The invention discloses a safe attachment multi-mode switching guidance method for online extraction of small celestial body morphology characteristic, and belongs to the technical field of deep spaceexploration. The implementation method comprises the steps of for two typical small celestial body surface topography distribution characteristics of a small number of sparse large obstacles and a large number of dense small obstacles, establishing obstacle avoidance constraints separately, extracting surface topography characteristic variables, designing an obstacle avoidance model autonomous switching rule, achieving on-satellite multi-mode autonomous switching of safe attachment of the small celestial body by calculating the Mahalanobis distance between an actual measurement result and a nominal surface topography characteristic variable, solving the obstacle avoidance optimal control problem under different modes by combining the obstacle distribution characteristics of each mode andadopting a nonlinear model prediction control method, forming a multi-mode switching guidance law, and achieving safe attachment of a detector to the surface of the small celestial body. According tothe invention, the satellite autonomous decision and environment perception capability can be improved, safe attachment multi-mode autonomous switching is realized, and the small celestial body attachment task safety is improved.
本发明公开的小天体形貌特征在线提取的安全附着多模切换制导方法,属于深空探测技术领域。本发明实现方法为:针对少量稀疏大型障碍与多量密集小型障碍两种典型小天体表面形貌分布特点,分别建立障碍规避约束,并提取表面形貌特征变量,设计障碍规避模型自主切换规则,通过计算实际测量结果与标称表面形貌特征变量间的马氏距离,实现小天体安全附着星上多模式自主切换,结合每种模式的障碍分布特点,采用非线性模型预测控制方法求解不同模式下的障碍规避最优控制问题,形成多模切换制导律,实现探测器在小天体表面的安全附着。本发明能够提高星上自主决策与环境感知能力,实现安全附着多模式自主切换,提高小天体附着任务安全性。
Safe attachment multi-mode switching guidance method for online extraction of small celestial body morphology characteristics
小天体形貌特征在线提取的安全附着多模切换制导方法
2020-10-13
Patent
Electronic Resource
Chinese
IPC: | B64G Raumfahrt , COSMONAUTICS / G06Q Datenverarbeitungssysteme oder -verfahren, besonders angepasst an verwaltungstechnische, geschäftliche, finanzielle oder betriebswirtschaftliche Zwecke, sowie an geschäftsbezogene Überwachungs- oder Voraussagezwecke , DATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung |
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