载人月面着陆地形障碍探测与规避方案研究

月面地形障碍是影响载人着陆安全的关键因素之一，可能引起着陆器倾斜、结构损坏甚至倾覆。载人月面着陆除在总体任务规划时要选取平坦安全的着陆区外，还要进行实时在线的地形探测和障碍规避。文章对“阿波罗”计划和“星座”计划中的月面着陆飞行方案和飞行器进行调研，分析了载人月面着陆避障的任务要求和技术特点；结合着陆飞行任务，提出考虑避障的飞行方案，分为高速运动中的粗避障和接近悬停后的精避障两个阶段；考虑月面着陆飞行状态以及光照、月尘等外部环境，设计载人月面着陆时由激光高度计、多普勒激光雷达以及闪光激光雷达组成避障敏感器系统；提出载人避障机动方案，采用接近段中制导目标调整、机动段六自由度控制以及缓速下降段滚动姿态机动等方法，并引入了航天员目测以检查月面地形障碍、选择月面着陆点以及手控进行终端避障机动控制。

Study of Terrain Hazard Detection and Avoidance Scheme for Human Lunar Landing

Terrain hazard on lunar surface is a key factor which influences the safety of manned lunar landing, which may lead to lander＆#39;s slant, structure damage and even overturn. Besides choosing a flat and safe landing area during the mission planning phase, online terrain hazard detection and avoidance is also necessary. The lunar landing flight schemes and vehicles of Apollo and Constellation are studied, and the technology requirement and characteristic are analyzed. The hazard avoidance flight scheme is proposed combined with landing mission, which is composed of two phases including coarse phase during high speed and fine phase after nearly suspending. Based on the lunar landing flight state and environment such as lightning and lunar dust, a hazard avoidance sensor system is established consisting of laser altimeter, Doppler LIDAR and flash LIDAR. The human hazard avoidance maneuver scheme is designed, which utilizes guidance target adjustment during approaching phase, 6-DOF control during maneuver phase and roll attitude maneuver during low speed descent phase. The astronaut manual control is imported into the control loop including human inspection of lunar surface terrain, landing site choosing and manual control in the final landing phase.