天问一号探测器火星着陆自主避障技术设计与验证

针对天问一号探测器火星着陆过程多体运动及表面地形不确定性强的任务特点，提出了粗避障与伞-背罩组合体规避的协同控制策略以及激光三维配以双目立体视觉的精避障策略，介绍了障碍检测与规避系统的硬件配置、飞行过程、障碍检测与规避部分算法，并通过地面悬停避障专项试验验证了障碍检测与规避策略的有效性，可为后续火星采样返回任务和载人火星探测任务的着陆过程提供一定参考。

Design and Qualification of Hazard Detection and Avoidance System for Tianwen 1 Mars Landing Mission

Aiming at the characteristics of multi body motion and surface terrain uncertainty during the Mars landing process of Tianwen 1 probe, a collaborative control strategy of coarse hazard avoidance and parachute backshell assembly avoidance, and a fine hazard detection strategy of laser 3D imaging combined with binocular stereo vision are proposed. The hazard detection and avoidance system hardware configuration, flight sequence, hazard detection and avoidance algorithms are also introduced. The effectiveness of the proposed hazard detection and avoidance strategy is demonstrated through the special suspending and hazard avoidance ground experiment. The work of this paper may provide certain reference for the landing process of subsequent Mars sample return missions and manned Mars exploration missions.