天问一号探测器火星着陆自主避障技术设计与验证  

Design and Qualification of Hazard Detection and Avoidance System forTianwen-1 Mars Landing Mission

作　　者：刘旺旺[1] 李茂登[1,2] 李涛 王云鹏[1] 张晓文 刘洋[1] 郝策 朱飞虎[1] 胡锦昌 赵宇[1] 徐李佳[1] 华宝成 黄翔宇[1,2] 王晓磊[1] LIU Wang-wang;LI Mao-deng;LI Tao;WANG Yun-peng;ZHANG Xiao-wen;LIU Yang;HAO Ce;ZHU Fei-hu;HU Jin-chang;ZHAO Yu;XU Li-jia;HUA Bao-cheng;HUANG Xiang-yu;WANG Xiao-lei(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46-55,共10页Journal of Astronautics

基　　金：国家科技创新2030-重大项目。

摘　　要：针对天问一号探测器火星着陆过程多体运动及表面地形不确定性强的任务特点,提出了粗避障与伞-背罩组合体规避的协同控制策略以及激光三维配以双目立体视觉的精避障策略,介绍了障碍检测与规避系统的硬件配置、飞行过程、障碍检测与规避部分算法,并通过地面悬停避障专项试验验证了障碍检测与规避策略的有效性,可为后续火星采样返回任务和载人火星探测任务的着陆过程提供一定参考。Aiming at the characteristics of multi-body motion and surface terrain uncertainty during the Mars landing process of Tianwen-1 probe,a collaborative control strategy of coarse hazard avoidance and parachute-backshell assembly avoidance,and a fine hazard detection strategy of laser 3D imaging combined with binocular stereo vision are proposed.The hazard detection and avoidance system hardware configuration,flight sequence,hazard detection and avoidance algorithms are also introduced.The effectiveness of the proposed hazard detection and avoidance strategy is demonstrated through the special suspending and hazard avoidance ground experiment.The work of this paper may provide certain reference for the landing process of subsequent Mars sample return missions and manned Mars exploration missions.

关 键 词：天问一号探测器 制导导航与控制(GNC) 障碍检测与规避 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]