The invention discloses a small celestial body attachment trajectory self-adaptive curvature matching guidance method and belongs to the technical field of deep space exploration. The implementation method comprises the steps that: a satellite-borne computer calculates the horizontal distance between an attachment device and a preset landing point according to the measured current position information of a lander, and calculates the safety elevation under the current horizontal distance; the safety elevation is compared with measured actual elevation information, and whether a front movement track conflicts with a terrain obstacle or not is judged; when relative height is in a safe range, the relationship between the shape of the track and the state quantity of the lander is analyzed, a three-axis thrust coefficient is introduced, so that an analytical optimal guidance law with parameters can be obtained through derivation, and a condition of mutual conversion between an analytical energy optimal guidance law and the analytical optimal guidance law with parameters is established; a thrust parameter is adjusted according to the condition, so that the curvature of the track can be improved, so that the terrain obstacle can be avoided; the thrust parameter is restored when the relative height is reset to an expected range; and circular judgment is performed until the value of estimated remaining time tends to be zero, so that the successful landing of the lander is realized.
本发明公开的小天体附着轨迹自适应曲率匹配制导方法,属于深空探测技术领域。本发明实现方法为:星载计算机根据测量的当前着陆器所处位置信息,计算附着器与预定着陆点间的水平距离,计算当前水平距离下的安全高程;将安全高程与测量的实际高程信息对比,判断前方运动轨迹是否与地形障碍冲突;在相对高度处于安全范围时,通过分析轨迹形状与着陆器状态量的关系,引入三轴推力系数推导得到带参数的解析最优制导律,并建立解析能量最优制导律和带参数的解析最优制导律相互转化的条件;根据该条件调整推力参数提升轨迹曲率,达到规避地形障碍的目的;当相对高度重归预期范围将推力参数还原;循环判断至估计的剩余时间的值趋于零,实现陆器成功着陆。
Small celestial body attachment trajectory self-adaptive curvature matching guidance method
小天体附着轨迹自适应曲率匹配制导方法
2020-06-23
Patent
Electronic Resource
Chinese
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