小行星着陆段自主轨迹分段规划方法  

Autonomous trajectory segmentation planning method for asteroid landing phase

作　　者：万怡星 徐瑞[1,2] 李朝玉 朱圣英 梁子璇[1,2] 尚海滨 WAN Yixing;XU Rui;LI Zhaoyu;ZHU Shengying;LIANG Zixuan;SHANG Haibin(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China;Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration,Ministry of Industry and Information Technology,Beijing 100081,China)

机构地区：[1]北京理工大学宇航学院,北京100081 [2]深空自主导航与控制工信部重点实验室,北京100081

出　　处：《西北工业大学学报》2021年第S01期96-100,共5页Journal of Northwestern Polytechnical University

基　　金：上海航天科技创新基金;民用航天预研项目(KJSP2020020302);国家自然科学基金(61976020)资助。

摘　　要：大多数小行星的形状都是不规则的,其附近的引力场十分复杂。且小行星所处的环境未知,这就导致小行星附近的飞行任务变得极其困难。而在远离地球的深空,又存在着通信延迟、环境不确定等问题,着陆过程中需要赋予探测器自主轨迹规划的能力。以小行星自主着陆为研究对象,利用分段规划的方法对小行星着陆段轨迹进行求解。采用多面体模型近似小行星的引力场,在此基础上对小行星动力学进行分析。运用RRT算法对导航点序列进行初步规划,再利用最优控制原理对导航点之间的轨迹进行精确求解,最终实现探测器在小行星着陆段的自主轨迹规划。Most asteroids are irregular in shape,and the gravitational field around them is very complicated.And the environments around asteroids are currently unknown to human.Therefore,flying missions near asteroids has become extremely difficult.In deep space,far away from the earth,there are problems such as communication delay and uncertain environment.The ability to carry out autonomous trajectory planning is required for space-craft.The thesis takes asteroids as the research object,uses the segmentation planning method to get the trajectory of the asteroid landing section.First,the polyhedral model is used to approximate the gravitational field of the asteroid,and on this basis,the dynamics of the asteroid is analyzed.And the RRT algorithm is used to make a preliminary plan for the navigation point sequence,and the optimal control principle is used to accurately solve the trajectory between the navigation points.Finally,the autonomous trajectory planning of the probe and the asteroid landing phase can be realized.

关 键 词：小行星着陆 RRT算法 分段规划方法 

分 类 号：V57[航空宇航科学与技术—航空宇航推进理论与工程]