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针对月球着陆区未知地形和障碍引起的着陆风险问题,提出了一种粗精结合的月球软着陆自主障碍识别与避障制导方法,主要包括着陆过程的粗精结合障碍识别与着陆区选取、基于图像信息的高精度相对导航和基于变推力发动机的自主避障制导等算法.理论推导与仿真分析表明,该技术能够保证着陆器选取到安全着陆区,并自主避障精确到达该区域,提高了软着陆任务的安全性,已成功应用于实际工程任务.
Aiming at the landing risk caused by the unknown landform and obstacle in the lunar landing area, a rough and precise guidance method for moon landing and obstacle avoidance based on soft landing is proposed, which mainly includes the identification of the rough landing obstacle and the selection of the landing zone. High-precision relative navigation of image information and autonomous obstacle avoidance guidance based on variable-thrust engine, etc. The theoretical derivation and simulation analysis show that this technology can ensure that the lander picks a safe landing zone and reach the area autonomously, The safety of soft landing tasks has been successfully applied to practical engineering tasks.