嫦娥四号着陆器制导导航与控制系统  

Guidance navigation and control for Chang’E-4 lander

作　　者：张洪华[1,2] 关轶峰[1,2] 程铭[1] 李骥[1,2] 于萍[1] 张晓文[1,2] 王华强[1] 杨巍[1] 王志文[1] 于洁[1] 王泽国[1] ZHANG HongHua;GUAN YiFeng;CHENG Ming;LI Ji;YU Ping;ZHANG XiaoWen;WANG HuaQiang;YANG Wei;WANG ZhiWen;YU Jie;WANG ZeGuo(Beijing Institute of Control Engineering,Beijing 100190,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100190,China)

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

出　　处：《中国科学：技术科学》2019年第12期1418-1428,共11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：嫦娥四号着陆器实现了人类首次月球背面软着陆任务,着陆器的制导、导航与控制(GNC)系统是最重要的分系统之一.针对嫦娥四号着陆器月球背面软着陆的任务特点,本文提出了月球背面着陆轨迹设计、前后台并行容错导航、自主故障诊断和处理策略.实际在轨飞行结果表明,这些算法合理可行,着陆器成功着陆在预定着陆区,着陆姿态和速度优于需求,圆满完成了软着陆任务.本文介绍了嫦娥四号着陆器GNC系统的要求、组成、部分算法以及在轨飞行结果.The Chang’E-4 lander achieved a soft landing on the far side of the Moon,the first such mission in history.The guidance,navigation,and control(GNC)system was one of the most important systems in achieving that mission.In this paper,we propose the lunar far side soft-landing trajectory,parallel fault-tolerant navigation,and autonomous fault diagnosis and recovery to meet the mission requirements for a lunar far side soft landing.The actual flight results show that these techniques performed well in orbit,the lander successfully reached the target site,and the landing attitude and velocity were better than the corresponding requirements.Consequently,the Chang’E-4 lander was able to successfully complete the soft-landing mission.In this paper,we present the requirements,architecture,some techniques,and the in-orbit results of the GNC system of the Chang’E-4 lander.

关 键 词：嫦娥四号 着陆器 GNC 软着陆 月球 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]