1 degree (the upper limit of the longitude and the latitude is increased by 1 degree, and the lower limit of the longitude and the latitude is reduced by 1 degree) respectively, so as to improve the adaptability and the reliability of the three-dimensional terrain in the process of simulating the landing month under power.
(3) Defining a terrain file format, and generating a binary terrain file for downloading according to the terrain file format according to the target landing area terrain data covered by the track change envelope intercepted in the step (2), wherein the binary terrain file comprises the following specific steps:
a simplified terrain file storage format is designed: three-dimensional topographic data in a topographic file is defined as a longitude minimum value (in degrees), a longitude maximum value (in degrees), a longitude point number (in degrees assuming that the longitudes are equally spaced in the topographic file), a latitude minimum value (in degrees), a latitude maximum value (in degrees), a latitude point number (in degrees assuming that the latitudes are equally spaced in the topographic file), and altitude information (in kilometers) from the lunar surface at different longitudes and latitudes. And (3) according to the definition, converting the target landing zone topographic data covered by the track change envelope intercepted in the step (2) into a binary topographic file.
(4) Downloading a binary topography file into a ground simulation computer, wherein the binary topography file comprises the following specific steps:
the ground simulation computer mainly realizes the simulation of different sensors, the simulation of an executing mechanism, the calculation of dynamics and kinematics and the like in the process of simulating the falling month under power. Downloading the binary terrain file generated in the step (3) into a ground simulation computer memory through a 'file downloading' function of Multiprog (commercial software), and searching and matching three-dimensional terrain data in a power landing month simulation process;
(5) The three-dimensional terrain searching mode is designed, and specifically comprises the following steps:
the three-dimensional terrain search mode is designed as follows: as shown in the schematic diagram of the terrain search mode in fig. 2, it is assumed that an initial point S at which a ranging beam is emitted, which is an arbitrary position during the landing of the lander under power, is denoted by (alfa 0, beta0, h 0), where alfa0 denotes longitude on the moon (in degrees), beta0 denotes latitude on the moon (in degrees), h0 denotes a vertical height (in kilometers) of the initial point S from the lunar surface, and the ranging beam is directed from the initial point S to a lunar surface nominal landing point P0. Let the projection of the direction of the ranging beam in the two-dimensional plane composed of longitude and latitude be V, and the projection of the initial point S in the two-dimensional plane composed of longitude and latitude be S0. The searching of the ranging beam landing point P under the condition of considering the lunar three-dimensional topography can be converted into searching of a two-dimensional plane, namely, along the projection V direction, taking the projection point S0 as an initial point, searching an intersection point of the lunar three-dimensional topography stored in the binary topography file in the step (4) and the ranging beam, and defining the intersection point as an actual landing point P. In fig. 2, the ranging beam drop point is the nominal drop point P0 regardless of the lunar surface three-dimensional topography, and the actual drop point of the ranging beam is P regardless of the lunar surface three-dimensional topography. The distance between the initial point S and the actual landing point P is the distance of the lander relative to the lunar surface taking into account the three-dimensional terrain. The method converts the three-dimensional search into the two-dimensional plane search, so that the search flow is greatly simplified, and the search efficiency is improved;
(6) The ground simulation computer obtains the distance relative to the lunar surface in the process of landing under the power of the lander considering the lunar surface topography according to the binary topography file and the three-dimensional topography searching mode, and specifically comprises the following steps:
in the power falling month simulation process, according to the position (longitude, latitude and altitude) of the initial point S of the ranging beam and the direction of the ranging beam, the distance output of the ranging sensor considering the lunar surface three-dimensional terrain is obtained by combining the three-dimensional terrain data given by the binary terrain file in a three-dimensional terrain searching mode.
The preferable scheme also comprises a step (7) of introducing the distance of the distance measuring sensor considering the lunar three-dimensional terrain into a power descent simulation test system to perform power descent simulation under the influence of the lunar three-dimensional terrain. The power drop simulation test system is preferably composed of a control computer, a sensor, an executing mechanism and the like and is used for supporting power drop month simulation. In the simulation process, the distance measuring sensor introduces the distance considering the three-dimensional terrain of the lunar surface into the control computer, the control computer synthesizes sensor information, and according to the target landing point of the lander, a control instruction is sent out to control the action of the actuating mechanism to generate the required thrust, so that the lander decelerates and lands on the lunar surface. Fig. 3 shows the measured output of a certain ranging beam in the simulation process, and it can be seen that the measured distance of the ranging beam output is obviously concave from 16 seconds to 46 seconds, and the concave distance is about 1 km, namely, the measured distance of the ranging sensor output is obviously reduced due to the influence of three-dimensional topography of a lunar surface (local mountain).
