CN112711266B - Near-far field switching control method for lunar orbit intersection butt joint laser radar - Google Patents
Near-far field switching control method for lunar orbit intersection butt joint laser radar Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
The invention relates to a far and near field switching control method for a laser radar for lunar orbit intersection butt joint. Firstly, the far and near field target switching can be carried out in both the scanning state and the tracking state of the laser radar. Secondly, when switching the cooperative targets in the tracking state, the lasers are switched simultaneously after the switching is finished, and the echo energy adjustment parameter needs to be set to a proper value so as to ensure that the switched targets are quickly tracked. Then, the far-near field switching process must be guaranteed to be completely completed, and the near-far field target is prevented from being switched back and forth in a short time due to the jitter of the guide distance or the final measurement distance. And finally, immediately setting a switching mark after starting target switching, and informing an external unit to ensure the coordination and smooth completion of the laser radar near-far field target switching. The method can provide a substantial strategy for the software algorithm of the lunar orbit rendezvous and docking laser radar, and further guarantee the smooth completion of the lunar orbit rendezvous and docking process.
Description
Technical Field
The invention relates to the technical field of rail intersection docking, in particular to a far-near field switching control method of a lunar rail intersection docking laser radar, which is used for developing the lunar rail intersection docking laser radar and can be popularized to intersection laser radar designs for other intersection docking.
Background
In the implementation process of the lunar exploration project, lunar orbit intersection and docking are key technical links. After the lunar surface of the lunar probe finishes lunar surface inspection, detection and sampling, the ascender takes off from the lunar surface, ascends to the lunar orbit, is jointed and butted with the lunar orbiter staying on the lunar orbit, is combined together, and returns to the earth. In the process of completing the butt joint of the two aircrafts with the distance of 20 km-0.5 m, the rendezvous and butt joint laser radar is a key device in the rendezvous and butt joint process.
The rendezvous and docking laser radar consists of a laser radar host machine arranged on the lunar orbit device and a laser radar cooperative target arranged on the riser, and the distance and the linear velocity of the laser radar host machine relative to the cooperative target and the pitch angle alpha and the azimuth angle beta of the sight relative to a laser radar measuring coordinate system can be obtained by scanning and tracking the cooperative target through the laser radar host machine, so that relative motion parameters are provided for rendezvous and docking of the two aircrafts.
In the process of the intersection and butt joint of the lunar orbiter and the lunar ascender, the laser radar switches the far-field target to the near-field target along with the approach of the distance. In order to smoothly realize target switching, a far-near field switching control method of a lunar orbit intersection butt joint laser radar is provided, the method not only can adapt to a scanning state and a tracking state, but also can enable the laser radar to quickly track an expected cooperative target through laser switching and energy adjustment. In addition, by setting a far-near field target switching completion mark, the switching process can be completed in the area to be switched, and the near-far field target is prevented from being switched back and forth in a short time due to the shaking of the guide distance or the final measurement distance. Whether the far and near field target is switched successfully or not directly affects the validity of measurement data of the rendezvous and docking laser radar, so that a proper far and near field switching control method needs to be considered during engineering design. From the published documents and patents, there is no method for controlling the switching between near and far fields in lunar orbital intersection.
Disclosure of Invention
In view of this, the technical problem to be solved by the present invention is: the method for controlling switching of the distance field and the near field of the lunar orbit intersection docking laser radar is provided, and the problem of real-time switching of the distance field and the near field of the lunar orbit intersection docking laser radar is solved.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a method for switching and controlling the distance field and the near field of a laser radar for lunar orbit intersection butt joint comprises the following steps:
step (1): designing a switching region [ a2, a3] of a far field and a near field according to the measurement overlapping range of the far field target and the near field target, wherein a1< a2< a3< a4, [ a1, a4] is the measurement overlapping range of the far field target and the near field target;
step (2): designing a corresponding switching control method according to the switching area in the step (1), wherein no matter the laser radar is in a scanning state or a tracking state at present, a switching command of a near-far field target can be responded; the method specifically comprises the following steps:
step (21): if the laser radar is in a scanning state and the current guiding distance is within the area in the step (1), switching the cooperative target from a far-field target to a near-field target or switching the cooperative target from a near-field to a far-field target according to whether the current state is approaching or withdrawing;
step (22): if the laser radar is in a tracking state and stably tracks for more than a period of time, and the distance data measured by the current laser radar is in the area in the step (1), switching the cooperative target from a far-field target to a near-field target or switching the cooperative target from the near-field target to the far-field target according to whether the current state is close to or away from the target;
and (3): when a switching command is responded, a proper laser and energy are selected according to a far-near field target so as to ensure that the switched target is quickly tracked;
and (4): by setting a far-near field target switching completion mark and ensuring that the switching process can be completed in the region in the step (1), the near-far field target is prevented from being switched back and forth in a short time due to the jitter of a guide distance or a final measurement distance;
and (5): the target switching completion informs an external control unit in time to ensure the coordination and synchronization of the whole switching process and the smooth completion;
further, the laser and energy setting method in step (3) specifically includes: when a far-field target is scanned and tracked, software is set to start the optical fiber laser, and proper energy is set according to the guide distance and the echo intensity so as to ensure that the far-field target is quickly tracked; when the near-field target is scanned and tracked, software is set to start the semiconductor laser, and proper energy is set according to the guiding distance and the echo intensity.
Further, the far and near field target switching completion flag in step (4) is specifically set by the following method: and if the tracked target is an expected target, a far-field target switching completion mark is set.
