嫦娥六号月球轨道无人自主交会制导、导航与控制技术OA北大核心CSTPCD
Guidance Navigation and Control Technology for the Autonomous Lunar Rendezvous and Docking of the Chang'e-6 Mission
环月轨道交会对接是嫦娥六号任务最为重要的关键环节之一.为了在月球环境下实现高精度和高可靠的交会对接,嫦娥六号轨道器采用了基于"滤波器独立,估计值融合"思路设计的自主导航算法、基于时间+角度条件规划的霍曼交会寻的制导算法、采用动态规划控制死区方式实现控制参数的自适应调整,使用全新的脉宽等效式伪速率调制器进行喷气调制,设计了六自由度相对位姿控制器,解决了在地面支持弱、环境不确定性强的环月轨道无人自主交会对接的核心技术.基于这些技术,嫦娥六号成功实现了人类首次月球背面采样返回.
The rendezvous and docking in the lunar orbit is one of the most critical technology of the Chang'e-6 mission.To achieve high-precision and high-reliable lunar rendezvous and docking,Chang'e-6 adopted an autono-mous navigation algorithm based on filter independence and estimation fusion,and a new homing guidance algo-rithm based on Hohmann rendezvous with time and trigger angle planning method.Furthermore,a novel relative states controller for closing phase is designed,in which the adaptive adjustment of control parameters is realized by using dynamic programming to the dead zone,and a new jet pulse width modulation method is used,which is e-quivalent to the Pseudo-Rate Modulator(PRM).Based on these autonomous guidance navigation and control tech-nology,the problem of autonomous lunar rendezvous and docking with weak ground support and strong environment uncertainty is solved,and these techniques enabled China to complete the historic Lunar Sample Return mission from the far side of the moon.
王勇;邱芳;桂庆华;刘涛;乔德治;郑永洁;李轶;于丹;胡锦昌;马琳;郭朝礼
北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094||空间智能控制技术全国重点实验室,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094||空间智能控制技术全国重点实验室,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094
嫦娥六号月球轨道交会对接制导、导航与控制
Chang'e-6lunar orbitrendezvous and dockingguidance navigation and control
《空间控制技术与应用》 2024 (6)
24-33,10
国家自然科学基金资助项目(62394354 和 62394350) Supported by National Natural Science Foundation of China(62394354 and 62394350)
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