The method is applied to a moon back power reduction simulation test system of goddess Chang E No. four. Through simulation verification, the method can effectively simulate the influence of the lunar three-dimensional terrain on the ranging beam, greatly improve the ground simulation authenticity, and verify the guidance safety and reliability under the influence of the lunar three-dimensional terrain.
Claims (10)
1. A method for determining the distance between a lander and a lunar surface by considering three-dimensional terrain in the process of simulating a falling month under power is characterized by comprising the following steps:
(1) Acquiring lunar surface three-dimensional topographic data near a lander target landing zone;
(2) Determining a track change envelope in the process of landing months under power according to deviation brought by the power of the lander engine in the process of landing months; intercepting target landing zone topographic data covered by the track change envelope from the lunar surface three-dimensional topographic data near the landing zone of the lander target obtained in the step (1);
(3) Defining a terrain file format, and generating a binary terrain file for downloading according to the terrain file format according to the target landing area terrain data covered by the track change envelope intercepted in the step (2);
(4) Downloading the binary topography file into a ground simulation computer;
(5) Determining a three-dimensional terrain searching mode;
(6) And the ground simulation computer obtains the distance relative to the lunar surface in the process of landing under the power of the lander considering the influence of the lunar surface topography according to the binary topography file and the three-dimensional topography searching mode.
2. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the lander specifically comprises: the lander carries the necessary equipment to achieve the goal of a slow descent, soft landing from the lunar orbit to the lunar surface.
3. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the process of falling under power for a month is as follows: the lander starts to power down from a height of 15 km from the lunar surface, passes through the topography of the high and low fluctuation of the lunar back surface and finally falls on a preset area of a target landing zone.
4. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the track change envelope in the power falling month process refers to: and according to the position deviation and the speed deviation of the lander, which are measured at the beginning moment of power descent, the thrust deviation and the specific impulse deviation of the engine, which are used in the power descent process, and the sensor deviation, the track change envelope in the power descent month process is obtained through multiple simulation of the power descent process.
5. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: intercepting target landing zone topographic data covered by the track change envelope, which specifically comprises the following steps: and intercepting the topographic data corresponding to the envelope according to the track change envelope in the process of falling months under power from the topographic data of the target falling area with a wider range.
6. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the vicinity of the target landing zone means: setting a radius with the center of the target falling area as the center of the circle, wherein the radius is defined as the vicinity of the target falling area.
7. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the three-dimensional lunar surface topographic data of the vicinity of the target landing zone is obtained by: three-dimensional topography of the area near the lunar back antarctic Aitegen basin is acquired, including corresponding latitude, longitude, and altitude data.
8. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: deviation brought about during landing months under the power of the lander engine comprises: engine bias, rail bias, sensor bias, and actuator bias.
9. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: defining a terrain file format, specifically: the file format may convert latitude, longitude and altitude data information of the terrain data into a format that is easy for engineering implementation and computer recognition.
10. The method for determining the distance between the lander and the lunar surface taking three-dimensional terrain into consideration in the process of simulating the power-driven landing month according to claim 1, wherein the method comprises the following steps of: the binary topography file is downloaded into a ground simulation computer, specifically: the binary topography file is downloaded into the ground simulation computer memory using a commercial software Multiprog, with its "file download" function.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910913138.3A CN110826174B (en) | 2019-09-25 | 2019-09-25 | Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910913138.3A CN110826174B (en) | 2019-09-25 | 2019-09-25 | Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110826174A CN110826174A (en) | 2020-02-21 |
| CN110826174B true CN110826174B (en) | 2023-07-14 |
Family
ID=69548389
