月球软着陆自主障碍识别与避障制导方法
摘要
An autonomous hazard detection and roughne hazard-avoidance guidance method for soft lunar landing is presented to mitigate the landing risks due to the uncertainty and hazards of the lunar terrain, such as surface roughness and slope. The method is composed of roughne hazard detection and a landing site selection algorithm. The high-precision relative autonomous navigation algorithm is based on image data, and the autonomous hazard-avoidance guidance algorithm is based on an adjusted thrust engine. The theoretic deduction and simulation analysis shows that a safe landing site is acquired and autonomous pinpoint hazard avoidance is achieved using the presented method. The method can be used to improve the achievement of a soft landing and has been successfully used in the Chang'e-3 soft landing mission.