| 一种基于LIDAR的精确月球软着陆目标点选定方法 |
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| 引用本文： | 梁栋,王鹏基,刘良栋.一种基于LIDAR的精确月球软着陆目标点选定方法[J].空间控制技术与应用,2009,35(6):24-29. |
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| 作者姓名： | 梁栋 王鹏基 刘良栋 |
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| 作者单位： | 1. 北京控制工程研究所,北京,100190;空间智能控制技术国家级重点实验室,北京,100190
2. 北京控制工程研究所,北京,100190 |
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| 摘 要： | 研究了月球探测器不设悬停阶段的精确软着陆运动中实时目标着陆点的自主选定方法．其过程包括着陆器运动补偿、数字高程图（DEM）的生成、障碍识别和最优安全着陆点搜索4个步骤．采用LIDAR敏感器，由经过运动补偿得到的斜距数据生成DEM，给出一种月面地形坡度和粗糙度的定义，根据安全着陆区的判据进行障碍识别，最后设计中心螺旋式搜索方法对探测器最优安全着陆点进行搜索选定．通过仿真验证了本文方法的有效性和优越性．
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| 关 键 词： | 激光雷达 月球软着陆 运动补偿 障碍识别 数字高程图 |
A LIDAR-Based Autonomous Landing Site Selection Method for Pinpoint Lunar Soft Landing |
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| LIANG Dong,WANG Pengji,LIU Liangdong.A LIDAR-Based Autonomous Landing Site Selection Method for Pinpoint Lunar Soft Landing[J].Aerospace Contrd and Application,2009,35(6):24-29. |
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| Authors: | LIANG Dong WANG Pengji LIU Liangdong |
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| Institution: | LIANG Dong, WANG Pengji , LIU Liangdong (1. Beijing Institute of Control Engineering ,Beijing 100190, China; 2. National Key Laboratory of Science and Technology on Space Intelligent Control, Beijing 100190, China) |
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| Abstract: | This paper studies an autonomous landing site selection method for lunar pinpoint soft landing during lander＇ s motion. The method includes 4 steps： motion compensation, digital elevation map generation, obstacle detection and optimal safe-site search. According to the compensated data provided by light detection and ranging, the digital elevation map is generated, then the definitions of the lunar surface roughness and slope are given, and a safely landing criterion is presented to detect the obstacle. Based on this concept, a central-helix searching method is designed to select the optimal safe landing site for lunar landers. The simulation results show validity and superiority of the autonomous landing site selection method. |
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| Keywords: | light detection and ranging lunar soft landing motion compensation obstacle detection digital elevation map |
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