Scientific objectives and payloads of Tianwen-1, China’s first Mars exploration mission

This paper describes the scientific objectives and payloads of Tianwen-1, China’s first exploration mission to Mars. An orbiter, carrying a lander and a rover, lifted-off in July 2020 for a journey to Mars where it should arrive in February 2021. A suite of 13 scientific payloads, for in-situ and remote sensing, autonomously commanded by integrated payload controllers and mounted on the orbiter and the rover will study the magnetosphere and ionosphere of Mars and the relation with the solar wind, the atmosphere, surface and subsurface of the planet, looking at the topography, composition and structure and in particular for subsurface ice. The mission will also investigate Mars climate history. It is expected that Tianwen-1 will contribute significantly to advance our scientific knowledge of Mars.     

火星车转移坡道柔顺性优化设计及动力学分析

对一种抽展式火星车转移坡道开展柔顺性优化设计和动力学分析。首先，分析火星车与存在异面角的坡道的挤压几何原理。然后，设计坡道的间隙机构和限位机构，并计算出机构关键设计参数的最优值，以自适应调整两侧坡道的距离，〖JP2〗减小火星车与坡道护栏之间的相互作用力。最后，对坡道下落过程和火星车在坡道上的行驶过程进行动力学仿真，验证坡道柔顺性优化设计的效果。结果表明：优化后的坡道柔顺性大幅提高，坡道可以自适应调整两侧的距离；使用优化后的坡道，可以有效降低火星车与坡道护栏的作用力，实现火星车在坡道上的安全行驶。     

A comprehensive survey on the methods of angle of attack measurement and estimation in UAVs

Angle of Attack (AOA) is a crucial parameter which directly affects the aerodynamic forces of an aircraft. The measurement of AOA is required to ensure a safe flight within its designed flight envelop. This paper intends to summarise a comprehensive survey on the measurement techniques and estimation methods for AOA, specifically in Unmanned Aerial Vehicle (UAV) applications. In the case of UAVs, weight constraint plays a major role as far as sensor suites are concerned. This results in selecting a suitable estimation method to extract AOA using the available data from the autopilot. The most feasible and widely employed AOA measurement technique is by using the Multi-Hole Probes (MHPs). The MHP measures the AOA regarding the pressure variations between the ports. Due to the importance of MHP in AOA measurement, the calibration methods for the MHP are also included in this paper. This paper discusses the AOA measurement using virtual AOA sensors, their importance and the operation.     

基于变马赫数的五孔探针三维插值方法

探讨了五孔探针气动数据的插值方法,为提高插值精度,开发了基于传统线性插值法的三维线性插值法。该方法把同一探针在不同马赫数下的校准图形成三维数据库,将实验数据通过三维图进行插值。并使用改进前后的两种插值方法分别对校准风洞测得的数据进行整理,对比结果证明:在实验工况连续变化的情况下,三维线性插值法在插值精度上要优于传统线性插值法。特别是在来流马赫数变化较大时,该方法可以改善单一校准文件处理造成的数据精度问题,可用于自动化流场采集系统,为流场高速高精度采集奠定基础。     

火星轨道交会自主导航与制导方法

对火星采样返回任务中的火星轨道交会自主导航和制导技术进行了研究。采用光学自主导航敏感器测量的火星中心方向和视半径，相对敏感器测量的相对位置等观测量，设计了导航滤波器同时估计轨返组合体和上升器的轨道。在导航滤波器设计中，针对光学自主导航敏感器更新频率远低于滤波解算频率的问题，设计了一种连续观测量构造算法，确保每个滤波周期均可进行测量更新，以提高导航精度。基于导航滤波器估计结果，采用T-H制导设计了4脉冲共椭圆交会策略实施轨道控制，从而构成近程交会自主导航和制导方案用于完成火星轨道交会任务。通过数学仿真校验了所提出方法的有效性。     

期望状态序列导向的深空探测器规划修复方法

Aiming at the challenges caused by the persistence, concurrency and energy consumption of probe actions, a plan repair method of deep space probe based on the expected state sequence is proposed. In this method, the expected state sequence is formed of the expected effect of the unfinished action and the expected precondition of the unexecuted action in the pre designed plan, according to the execution status of the action. The expected state sequence is an ordered set of states with mixed logic and energy, providing subgoals for plan repair and also transforming the plan repair problem into the state transition path searching problem. During the search, the plan repair strategy with energy supply priority is proposed, which separates the logic repair from energy repair to reduce the difficulty of solving the problem. And this method enables the probe to recover from plan failure autonomously. Finally, the effectiveness and rationality of the proposed method are verified through simulation by taking the Mars Orbiter as an example.     

火星车低气压无风热环境模拟试验技术

为模拟火星车工作时所处大温差、低气压环境,文章以自主研制的调温热沉系统和压力控制系统为依托,实现试验容器热沉系统温度在-135~27℃间任意快速调节,均匀性优于±5℃;试验容器内气体压力控制值与目标压力值之差在±10 Pa之内。在国内首次完成无风环境下的火星车温控模拟舱验证试验,为火星车热分析模型修正以及后续火星车有风热环境试验提供了参考。     

火星大气进入段抗饱和固定时间阻力加速度跟踪制导律设计

研究了具有固定时间收敛特性的火星探测器大气进入段的标称轨迹跟踪制导问题。首先，针对横向运动，给出与速度成线性关系的航向误差漏斗走廊形式，完成了倾侧角的反号逻辑设计。与横程漏斗走廊反号逻辑相比，该逻辑计算量小，更适用于宇航计算机。与航向误差宽度走廊反号逻辑相比，该逻辑在高速状态下能够避免倾侧角的频繁切换，可提高任务成功的概率。其次，针对纵向运动，通过RBF神经网络补偿了倾侧角饱和问题，利用积分滑模设计了阻力加速度固定时间饱和跟踪制导律，其不仅可有效消除滑模控制的抖振问题，且将跟踪误差以两种不同形式引入制导律，能够加速收敛，能够保证跟踪误差在固定时间内快速收敛至0。最后，通过数值仿真验证了所设计的横向倾侧角切换逻辑和纵向制导律对标称轨迹的快速、精确跟踪能力。     

一种主动悬架式火星车稳定裕度优化控制策略

针对火星车在非结构化环境下行驶存在的稳定性不足而导致倾覆的风险，提出针对一种六轮主动悬架式火星车的稳定裕度优化控制方法。首先，考虑了火星车悬架机构调整过程中车轮与接触地面滑移和侧倾等运动关系，建立和完善了六轮主动悬架式火星车行驶的运动学模型。然后，以火星车夹角调整机构角度为变量，推导火星车在非结构环境下的稳定裕度模型。之后，使用内点法求解火星车稳定裕度的最优解，并获得期望的夹角调整机构关节角度。在此基础上，对夹角调整机构的关节角度进行规划和控制，实现火星车悬架机构构型的调整，从而提高火星车在非结构化环境下行驶的稳定裕度。最后，对火星车稳定裕度优化控制策略的有效性进行仿真验证，结果表明，所提出的控制方法可有效提高火星车在非结构化环境下行驶的稳定裕度。     

波音737NG飞机大气数据探头自动加温功能测试的替代方法研究

根据波音AMM手册要求,在更换波音737NG飞机上的大气数据系统传感器后,需通过试车测试其自动加温功能。本文研究了波音737NG飞机大气数据系统探头自动加温的工作原理,并提出避免试车的解决方案。