嫦娥三号自主避障软着陆控制技术  

Autonomous hazard avoidance control for Chang'E-3 soft landing

作　　者：张洪华[1,2] 梁俊[1] 黄翔宇[1,2] 赵宇[1] 王立[1,2] 关轶峰[1,2] 程铭[1] 李骥[1,2] 王鹏基[1,2] 于洁[1] 袁利[1] 

机构地区：[1]北京控制工程研究所,北京100190 [2]空间智能控制技术重点实验室,北京100190

出　　处：《中国科学：技术科学》2014年第6期559-568,共10页Scientia Sinica(Technologica)

基　　金：国家中长期科技发展规划重大专项资助项目

摘　　要：嫦娥三号是我国首次地外天体软着陆任务,在世界上首次成功实现了利用机器视觉的地外天体软着陆自主避障.针对自主避障任务的特点,嫦娥三号首创了灰度安全点结合姿态机动粗避障、高度安全点结合位姿机动精避障的"接力避障"控制技术.实际在轨飞行结果表明,嫦娥三号在动力下降过程中发现了着陆安全点,并且完美实现了有效避障机动,确保了嫦娥三号软着陆落点的安全性.本文详细给出了嫦娥三号自主避障软着陆控制技术以及在轨飞行结果.Chang＇E-3 is the first mission of Chinese soft landing on celestial body outside Earth. Chang＇E-3 firstly implements the autonomous hazard avoidance of soft landing using the onboard measured image data. For the feature of autonomous hazard avoidance mission, Chang＇E-3 firstly presents the relay hazard avoidance control method including the large hazard avoidance of gray-scale-safe ＆ attitude maneuver and the fine hazard avoidance of altitude-safe ＆ position-attitude maneuver. The real flight results of Chang＇E-3 show that in the powered descent process the safe landing site is acquired, the precise hazard avoidance maneuver is achieved perfectly, and the safety of touch point for soft landing is insured. The autonomous hazard avoidance control and onboard flight results for Chang＇E-3 are described.

关 键 词：嫦娥三号 软着陆 障碍识别 自主避障 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]