天问一号着陆巡视器进入舱GNC系统设计与实现  

Design and Implementation of GNC System for Entry Capsule of Tianwen-1 Probe

作　　者：赵宇[1] 袁利[1] 王晓磊[1] 黄翔宇[1,2] 刘旺旺 华宝成[1] 李茂登[1,2] 徐李佳[1] 王云鹏 郝策[1] 李涛 张琳 ZHAO Yu;YUAN Li;WANG Xiao-lei;HUANG Xiang-yu;LIU Wang-wang;HUA Bao-cheng;LI Mao-deng;XU Li-jia;WANG Yun-peng;HAO Ce;LI Tao;ZHANG Lin(Beijing Institute of Control Engineering,Beijing 100094,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制技术重点实验室,北京100094

出　　处：《宇航学报》2022年第1期1-10,共10页Journal of Astronautics

摘　　要：为了应对火星EDL过程的短时间、大测控时延、大冲击力学环境以及无高精度地图的特点,进入舱GNC系统开展了一系列高自主、强容错设计。全系统热备份、关键功能异构热备份的设计确保了对产品故障的自主诊断与快速处理;系统工作模式自主转换、关键模式转换多判据备份的策略提高了系统的容错能力;产品供电的自主抗冲击管理、触地开关的自主故障诊断与处理策略,确保了对火工品起爆等大冲击高动态工况的有效应对;针对背罩-组合体规避及地形障碍规避的需求,设计了一套激光产品和光学产品有机融合的避障系统及使用策略。设计了直升机挂飞等专项试验对系统设计进行验证。天问一号进入舱GNC系统在轨顺利实施了展配平翼等关键动作,完成了背罩以及地形障碍的规避,实现了3.1 km的最终着陆精度,充分证明了系统设计的正确性。In order to cope with the characteristics of short duration of Mars EDL process,large telemetry and telecontrol delay,large impact dynamic environment and shortage of high precision map,the entry capsule GNC system of Tianwen-1 probe is designed with autonomy and fault tolerance.The design of system-level hot backup and heterogeneous hot backup of key components ensures the independent diagnosis and correction of component failure.The fault tolerance of the system is improved by the strategies of independent work mode conversion and the multi-criterion backup of key work mode conversion.The autonomous impact resistance management of the components power supply as well as the autonomous fault diagnosis and correction strategy of touch down sensors ensure the effective response to the high dynamic conditions such as the initiation of initiating explosive device.Aiming at the combination of parachute-backshell avoidance and terrain obstacle avoidance,a set of hazard avoidance system and its application strategy of laser imaging sensor and optical sensor are designed.Special experiments such as helicopter flight test are implemented to verify the system design.In actual flight,the entry capsule GNC system of Tianwen-1 probe successfully implemented the key actions such as unfolding the trim wing,completed the parachute-backshell avoidance and terrain obstacle avoidance,and achieved the final landing accuracy of 3.1 km,which fully proved the correctness of the system design.

关 键 词：火星着陆 制导、导航与控制(GNC) 天问一号 进入、下降与着陆(EDL) 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]