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1、第35卷第6期航天返回與遙感2014年12月SPACECRAFTRECOVERY&REMOTESENSING11載人月面著陸地形障礙探測與規(guī)避方案研究田林戚發(fā)軔果琳麗王平張有山（中國空間技術(shù)研究院載人航天總體部，北京100094）摘要月面地形障礙是影響載人著陸安全的關(guān)鍵因素之一，可能引起著陸器傾斜、結(jié)構(gòu)損壞甚至傾覆。載人月面著陸除在總體任務(wù)規(guī)劃時(shí)要選取平坦安全的著陸區(qū)外，還要進(jìn)行實(shí)時(shí)在線的地形探測和障礙規(guī)避。文章對“阿波羅”計(jì)劃和“星座”計(jì)劃中的月面著陸飛行方案和飛行器進(jìn)行調(diào)研，分析了載人月面著陸避障的任務(wù)要求和技術(shù)特點(diǎn)；結(jié)合著陸飛行任務(wù)，提出考
2、慮避障的飛行方案，分為高速運(yùn)動(dòng)中的粗避障和接近懸停后的精避障兩個(gè)階段；考慮月面著陸飛行狀態(tài)以及光照、月塵等外部環(huán)境，設(shè)計(jì)載人月面著陸時(shí)由激光高度計(jì)、多普勒激光雷達(dá)以及閃光激光雷達(dá)組成避障敏感器系統(tǒng)；提出載人避障機(jī)動(dòng)方案，采用接近段中制導(dǎo)目標(biāo)調(diào)整、機(jī)動(dòng)段六自由度控制以及緩速下降段滾動(dòng)姿態(tài)機(jī)動(dòng)等方法，并引入了航天員目測以檢查月面地形障礙、選擇月面著陸點(diǎn)以及手控進(jìn)行終端避障機(jī)動(dòng)控制。關(guān)鍵詞載人月面著陸地形障礙探測避障機(jī)動(dòng)控制人控避障月球探測中圖分類號(hào):V448.22文獻(xiàn)標(biāo)志碼:A文章編號(hào):1009-8518(2014)06-0011-09DOI:10.
3、3969/j.issn.1009-8518.2014.06.002StudyofTerrainHazardDetectionandAvoidanceSchemeforHumanLunarLandingTIANLinQIFarenGUOLinliWANGPingZHANGYoushan（InstituteofMannedSpaceSystemEngineering,ChinaAcademyofSpaceTechnology,Beijing100094,China）AbstractTerrainhazardonlunarsurfaceisakeyfa
4、ctorwhichinfluencesthesafetyofmannedlunarlanding,whichmayleadtolander'sslant,structuredamageandevenoverturn.Besideschoosingaflatandsafelandingareaduringthemissionplanningphase,onlineterrainhazarddetectionandavoidanceisalsonecessary.ThelunarlandingflightschemesandvehiclesofApo
5、lloandConstellationarestudied,andthetechnologyrequirementandcharacteristicareanalyzed.Thehazardavoidanceflightschemeisproposedcombinedwithlandingmission,whichiscomposedoftwophasesincludingcoarsephaseduringhighspeedandfinephaseafternearlysuspending.Basedonthelunarlandingflight
6、stateandenvironmentsuchaslightningandlunardust,ahazardavoidancesensorsystemisestablishedconsistingoflaseraltimeter,DopplerLIDARandflashLIDAR.Thehumanhazardavoidancemaneuverschemeisdesigned,whichutilizesguidancetargetadjustmentduringapproachingphase,6-DOFcontrolduringmaneuverp
7、haseandrollattitudemaneuverduringlowspeeddescentphase.Theastronautmanualcontrolisimportedintothecontrolloopincludinghumaninspectionoflunarsurfaceterrain,landingsitechoosingandmanualcontrolinthefinallandingphase.Keywordshumanlunarlanding;terrainhazarddetection;hazardavoidancem
8、aneuvercontrol;humanhazardavoidancecontrol;moonexploration收稿日期：2014-