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910913138.3A Active CN110826174B (en) | 2019-09-25 | 2019-09-25 | Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110826174B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111443710B (en) * | 2020-03-23 | 2023-07-28 | 北京控制工程研究所 | Terrain estimation method for moon soft lander |
| CN111896027B (en) * | 2020-07-15 | 2022-07-29 | 北京控制工程研究所 | Distance measuring sensor simulation modeling method considering topographic relief |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101122780A (en) * | 2007-09-04 | 2008-02-13 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN103528586A (en) * | 2013-10-31 | 2014-01-22 | 中国航天时代电子公司 | Sailing planning algorithm design based on grid failure |
| CN105659820B (en) * | 2011-09-21 | 2014-06-18 | 北京航天飞行控制中心 | A kind of based on planetary vehicle vision and the multi-modal localization method of satellite remote sensing images landing point |
| CN104020678A (en) * | 2014-05-23 | 2014-09-03 | 北京空间飞行器总体设计部 | Power reduction initial point parameter optimization method based on terrain of moon surface |
| DE102014108873A1 (en) * | 2014-01-23 | 2015-07-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a current position of a landing device |
| CN106643754A (en) * | 2015-10-29 | 2017-05-10 | 华北电力大学 | Ship navigation system based on three-dimensional digital navigation channel chart |
| CN108917753A (en) * | 2018-04-08 | 2018-11-30 | 中国人民解放军63920部队 | Method is determined based on the position of aircraft of structure from motion |
-
2019
- 2019-09-25 CN CN201910913138.3A patent/CN110826174B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101122780A (en) * | 2007-09-04 | 2008-02-13 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN105659820B (en) * | 2011-09-21 | 2014-06-18 | 北京航天飞行控制中心 | A kind of based on planetary vehicle vision and the multi-modal localization method of satellite remote sensing images landing point |
| CN103528586A (en) * | 2013-10-31 | 2014-01-22 | 中国航天时代电子公司 | Sailing planning algorithm design based on grid failure |
| DE102014108873A1 (en) * | 2014-01-23 | 2015-07-23 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a current position of a landing device |
| CN104020678A (en) * | 2014-05-23 | 2014-09-03 | 北京空间飞行器总体设计部 | Power reduction initial point parameter optimization method based on terrain of moon surface |
| CN106643754A (en) * | 2015-10-29 | 2017-05-10 | 华北电力大学 | Ship navigation system based on three-dimensional digital navigation channel chart |
| CN108917753A (en) * | 2018-04-08 | 2018-11-30 | 中国人民解放军63920部队 | Method is determined based on the position of aircraft of structure from motion |
Non-Patent Citations (1)
| Title |
|---|
| 基于月面高程数据建模的巡视探测器着陆安全性研究;禹健 ; 毕树生;《 红外与激光工程》(第001期);223-228 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110826174A (en) | 2020-02-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102591343B (en) | Satellite orbit maintenance and control method based on two lines of radicals | |
| CN110826174B (en) | Method for determining distance between lander and lunar surface by considering three-dimensional terrain in power falling month simulation process | |
| CN103901907B (en) | Soft landing obstacle avoidance simulation test system | |
| US8924047B2 (en) | Method of correcting a lateral trajectory on approach as a function of the energy to be reabsorbed | |
| CN109344449B (en) | Spacecraft monthly transfer orbit reverse design method | |
| CN106990401A (en) | Based on the class vertical error modification method of Full wave shape airborne laser radar data two | |
| CN103323867B (en) | Method for overcoming deviation of precise orbit determination system of beidou second-generation GEO (geostationary orbit) satellite | |
| Brozena | The Greenland Aerogeophysics Project: Airborne gravity, topographic and magnetic mapping of an entire continent | |
| CN104156540B (en) | Instrument flight procedure three-dimensional design system | |
| CN105136166B (en) | A kind of SINS error model emulation mode of specified inertial navigation positional precision | |
| CN104749598B (en) | A kind of method in generation GNSS occultation path | |
| Koblinsky et al. | The future of spaceborne altimetry. Oceans and climate change: A long-term strategy | |
| CN105044738A (en) | Prediction method and prediction system for receiver autonomous integrity monitoring | |
| CN108196586A (en) | Unmanned aerial vehicle (UAV) control method, apparatus and storage medium | |
| CN113205706A (en) | ILS signal quality monitoring method based on flight QAR data | |
| CN104020678B (en) | Power reduction initial point parameter optimization method based on terrain of moon surface | |
| CN114777567B (en) | Multi-orbit design method for launch of carrier rocket by rushing fire and rushing fire launch control method | |
| CN101285687A (en) | Ground, aviation integral autonomous navigation system design method | |
| CN110307840B (en) | Landing stage robust fusion method based on multi-beam ranging, velocity measurement and inertia | |
| Ray et al. | Measurement of CPAS Main Parachute Rate of Descent | |
| Young et al. | New airborne laser altimetry over the Thwaites Glacier catchment, West Antarctica | |
| CN108416093B (en) | Universal satellite flight state determination system and method at satellite and rocket separation time | |
| CN102645224B (en) | Formation constellation configuration maintenance control method based on inter-satellite pseudo-range extreme value | |
| Benada | Physical oceanography distributed active archive center | |
| Braun et al. | ICESat laser altimetry in the Great Lakes |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |