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Optimal crater landmark selection based on optical navigation performance factors for planetary landing

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Chinese Journal of Aeronautics 2023年第3期36卷 254-270页

作者： Yi XIU Shengying ZHU Rui XU maodeng li School of Aerospace Engineering Beijing Institute of TechnologyBeijing 100081China Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration Ministry of Industry and Information TechnologyBeijing 100081China Key Laboratory of Dynamics and Control of Flight Vehicle Ministry of EducationBeijing 100081China Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China

Planetary craters are natural navigation landmarks that widely exist and are easily *** navigation based on crater landmarks has become an important autonomous navigation method for planetary *** to the increase in observed crater landmarks and the limitation of onboard computation,the selection of good crater landmarks has gradually become a research hotspot in the field of landmark-based optical *** paper designs a fast crater landmark selection method,which not only considers the configuration observability of crater subsets but also focuses on the influence on navigation performance arising from the measurement uncertainty and the matching confidence of craters,which is different from other landmark selection *** factor of measurement uncertainty,which is anisotropic,correlated and nonidentically distributed,is quantified and integrated into selection based on crater pairing detection and localization error *** addition,the concept of the crater matching confidence factor is introduced,which reflects the possibility of 2D projection measurements corresponding to 3D *** with the configuration observability factor,the crater landmark selection indicator is ***,the effectiveness of the proposed method is verified by Monte Carlo simulations.

关键词： Crater-based optical navigation Crater landmark selection Crater matching Measurement uncertainty Planetary landing

Adaptive entry guidance for the Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 17-26页

作者： Minwen Guo Xiangyu Huang maodeng li Jinchang Hu Chao Xu Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

To meet the requirements of the Tianwen-1 mission,adaptive entry guidance for entry vehicles,with low lift-to-drag ratios,limited control authority,and large initial state bias,was ***,the entry guidance law is divided into four distinct phases:trim angle-of-attack phase,range control phase,heading alignment phase,and trim-wing deployment *** the range control phase,the predictor–corrector guidance algorithm is improved by planning an on-board trajectory based on the Mars Science Laboratory(MSL)entry guidance *** nominal trajectory was designed and described using a combination of the downrange value and other states,such as drag acceleration and altitude *** a large initial state bias,the nominal downrange value was modified onboard by weighing the landing accuracy,control authority,and parachute deployment *** biggest advantage of this approach is that it allows the successful correction of altitude errors and the avoidance of control *** overview of the optimal trajectory design process,including a discussion of the design of the initial flight path angle,relevant event trigger,and transition conditions between the four phases,was also ***,telemetry data analysis and post-flight assessment results were used to illustrate the adaptive guidance law,create good conditions for subsequent parachute reduction and power reduction processes,and gauge the success of the mission.

关键词： Tianwen-1 mission adaptive entry guidance on-board trajectory planning telemetry data analysis post-flight assessment

End-to-end Mars entry,descent,and landing modeling and simulations for Tianwen-1 guidance,navigation,and control system

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Astrodynamics 2022年第1期6卷 53-67页

作者： Chao Xu Xiangyu Huang Minwen Guo maodeng li Jinchang Hu Xiaolei Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

On May 15,2021,the Tianwen-1 lander successfully touched down on the surface of *** ensure the success of the landing mission,an end-to-end Mars entry,descent,and landing(EDL)simulator is developed to assess the guidance,navigation,and control(GNC)system performance,and determine the critical operation and lander *** high-fidelity models of the Mars atmosphere,parachute,and lander system that are incorporated into the simulator are *** the developed simulator,simulations of the Tianwen-1 lander EDL are *** results indicate that the simulator is valid,and the GNC system of the Tianwen-1 lander exhibits excellent performance.

关键词： Mars entry,descent,and landing(EDL) modeling and simulation Tianwen-1 lander guidance,navigation,and control(GNC)

Constant Thrust Control Based on Double Threshold for Hovering at Asteroid Equilibrium Points

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Constant Thrust Control Based on Double Threshold for Hoveri...

Entry vehicle control system design for the Tianwen-1 mission

第32届中国控制与决策会议

作者： SUI Zhihui FENG Junhua li maodeng ZHU Shengying School of Aerospace Engineering Beijing Institute of Technology Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration National Key Laboratory of astrodynamics Key Laboratory of Science and Technology on Space Intelligent Control Beijing Institute of Control Engineering

ISBN: (数字)9781728158556

ISBN: (纸本)9781728158563

This paper proposes a dual-threshold control method for constant thrust of hovering orbit at the unstable equilibrium point of an ***,according to the orbital dynamics model of the probe,the nominal hover ing orbit of the probe near the equilibrium point is ***,according to the basic idea of threshold control,not only set the threshold at the current moment,but also predict the state of the future moment and set the threshold at that *** when both thresholds are triggered at the same time does the constant thrust engine come into operation,which keeps the detector on the hovering ***,simulation was performed with Eros433 as the target *** simulation results show that the method can effectively reduce the number of engines switching and operating time while maintaining a certain accuracy.

