The invention discloses a laser remote sensing landing safety area selection method considering obstacle morphology measurement errors. The method comprises the following steps: resampling acquired star surface three-dimensional point cloud data of a corresponding area below a lander; determining the side length of a search unit based on the side length of the lander, the navigation guidance control error and the obstacle horizontal direction measurement error; constructing an initial search unit, and calculating parameters of the search unit; judging whether the initial search unit meets a landing condition or not according to a set gradient, roughness and a maximum elevation difference safety threshold value; according to the method, a central double-layer spiral search mode is adopted, a landing safety area can be rapidly selected, meanwhile, the size measurement errors of an obstacle in the horizontal direction and the vertical direction are considered in calculation of the side length and the roughness of a search unit, the maximum elevation difference of laser points in the search unit is restrained, and the search accuracy is improved. And the reliability and the safety of the landing safety area are improved.
本发明公开了考虑障碍形貌测量误差的激光遥感着陆安全区选取方法包括,对获取的着陆器下方相应区域的星体表面三维点云数据进行重采样;基于着陆器边长、导航制导控制误差和障碍物水平方向测量误差,确定搜索单元边长;构建初始搜索单元,计算该搜索单元的参数;通过设定的坡度、粗糙度和最大高程差安全阈值,判断该初始搜索单元是否满足着陆条件;本发明采用中心双层螺旋的搜索方式,能够快速选取着陆安全区,同时将障碍物在水平和竖直两个方向上的尺寸测量误差分别考虑进搜索单元边长和粗糙度的计算上,并对搜索单元内激光点的最大高程差进行了约束,提高了着陆安全区的可信度和安全性。
Laser remote sensing landing safety area selection method considering obstacle morphology measurement error
考虑障碍形貌测量误差的激光遥感着陆安全区选取方法
2023-08-29
Patent
Elektronische Ressource
Chinesisch
Europäisches Patentamt | 2022
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