Compared with the prior art, the invention has the advantages that: the invention designs an effective far-near field switching control method which is simple and practical, can ensure that the switching of far-near field targets is completed smoothly, and provides software technology reference for rendezvous and docking. Meanwhile, the invention can also be popularized to the far and near field switching control in other rendezvous and docking tasks, and further designs corresponding software and hardware strategies. The method is already applied to the Chang E five rendezvous and docking laser radar, and provides technical support and software strategy guarantee for rendezvous and docking of the lunar orbit in China.
Drawings
Fig. 1 is a diagram of a far-near field switching control step of a far-near field switching control method of a laser radar for lunar orbit intersection docking according to the present invention.
Detailed Description
The invention is further described in detail below with reference to the drawings and specific embodiments.
The lunar orbit intersection butt joint laser radar is mainly used for intersection butt joint of the ascender and the orbiter and provides relative pose parameters for butt joint of the ascender and the orbiter. With the approaching of distance, the requirement on the distance accuracy of the laser radar is higher, the coverage range of the far-field target is wide, but the accuracy of the near-field target in the near-distance tracking is poor, so that the near-field target in the near-distance tracking needs to be designed, and the switching process of the near-field target and the far-field target is involved. The specific switching process is shown in fig. 1, and comprises the following steps:
step (1): first, the switching regions [ a2, a3] of the near and far fields are designed according to the measurement overlap range of the near and far field targets. When the handover is started, it is determined whether the current distance belongs to the handover area. If the switching command is not in the switching area, the switching command is recorded by the laser radar, switching is carried out after the waiting condition is met, and the switching action is directly finished. And (3) if the current distance is in the switching area, performing the process of the step (2).
Step (2): whether the laser radar is currently in a scanning state Scan or a tracking state Track, the laser radar can respond to the switching command of the far-field target and the near-field target. And then judging whether the current state is a scanning state or a tracking state, if the current state is the tracking state, performing the process of the step (21), and if the current state is the scanning state, performing the process of the step (22).
Step (21): in a tracking state, a proper laser and energy thereof are selected according to the measurement distance, so that the switched target can be quickly tracked.
Step (22): in a scanning state, a proper laser and the energy of the laser are selected according to the guide distance, and the tracking parameters of the previous round are cleaned, so that the switched target on the scanning tracking can be rapidly scanned and tracked.
And (3): and then, tracking the upper target after the switching action is executed and entering a stable tracking state, performing closed-loop control on the Echo Intensity Echo _ Intensity, identifying whether the current target is a target expected to be tracked or not according to parameters such as energy, wave bands and the like, if the current target is the expected target, performing the process of the step (4), and if the current target is not the expected target, continuously jumping back to the step (1) to judge a switching area and executing next switching.
And (4): after the expected target on the tracking is switched, a Switch _ Finish _ Flag is given, so that the situation that the near-field target is switched back and forth in a short time due to the fact that the Distance Guide _ Distance is guided or the Distance is finally measured to shake is avoided. After this step is performed, the process of step (5) is performed.
And (5): and finally, an external unit is informed to ensure synchronous coordination of the switching process, so that smooth proceeding of the whole rendezvous and docking is ensured.
Parts of the invention not specifically described are well within the skill of the art.
Claims (1)
1. A method for switching and controlling the distance field and the near field of a laser radar for lunar orbit intersection is characterized by comprising the following steps:
step (1): designing a switching region [ a2, a3] of a far field and a near field according to the measurement overlapping range of the far field target and the near field target, wherein a1< a2< a3< a4, [ a1, a4] is the measurement overlapping range of the far field target and the near field target;
step (2): designing a corresponding switching control method according to the switching area in the step (1), wherein no matter the laser radar is in a scanning state or a tracking state at present, a switching command of a near-far field target can be responded; the method comprises the following specific steps:
a step (21): if the laser radar is in a scanning state and the current guiding distance is within the area in the step (1), switching the cooperative target from a far-field target to a near-field target or switching the cooperative target from a near-field to a far-field target according to whether the current state is approaching or withdrawing;
step (22): if the laser radar is in a tracking state and stably tracks for more than a period of time, and the distance data measured by the current laser radar is in the area in the step (1), switching the cooperative target from a far-field target to a near-field target or switching the cooperative target from the near-field target to the far-field target according to whether the current state is close to or away from the target;
and (3): when a switching command is responded, a proper laser and energy are selected according to a far-near field target so as to ensure that the switched target is quickly tracked;
and (4): by setting a far-near field target switching completion mark and ensuring that the switching process can be completed in the region in the step (1), the near-far field target is prevented from being switched back and forth in a short time due to the jitter of a guide distance or a final measurement distance;
and (5): the target switching completion informs an external control unit in time to ensure the coordination and synchronization of the whole switching process and the smooth completion;
the laser and energy setting method in the step (3) specifically comprises the following steps: when a far-field target is scanned and tracked, software is arranged to start the optical fiber laser, and proper energy is set according to the guiding distance and the echo intensity so as to ensure that the far-field target is quickly tracked; when the near-field target is scanned and tracked, software is set to start the semiconductor laser, and proper energy is set according to the guide distance and the echo intensity;
the far and near field target switching completion flag in the step (4) is specifically set by the following method: and if the tracked target is an expected target, a far-field target switching completion mark is set.
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| CN113608194B (en) * | 2021-08-06 | 2023-08-11 | 中国科学院光电技术研究所 | Energy self-adaptive control method suitable for space intersection docking laser radar |
| CN113625257B (en) * | 2021-08-06 | 2023-07-21 | 中国科学院光电技术研究所 | Laser self-checking method suitable for space intersection docking laser radar |
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