小天体自主着陆轨迹优化与导航控制方法研究

The project is based on technical needs for the autonomous landing trajectory optimization, navigation and control for Chinese future major missions of precision landing on small bodies. The basic theories of the trajectory optimization, navigation and control for autonomous landing in weak gravitational environments are investigated. Meanwhile, the difficulties in the theory and realization of precision autonomous landing navigation and control for landing on faint small bodies in weak gravitational environments with complex constraints are solved, and the principle validation is conducted. The framework of autonomous landing trajectory optimization, navigation and control theory and methods that can support Chinese major missions of small body exploration is founded through the cross identification of theoretical analysis, mathematical simulation, and ground-based experiment. Meanwhile, a fundamental base of the theory and methods for the development of Chinese future autonomous landing system as well as the verification onboard can be laid. Through in-depth research on the problems of trajectory optimization with multiple constraints for irregular small body landing, autonomous navigation for landing on faint small bodies, active control of small body autonomous landing in weak gravity, autonomous hazard avoidance and control for surface motion, basic theory of trajectory optimization, navigation and control for autonomous landing in weak gravitational environments and specific to small body environmental characteristics and future mission demands is founded, and corresponding implementation methods are proposed. The key issues to be solved include: landing trajectory optimization with multiple constraints and autonomous navigation for faint targets, active control in weak gravity and autonomous hazard avoidance for surface motion.

以我国未来小天体着陆探测重大工程对自主着陆轨迹优化与导航控制的技术需求为背景，研究小天体探测器自主着陆轨迹优化与导航控制的基础理论方法，解决弱引力环境与复杂约束下暗弱小天体着陆高精度自主导航与附着控制难题，并进行原理性验证。通过理论分析、数学仿真和地面试验等途径，形成我国小天体着陆探测重大工程任务急需的自主着陆轨迹优化与导航控制理论方法体系框架，为未来我国小天体着陆器自主导航与附着控制系统的研制和飞行验证奠定理论基础。通过对多约束不规则小天体着陆轨迹优化、暗弱小天体着陆自主导航、弱引力小天体着陆主动控制、小天体表面运动自主障碍规避与控制等问题的深入研究，建立适应小天体环境特性和未来任务需求的弱引力环境下自主着陆轨迹优化与导航控制基础理论，提出相应的实现方法。重点解决的关键问题包括:复杂约束着陆轨迹优化与暗弱目标自主导航、弱引力环境主动控制与表面运动自主障碍规避等。

本项目以我国未来小天体着陆探测重大工程对自主着陆轨迹优化与导航控制的技术需求为背景，研究了小天体着陆探测器自主着陆轨迹优化与导航控制的基础理论方法，解决了小天体着陆探测器轨迹优化与导航控制所面临的理论难题。通过对小天体探测器自主着陆轨迹优化与导航控制基础理论与方法的深入研究，发明了小天体着陆实时风险预测稳健着陆策略；提出了弱引力、多约束、不确知环境下自主稳健着陆的轨迹优化方法和主动安全控制方法；通过分析着陆过程光学导航图像特性，提出了基于曲线特征匹配的暗弱星表鲁棒自主导航方法；研制了小天体着陆轨迹优化与导航控制仿真系统，并进行了原理性验证。通过理论分析和数学仿真验证等途径，形成了一个支持我国小天体着陆探测重大工程任务急需的自主着陆轨迹优化与导航控制理论方法体系框架，为未来我国小天体着陆器自主导航与着陆控制系统的研制和飞行验证奠定了理论基础。.项目成果已应用于我国深空探测发展规划论证和“天问二号”探测器自主着陆系统设计等，为小天体探测重大工程任务的自主导航与制导控制系统设计研制提供了重要的理论与技术支撑，部分理论方法系国际上首次提出，达到国际领先水平。项目研究成果在国际宇航领域顶级期刊Progress in Aerospace Sciences、国际宇航科学院(IAA)会刊、国际宇航联大会(IAC)等一系列著名期刊及会议上发表论文20余篇，申请国家发明专利20件(获授权16件)，申报软件著作权1项，获得国防科学技术进步奖一等奖1项、二等奖1项。.项目按计划完成了预期研究内容，达到了预期研究目标，获得了预期研究成果，可对我国未来的小天体探测等深空探测任务提供理论方法支撑。