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。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Laser remote sensing landing safety area selection method considering obstacle morphology measurement error


    Weitere Titelangaben:

    考虑障碍形貌测量误差的激光遥感着陆安全区选取方法


    Beteiligte:
    TONG XIAOHUA (Autor:in) / XIAO CHANGJIANG (Autor:in) / XIE HUAN (Autor:in) / NA JI-SUN (Autor:in) / JIN YANMIN (Autor:in) / LIU SHIJIE (Autor:in)

    Erscheinungsdatum :

    2023-08-29


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B64U




    Vehicle remote driving assistance method considering obstacle early warning and remote driving system

    HUA WEI / GAO JIANJIAN / ZHU JIAN et al. | Europäisches Patentamt | 2022

    Freier Zugriff


    OBSTACLE SENSING SYSTEM AND OBSTACLE SENSING METHOD

    KIM DONG GIK | Europäisches Patentamt | 2018

    Freier Zugriff

    Obstacle sensing system and obstacle sensing method

    ICHIMURA KINYA | Europäisches Patentamt | 2024

    Freier Zugriff