行星表面动力着陆自主制导方法综述

宋征宇; 王聪; Stephan THEIL; David SEELBINDER; Marco SAGLIANO; 刘新福; 邵之江

doi:10.1631/FITEE.1900458

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行星表面动力着陆自主制导方法综述

智能无人系统专辑 | Updated：2022-05-19

- 行星表面动力着陆自主制导方法综述
- Survey of autonomous guidance methods for powered planetary landing
- 信息与电子工程前沿（英文） 2020年21卷第5期页码：652-674
- Affiliations：
  
  China Academy of Launch Vehicle Technology, Beijing 100076, China
  Beijing Aerospace Automatic Control Institute, Beijing 100854, China
  GNC Systems Department, DLR Institute of Space Systems, Bremen 28001, Germany
  School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China
  College of Control Science and Engineering, Zhejiang University, Hangzhou 310027, China
- Author bio：
  
  Zheng-yu SONG, E-mail: zycalt12@sina.com
- Funds：
  
  Project supported by the National Natural Science Foundation of China (No. 61773341) and the International Academy of Astronautics Study Group SG 3.32
- DOI：10.1631/FITEE.1900458
  中图分类号： V448;TP273
- 收稿：2019-08-31，
  
  修回：2020-;3-;1，
  
  网络出版：2020-03-14，
  
  纸质出版：2020-05
- Accepted：
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宋征宇, 王聪, Stephan THEIL, 等. 行星表面动力着陆自主制导方法综述[J]. 信息与电子工程前沿（英文）, 2020,21(5):652-674.

Zheng-yu SONG, Cong WANG, Stephan THEIL, et al. Survey of autonomous guidance methods for powered planetary landing[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 652-674.
宋征宇, 王聪, Stephan THEIL, 等. 行星表面动力着陆自主制导方法综述[J]. 信息与电子工程前沿（英文）, 2020,21(5):652-674. DOI： 10.1631/FITEE.1900458.

Zheng-yu SONG, Cong WANG, Stephan THEIL, et al. Survey of autonomous guidance methods for powered planetary landing[J]. Frontiers of Information Technology & Electronic Engineering, 2020, 21(5): 652-674. DOI： 10.1631/FITEE.1900458.

摘要

本文总结了天体表面精确软着陆的自主制导方法。首先回顾了动力下降制导方法的发展，重点介绍了其在约束处理和提升计算效率方面的贡献。随着对可重复使用运载器需求的不断增加，以及太空探索带来更多的科学回报，定点软着陆成为一项基本要求。不同于过去任务中公里级的着陆精度，未来行星着陆器在满足全部速度和姿态约束条件下，着陆位置精度要达到10米级，这项任务的困难引起学者对自主制导方法的兴趣。本文讨论了动力下降阶段一般性的3自由度和6自由度优化问题，并对比月球、火星和地球3种典型着陆场景的特点。在此基础上，通过比较解析制导方法、数值优化算法和基于学习的方法，详细阐述自主制导方法的特点和适应性，并讨论非凸问题的凸化处理和求解策略。随后提出自主制导方法工程应用的3个关键问题：物理可行性、模型精度和实时性。最后，简要介绍各国航天组织（包括美国、中国、法国、德国和日本）研发的垂直起降验证飞行器，以及目前在验证飞行器上开展的制导方法试验工作。

Abstract

This paper summarizes the autonomous guidance methods (AGMs) for pinpoint soft landing on celestial surfaces. We first review the development of powered descent guidance methods

focusing on their contributions for dealing with constraints and enhancing computational efficiency. With the increasing demand for reusable launchers and more scientific returns from space exploration

pinpoint soft landing has become a basic requirement. Unlike the kilometer-level precision for previous activities

the position accuracy of future planetary landers is within tens of meters of a target respecting all constraints of velocity and attitude

which is a very difficult task and arouses renewed interest in AGMs. This paper states the generalized three- and six-degree-of-freedom optimization problems in the powered descent phase and compares the features of three typical scenarios

i.e.

the lunar

Mars

and Earth landing. On this basis

the paper details the characteristics and adaptability of AGMs by comparing aspects of analytical guidance methods

numerical optimization algorithms

and learning-based methods

and discusses the convexification treatment and solution strategies for non-convex problems. Three key issues related to AGM application

including physical feasibility

model accuracy

and real-time performance

are presented afterward for discussion. Many space organizations

such as those in the United States

China

France

Germany

and Japan

have also developed free-flying demonstrators to carry out related research. The guidance methods which have been tested on these demonstrators are briefly introduced at the end of the paper.

关键词

Keywords

references

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Hohmann transfer via constrained optimization