基于激光测距的月球探测重载六足机器人自主避障控制

月面未知环境下具有高承载力的六足移动机器人是月球探测中不可或缺的装备。六足机器人虽然可以借助足地接触信息和姿态信息在不平坦路面行走,在遇到较小障碍物时可以做出适当的反射动作,但当遇到无法逾越的障碍物时,基于视觉信息实现腿式机器人避障运动是非常重要的。针对电驱动六边形对称分布的六足机器人,基于激光测距仪的信息实现了模拟月壤地面的地形建模,提出基于虚拟机体模型的自主避障策略,获得最优可行方向和运动最短距离,规划了实时避障的机体和足端运动轨迹。实验结果表明,六足机器人可以实时、准确地跟踪避障策略得到实时偏航角度,实现了机器人在未知环境下的自主避障运动,为月球探测重载足式机器人研究奠定了基础。     

月表陨坑检测轻量化深度学习方法

针对目前基于深度学习的陨坑检测方法存在的模型参数量大和检测速度慢的问题,提出了一种轻量化的深度学习陨坑检测方法。首先,采用通道剪枝方法删减卷积神经网络中冗余的卷积核,得到结构紧凑高效的陨坑检测模型。然后,使用轻量化的深度可分离卷积操作替换基础陨坑检测模型中的标准卷积操作,进一步降低了模型的复杂度。仿真实验结果表明,所提出的轻量化陨坑检测模型能够保证较高的像素预测精度,并且能够适应亮度、图像噪声等干扰因素的影响。同时,与轻量化处理前的模型相比,参数量减少了99.2%,检测速度提升了94%。     

可组装轻质空间结构技术研究进展

概述了当前可组装轻质空间结构的构建技术方法,具体包含嵌锁组装、堆叠组装、折叠成型、充气成型和张拉整体成型五种主流技术;以太空建造、月面栖息地和近空间飞行器为典型应用,介绍了现有可组装轻质空间结构技术的航空航天应用。最后,对比分析了各空间结构技术,讨论了现有挑战和技术难点,并对其未来发展方向进行了展望,旨在为今后航空航天任务中所需的轻量化空间结构研究提供参考。     

击中月球的转移轨道研究

对击中月球的转移轨道进行了全局性的研究,对这种转移轨道的要求是,近地点高度及飞行时间都是预先确定的,采用一种十分有效的算法,可以方便地找出所有满足要示转移轨道,这种方法的关键是利用初始状态终极状态的状态转移矩阵进行迭代,给出了这些转移轨道和近地点和着月点的轨迹,并讨论了轨迹随飞行时间变化的特性,研究结果表明,对于任意的轨道倾角都可以到两条满足要求的转移轨道。     

Lunar international science coordination/calibration targets (L-ISCT)

Eight lunar areas, each ∼200 km in diameter, are identified as targets for coordinated science and instrument calibration for the orbital missions soon to be flown. Instrument teams from SELENE, Chang’E, Chandrayaan-1, and LRO are encouraged to participate in a coordinated activity of early-release data that will improve calibration and validation of data across independent and diverse instruments. The targets are representative of important lunar terrains and geologic processes and thus will also provide a broad introduction to lunar science for new investigators. We briefly identify additional cross-calibration issues for instruments that produce time series data rather than maps.     

月球探测器软着陆机构

综述了月球探测器软着陆机构的应用与发展现状。介绍了软着陆机构的性能要求和组成,并根据着陆腿结构和缓冲器种类对软着陆机构进行了分类。讨论了着陆器主体设计、着陆腿结构和缓冲器的模块化设计。阐述了着陆器发射、在轨飞行、着陆和着陆后阶段的动力学研究内容。分析了缓冲器设计、着陆机构基本构型设计,以及缓冲器与基本构型主要参数配置等关键技术,对月球探测器软着陆机构设计有一定的参考意义。     

