Navigation, Guidance and Control Technology of Mars Exploration Orbiter Tianwen-1
-
摘要:针对中国首次自主火星探测任务——“天问一号”行星际转移及环绕飞行过程面临的器–地数据传输延时长、飞行过程指向约束多、自主可靠要求高等难题，提出了基于火星光学目标特性测量的自主导航、推力方向补偿的速度矢量控制以及多目标指向基准优化的角动量管理方法。通过对火星时变目标特性的自适应边缘提取和基于椭球模型的边缘精确拟合，获得目标高精度导航观测信息，实现近火导航精度优于100 km、环火导航精度优于2 km；采用基于加速度计测量的推力方向实时估计及姿态前馈补偿，使制动捕获控制精度达到mm/s量级；结合多目标指向约束，以干扰力矩全局最优为目标进行姿态基准优化设计，保障超过30天无地面支持下的自主飞行控制。将其应用于“天问一号”环绕器制导 、 导航与控制（Guidance、Navigation and Control，GNC）分系统中，“天问一号”在轨飞行结果表明，所提方法能够满足星际飞行自主控制和自主管理的约束，为后续深空探测型号任务提供重要参考。Abstract:Tianwen-1, China’s first autonomous Mars exploration mission, faced many challenges in the process of interplanetary transfer and orbiting, such as long delay of data transmission between the orbiter and the Earth, many directional constraints during flight, and high requirements for autonomy and reliability. The autonomous navigation based on Mars optical target characteristic measurement, velocity vector control based on thrust direction compensation and angular momentum management based on multi-target pointing reference optimization were proposed. By adaptive edge extraction and accurate edge fitting based on ellipsoidal model for the characteristics of Mars time-varying target, high-precision navigation observation information of the target was obtained, and the accuracy of near-Mars navigation was better than 100 km and that of Mars circumnavigation was better than 2 km. The real-time estimation of thrust direction based on accelerometer measurement and attitude feedforward compensation were used to make the braking capture control accuracy reach the order of millimeter/second. Combined with the multi-target pointing constraint, attitude reference optimization design was carried out with the goal of global optimal jamming torque, to guarantee the autonomous flight control without ground support for more than 30 days. The proposed method was applied to the GNC subsystem of Tianwen-1 surrounding device. The in-orbit flight results of Tianwen-1 show that the proposed method can meet the constraints of autonomous control and autonomous management of interstellar flight, which provides important reference for subsequent deep-space exploration model missions.Highlights
● Optical autonomous navigation. ● Precision of braking capture control reaches the order of millimeter/second. ● Autonomous flight control without ground support. -
[1] 侯建文, 阳光, 周杰. 深空探测——火星探测[M]. 北京: 国防工业出版社2016. [2] 陈杨,赵国强,宝音贺西,等. 精确动力学模型下的火星探测轨道设计[J]. 中国空间科学技术,2011,31(1):8-15.doi:10.3780/j.issn.1000-758X.2011.01.002CHEN Y,ZHAO G Q,BAOYIN H X,et al. Orbit design for Mars exploration by the accurate dynamic model[J]. Chinese Space Science and Technology,2011,31(1):8-15.doi:10.3780/j.issn.1000-758X.2011.01.002 [3] 刘付成,朱庆华,孙建党,等. 基于图像边缘信息的火星探测器光学自主导航技术[J]. 中国科学,2020,50(9):1160-1174.LIU F C,ZHU Q H,SUN J D,et al. Autonomous optical navigation technology for Mars probe based on image edge information[J]. Sci Sin Tech,2020,50(9):1160-1174. [4] 孙建党,刘宇,谭天乐,等. 一种基于方差的自适应火星图像阈值选取算法[J]. 飞控与探测,2018,1(1):77-81.SUN J D,LIU Y,TAN T L,et al. An adaptive image threshold selection algorihm based on variance[J]. Flight Control & Detection,2018,1(1):77-81. [5] 刘宇飞, 崔平远. 深空探测巡航段自主光学导航方案研究[J]. 系统仿真学报, 2008, 20（7）: 1781-1785.LIU Y F, CUI P Y. Autonomous navigation scheme of cruise phase in deep-space exporation[J]. Journal of System Simulation. 2008, 20（7）: 1781-1785. [6] 杨彬, 李爽. 火星探测转移轨道初始设计与分析[J]. 中国空间科学技术, 2017, 37（4）: 18-27.YANG B, LI S. Transfer orbit initial design and analysis for Mars exploration mission[J]. Chinese Space Science and Technology, 2017, 37（4）: 18-27. [7] 王汀, 郭延宁, 张瑶, 等. 基于模型预测控制的多约束火星精确着陆制导律研究[J]. 深空探测学报（中英文）, 2016, 3（4）: 377-383.WANG T, GUO Y N, ZHANG Y, et al. Model predictive control guidance for constrained Mars pinpoint landing[J]. Journal of Deep Space Exploration, 2016, 3（4）: 377-383. [8] 朱丽莉, 杨志鹏, 袁华. 粒子群优化算法分析及研究进展 [J]. 计算机工程与应用, 2007 （5）: 24-17.ZHU L L, YANG Z P, YUAN H. Analysis and development of particle swarm optimization[J]. Compter Engineering and Applications. 2007, 43（5）: 24-27. [9] 朱东方,王卫华,宋婷,等. 复杂挠性航天器转动惯量辨识算法研究[J]. 上海航天,2015,32(5):1-8,14.ZHU D F,WANG W H,SONG T,et al. On-line identification of flexible spacecraft moment of inertia[J]. Aerospace Shanghai,2015,32(5):1-8,14. [10] 章仁为. 卫星轨道姿态动力学与控制[M]. 北京: 北京航空航天大学出版社, 1998. -
下载:
计量
- 文章访问数:61
- 被引次数:0