关键词： Equilibrium points Constant thrust Dual-threshold control Nominal hover orbit

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Astrodynamics 2022年第1期6卷 27-37页

作者： Jinchang Hu Xiangyu Huang maodeng li Minwen Guo Chao Xu Yu Zhao Wangwang liu Xiaolei Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

The entry vehicle for the Tianwen-1 mission successfully landed on the surface of Mars at 7:18 AM BJT on May 15,*** successful landing made China the first country to orbit,land,and release a rover in their first attempt at the Mars *** guidance,navigation,and control(GNC)system plays a crucial role in the entry,descent,and landing(EDL)*** study focused on the attitude control component of the GNC system *** EDL phase can be divided into several sub-phases,namely the angle of attack control phase,lift control phase,parachute descent phase,and powered descent *** sub-phase has unique attitude control requirements and *** paper introduces the key aspects of designing attitude controllers for each ***,flight results are presented and analyzed.

关键词： Tianwen-1 Mars landing attitude control robust control fault diagnosis

基于序列图像可观测性分析的航天器自主导航方法

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空间科学与试验学报 2024年第1期1卷 78-85页

作者：李嘉兴王大轶邓润然董天舒李茂登徐超北京空间飞行器总体设计部北京100094 北京控制工程研究所北京100094

未来我国将开展探月工程四期、火星采样返回、小天体探测等一系列深空探测活动,软着陆过程面临环境更复杂、地形更未知、时间更紧急等全新挑战。由于光学敏感器提供的序列图像包含天体表面岩石、陨石坑等丰富陆标特征信息,是软着陆自主... 详细信息

未来我国将开展探月工程四期、火星采样返回、小天体探测等一系列深空探测活动,软着陆过程面临环境更复杂、地形更未知、时间更紧急等全新挑战。由于光学敏感器提供的序列图像包含天体表面岩石、陨石坑等丰富陆标特征信息,是软着陆自主导航的理想信息来源。但是,深空探测器上计算资源有限,无法处理大量图像信息,必须对序列图像中的丰富陆标特征进行优选。陆标优选时通常以可观测性分析量化得到的可观测度来衡量陆标特征对导航精度的贡献程度,但传统方法只观测单一时刻局部最优陆标,在重新优选陆标前多次连续观测相同陆标时会因可观测度逐渐降低而影响导航精度。本文首先建立了行星着陆段序列图像自主导航系统模型,构建了针对多次观测的序列图像可观测度指标,证明了其为凸函数并给出了最小值点所在区间,指导优选多时刻可观测度最高的陆标。经过数学仿真验证,基于序列图像可观测度的陆标优选比传统单时刻优选方法的导航精度更高,可为深空探测着陆段的序列图像自主导航提供理论支撑。

关键词：深空探测序列图像自主导航可观测性分析

Powered-descent landing GNC system design and flight results for Tianwen-1 mission

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Astrodynamics 2022年第1期6卷 3-16页

作者： Xiangyu Huang Chao Xu Jinchang Hu maodeng li Minwen Guo Xiaolei Wang Yu Zhao Baocheng Hua Yunpeng Wang Beijing Institute of Control Engineering Beijing 100094China National Key Laboratory of Science and Technology on Space Intelligent Control Beijing 100094China

The powered-descent landing(PDL)phase of the Tianwen-1 mission began with composite backshell–parachute(CBP)separation and ended with landing-rover *** main tasks of this phase were to reduce the velocity of the lander,perform the avoidance maneuver,and guarantee a soft *** PDL phase overcame many challenges:performing the divert maneuver to avoid collision with the CBP while simultaneously avoiding large-scale hazards;slowing the descent from approximately 95 to 0 m/s;performing the precise hazard-avoidance maneuver;and placing the lander gently and safely on the surface of *** architecture and algorithms of the guidance,navigation,and control system for the PDL phase were designed;its execution resulted in Tianwen-1’s successful touchdown in the morning of 15 May ***,the Tianwen-1 mission achieved a historic autonomous landing with simultaneous hazard and CBP avoidance.

关键词： Tianwen-1 powered-descent landing(PDL) guidance,navigation,and control(GNC) backshell avoidance hazard avoidance

The Tianwen-1 Guidance, Navigation, and Control for Mars Entry, Descent, and Landing

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Space(Science & Technology) 2021年第1期2021卷 84-96页

作者： Xiangyu Huang maodeng li Xiaolei Wang Jinchang Hu Yu Zhao Minwen Guo Chao Xu Wangwang liu Yunpeng Wang Ce Hao lijia Xu Science and Technology on Space Intelligent Control Laboratory Beijing Institute of Control EngineeringBeijing 100091China Beijing Institute of Control Engineering Beijing 100091China

Tianwen-1,the first mission of China’s planetary exploration program,accomplished its goals of orbiting,landing,and roving on the *** entry,descent,and landing(EDL)phase directly determines the success of the entire mission,of which the guidance,navigation,and control(GNC)system is *** paper outlines the Tianwen-1 EDL GNC system design by introducing the GNC requirements followed by presenting the GNC system architecture and algorithms to meet such *** actual flight results for the whole EDL phase are also provided in this paper.

关键词： system GNC landing

Fused Autonomous Navigation for Spacecrafts around Mars using Optical Measurements

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Fused Autonomous Navigation for Spacecrafts around Mars usin...