CAJ | 학술논문

月面地形障碍是影响载人着陆安全的关键因素之一，可能引起着陆器倾斜、结构损坏甚至倾覆。载人月面着陆除在总体任务规划时要选取平坦安全的着陆区外，还要进行实时在线的地形探测和障碍规避。文章对“阿波罗”计划和“星座”计划中的月面着陆飞行方案和飞行器进行调研，分析了载人月面着陆避障的任务要求和技术特点；结合着陆飞行任务，提出考虑避障的飞行方案，分为高速运动中的粗避障和接近悬停后的精避障两个阶段；考虑月面着陆飞行状态以及光照、月尘等外部环境，设计载人月面着陆时由激光高度计、多普勒激光雷达以及闪光激光雷达组成避障敏感器系统；提出载人避障机动方案，采用接近段中制导目标调整、机动段六自由度控制以及缓速下降段滚动姿态机动等方法，并引入了航天员目测以检查月面地形障碍、选择月面着陆点以及手控进行终端避障机动控制。
월면지형장애시영향재인착륙안전적관건인소지일，가능인기착륙기경사、결구손배심지경복。재인월면착륙제재총체임무규화시요선취평탄안전적착륙구외，환요진행실시재선적지형탐측화장애규피。문장대“아파라”계화화“성좌”계화중적월면착륙비행방안화비행기진행조연，분석료재인월면착륙피장적임무요구화기술특점；결합착륙비행임무，제출고필피장적비행방안，분위고속운동중적조피장화접근현정후적정피장량개계단；고필월면착륙비행상태이급광조、월진등외부배경，설계재인월면착륙시유격광고도계、다보륵격광뢰체이급섬광격광뢰체조성피장민감기계통；제출재인피장궤동방안，채용접근단중제도목표조정、궤동단륙자유도공제이급완속하강단곤동자태궤동등방법，병인입료항천원목측이검사월면지형장애、선택월면착륙점이급수공진행종단피장궤동공제。
Terrain hazard on lunar surface is a key factor which influences the safety of manned lunar landing, which may lead to lander's slant, structure damage and even overturn. Besides choosing a flat and safe landing area during the mission planning phase, online terrain hazard detection and avoidance is also necessary. The lunar landing flight schemes and vehicles of Apollo and Constellation are studied, and the technology requirement and characteristic are analyzed. The hazard avoidance flight scheme is proposed combined with landing mission, which is composed of two phases including coarse phase during high speed and fine phase after nearly suspending. Based on the lunar landing flight state and environment such as lightning and lunar dust, a hazard avoidance sensor system is established consisting of laser altimeter, Doppler LIDAR and flash LIDAR. The human hazard avoidance maneuver scheme is designed, which utilizes guidance target adjustment during approaching phase, 6-DOF control during maneuver phase and roll attitude maneuver during low speed descent phase. The astronaut manual control is imported into the control loop including human inspection of lunar surface terrain, landing site choosing and manual control in the final landing phase.