考虑月球扁率修正的月球卫星自主导航

针对月球扁率对月球紫外敏感器的月心方向矢量确定的不利影响,研究了月球紫外敏感器的测量原理和敏感到月平边缘时满足的几何约束,提出了一种考虑月球扁率的月心矢量确定方法。并进一步的结合地球敏感器和太阳敏感器的测量信息,研究了基于日地月方位信息的月球卫星自主轨道算法,并评估了月球方位确定算法对导航精度的影响。仿真结果表明,在太阳敏感器、地球敏感器和月球敏感器的精度分别为0.02°(3σ)、 0.05°(3σ) 和0.1°(3σ)的假设下,考虑月球扁率修正的月球卫星的自主导航位置精度能达到300m(3σ),导航速度误差能达到0.6m/s(3σ), 从而保证了环月卫星的导航精度。     

基于联立框架的轨迹优化算法

为了更好解决复杂多约束下的在线轨迹优化问题,研究了一种基于联立求解框架进行轨迹优化的算法。此方法是一种直接法,先利用有限元正交配置法将状态和控制变量同时离散化,然后使用内点算法对离散得到的非线性命题进行求解。从平衡解的精度和计算代价的角度出发,引入了针对内点算法的收敛深度控制策略来改进方法的快速收敛性。最后,以某航天器月面上升段最优入轨任务为算例,验证了算法的精度和快速收敛性。     

太阳系天体引力对空间引力波探测日心编队构型的影响分析

针对太极空间引力波探测任务,建立了太阳系天体引力摄动对日心编队构型影响的数学模型,利用仿真手段分析了太阳系中行星和月球、矮行星和小行星引力摄动对空间引力波探测日心编队构型的影响,提出了一种综合考虑小行星到卫星轨道距离和星等的二重筛选方法,能够快速估计小行星相对加速度的上界.分析了日心编队构型卫星初始相位角变化对太阳系天体引力摄动的影响.仿真结果表明,在行星和月球中,地球、金星和木星引力对空间引力波探测编队构型影响较大,行星和月球的引力叠加影响达到-2.78×10^-11km·^-2.矮行星的引力叠加影响不大于1.25×10^-17km·^-2,小行星引力的叠加影响不大于1.1180×10^-15km·^-2.另外,编队卫星受到的太阳系天体引力摄动对编队构型卫星初始相位角的变化不敏感.     

Simulation software for the spiral trajectory of our Moon

At 4.56 Ga, the accretion of the slowly rotating Solar Nebula led to the formation of Sun and its Planets in the plane of disc of accretion. Moon was formed by accretion from a circumterrestrial disk of debris generated by the glancing angle impact of the young Earth by a Mars size planetary embryo at about 4.5 Ga at a distance of 15,000 km. The Moon since then has migrated to the present position of 384,400 km from the center of the Earth. In course of this outward migration it has slowed down the spin rate of Earth and caused the lengthening of diurnal day length from 5 h initially to 24 h presently. The basic mechanics of Earth–Moon System has been worked out and theoretical determination of lengthening of day curve is carried out. This theoretical lengthening of day curve is compared with the observed lengthening of day curve based on paleobotanical evidences, ancient tidalites and Australian Banded Iron Formation. There is a remarkable correspondence between the two curves except for intermittent deviations due to geographical and geophysical factors. Based on the theoretical curve of lengthening of day, an empirical formula for the lunar orbital radius expansion is determined. Based on this empirical formula, simulation software is developed that gives the correct evolution of the semi-major axis (a) of our Moon for any time span from the inception to the time chosen under study. For mathematical simplicity the system is considered to be a two body rotating system throughout its evolutionary history of 4.5 Gyrs. This simulation draws the Moon’s spiral trajectory from its inception to any subsequent epoch. The terminal epoch is an input to the simulation software to arrive at the spiral trajectory of the Moon from the inception to the given epoch. The basic mechanics of Earth–Moon System and this simulation can be generalized to lay the foundation of simulation software for any Planet–Satellite pair or any Sun-Planet pair in our Solar System or Star-Planet pair in any Extra-Solar System. The basic dynamics has been found to be valid for Star–Planet pair also. So this Simulation Methodology can as well be applied to study the migratory evolution of Gas Giants also.