控制理论与应用
控製理論與應用
공제이론여응용
CONTROL THEORY & APPLICATIONS
2014年
12期
1686-1694
,共9页
张洪华%李骥%关轶峰%黄翔宇
張洪華%李驥%關軼峰%黃翔宇
장홍화%리기%관질봉%황상우
嫦娥三号%动力下降%自主导航%组合导航
嫦娥三號%動力下降%自主導航%組閤導航
항아삼호%동력하강%자주도항%조합도항
Chang’E-3 lunar lander%powered descent%autonomous navigation%integrated navigation
嫦娥三号着陆器的月球动力下降过程是完全自主的,导航系统需要向制导与控制系统实时提供着陆器的位置、速度和姿态信息。考虑到月表起伏的不确定性,嫦娥三号采用了惯导组合激光测距仪和微波测距测速仪的自主导航方案。通过激光和微波测距的信息融合来修正惯导高度误差,通过微波测速的多波束组合来修正惯导的速度误差。在滤波方法设计上,从工程实用出发,采用了用函数近似的变系数滤波方法,并设计了随高度变化的门限对测量数据进行有效性检验。实际飞行数据表明该导航方法可靠、有效,保证了任务的圆满完成。
嫦娥三號著陸器的月毬動力下降過程是完全自主的,導航繫統需要嚮製導與控製繫統實時提供著陸器的位置、速度和姿態信息。攷慮到月錶起伏的不確定性,嫦娥三號採用瞭慣導組閤激光測距儀和微波測距測速儀的自主導航方案。通過激光和微波測距的信息融閤來脩正慣導高度誤差,通過微波測速的多波束組閤來脩正慣導的速度誤差。在濾波方法設計上,從工程實用齣髮,採用瞭用函數近似的變繫數濾波方法,併設計瞭隨高度變化的門限對測量數據進行有效性檢驗。實際飛行數據錶明該導航方法可靠、有效,保證瞭任務的圓滿完成。
항아삼호착륙기적월구동력하강과정시완전자주적,도항계통수요향제도여공제계통실시제공착륙기적위치、속도화자태신식。고필도월표기복적불학정성,항아삼호채용료관도조합격광측거의화미파측거측속의적자주도항방안。통과격광화미파측거적신식융합래수정관도고도오차,통과미파측속적다파속조합래수정관도적속도오차。재려파방법설계상,종공정실용출발,채용료용함수근사적변계수려파방법,병설계료수고도변화적문한대측량수거진행유효성검험。실제비행수거표명해도항방법가고、유효,보증료임무적원만완성。
The powered descent phase of Chang’E–3 lunar lander is fully autonomous. The navigation system obtains the lander’s movement information such as position, velocity and attitude, and introduces them to the guidance and control system. To meet the requirement that landing on the lunar surface with terrain uncertain, an integrated navigation scheme is contrived, which combines a multiplicity of data types including a strap-down inertial measurement unit, a laser altimeter and a capable radar altimeter and velocimeter. The information from laser and radar altimeters are fused to correct the alti-tude output of INS, and the data from multi-beam doppler velocity radar are combined to decrease the velocity calculation error of INS. To simplify the algorithm, filters with variable gains which are calculated by predesigned functions are used to replace normal extend Kalman filters. And the validation of measurements from altimeters and radars are verified by some altitude-varing thresholds before they are introduced to these filters. The flight results demonstrate that this navigation method is reliable and effective to the Chang’E–3 lunar landing mission.