CN117006899A - A fairing homing control and safe obstacle avoidance method that resists high-altitude wind interference - Google Patents
A fairing homing control and safe obstacle avoidance method that resists high-altitude wind interference Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
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- F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means
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Abstract
一种抗高空风干扰的整流罩归航控制与安全避障方法，在运载火箭发射前，在其整流罩落区范围内确定多个目标点和避障点。翼伞开始工作后首先计算优选落点，并赋予优先级标识。接着计算翼伞的预测落点。然后计算实时预测落点和距最近避障点的距离。如果该距离大于避障安全距离则维持原飞行目标点飞行。如果小于避障安全距离选择次优先级的优选落点，并重复上述计算过程，直至选择到预测落点与距其最近避障点距离大于避障安全距离的目标点作为优选飞行目标点和优选飞行路径。本发明针对在高空风干扰翼伞实时航迹的情况下，使翼伞亦能在稳定精准降落于目标点区域范围的前提下同时实现了对避障区的有效规避，对航天器返回与着陆技术领域相关研究具有深远意义。
A fairing homing control and safe obstacle avoidance method that is resistant to high-altitude wind interference. Before the launch of the launch vehicle, multiple target points and obstacle avoidance points are determined within the fairing landing zone. After the parafoil starts working, it first calculates the preferred landing point and assigns a priority mark. Then calculate the predicted landing point of the parafoil. Then calculate the real-time predicted landing point and the distance to the nearest obstacle avoidance point. If the distance is greater than the obstacle avoidance safety distance, the original flight target point will be maintained. If it is less than the obstacle avoidance safety distance, select the next-priority preferred landing point, and repeat the above calculation process until the target point whose distance between the predicted landing point and the nearest obstacle avoidance point is greater than the obstacle avoidance safe distance is selected as the preferred flight target point and the preferred flight path. This invention is aimed at enabling the parafoil to land stably and accurately in the target point area when high-altitude wind interferes with the real-time trajectory of the parafoil, while simultaneously achieving effective avoidance of the obstacle avoidance zone and improving the return and landing of the spacecraft. Research related to technical fields is of far-reaching significance.
Description
Technical Field
The invention relates to a method for realizing homing control of a carrier rocket fairing against high altitude wind interference and safe obstacle avoidance based on a controllable parafoil so as to further realize landing zone control of the carrier rocket fairing, and belongs to the technical field of spacecraft returning and landing.
Background
When the speed and the posture of the fairing tend to be stable and reach below 20km after the fairing is separated from the rocket main body and rises to the highest point, the recovery system starts to start, the parachute of each stage is opened step by step to reduce the falling speed of the fairing, and after the parachute of the last stage is opened stably, the homing and landing are completed according to a preset program under the control of the homing system.
The fairing of the carrier rocket falls to the ground freely under the uncontrolled condition after being separated from the rocket body, and the scattering range reaches 2000km 2 The above. By adopting the parafoil with gliding capability, the spreading range can be effectively reduced by utilizing the gliding capability. Under the condition that the homing capacity of the parafoil is insufficient to cover the whole falling area range, aiming at the falling area scattering characteristics, the adoption of the controllable parafoil cannot realize the precise and controllable recovery of the fairing of the carrier rocket, and cannot avoid the non-landing areas such as villages, towns and the like, so that a multi-target homing method which is resistant to high altitude wind interference and has the obstacle avoidance function is urgently needed to be designed, so that a better homing effect is achieved.
Disclosure of Invention
The invention aims at: the defects of the prior art are overcome, the method for controlling the fairing homing and safely avoiding the obstacle is provided, aiming at a landing target point and an obstacle avoidance area, the accurate avoidance of the obstacle avoidance area is realized on the premise of stable and efficient landing, and the method has profound significance for the relevant research of the technical field of spacecraft returning and landing.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a fairing homing control and safe obstacle avoidance method for resisting high altitude wind interference comprises the following steps:
s1: before launch of a carrier rocket, determining a plurality of target points and obstacle avoidance points in the falling area range of a fairing of the carrier rocket, calculating a preferable target point as a falling point after the parafoil begins to work, and giving priority identification;
s2: calculating a predicted flight trajectory of the parafoil, and calculating a predicted drop point according to the flight trajectory;
s3: according to the calculated predicted falling points of the parafoil, calculating the distance between the predicted falling points of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point;
if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, reselecting the flight target point with the next lowest priority; and repeating the calculation process for the reselected target point until the target point with the distance between the predicted falling point and the nearest obstacle avoidance point larger than the obstacle avoidance safety distance is optimized to be used as the optimal flight strategy.
Further, the step S1 calculates a preferred target point as a drop point, specifically:
s1.1, calculating the distance between the projection point of the parafoil and each target point;
s1.2, sequencing each target point according to the distance, setting the priority of each target point, wherein the priority of each target point is highest and the priority of each target point is lowest.
Further, the distance between the projected point of the parafoil and each target point is calculated according to the following formula:
wherein Distance is any target point Distance from the projection point of the parachute, radius is the earth radius, la_para is the latitude of the projection point of the parachute, lon_para is the longitude of the projection point of the parachute, la_destination is any target point latitude, and lon_destination is any target point longitude.
Further, the step S2 calculates a predicted flight trajectory of the parafoil, and calculates a predicted drop point according to the flight trajectory, specifically:
when the parafoil is in a gliding or linear motion state, assuming that the linear motion of the parafoil is greater than the horizontal turning motion speed by delta V, calculating a predicted flight track by using recursive formulas (2) to (6); if Δv=0, then the calculations are performed using equations (7) to (10):
x′＝x+(V x -ΔVcosΦ+W x )τ (2)
y′＝y+(V y +ΔVsinΦ+W y )τ (3)
V′ x ＝V x (4)
V′ y ＝V y (5)
ΔV＝V * -V (6)
x′＝x+(V x +W x )τ (7)
y′＝y+(V y +W y )τ (8)
V′ x ＝V x (9)
V′ y ＝V y (10)
wherein V is * Is the horizontal speed of the parafoil system in the case of linear motion; v is the horizontal speed in the case of a cornering motion of the parafoil system; deltaV is the difference between the horizontal velocity during linear motion and the horizontal velocity during cornering motion; phi is the negative angle of rotation of the horizontal velocity V counter-clockwise to the Ox axis, 0<Φ≤2π；
Taking a ground coordinate system Oxy, wherein the coordinate system is fixedly connected with the earth, and an origin O is a target point; the Ox axis points to the east and the Oy axis points to the north; the wind vector W is constant at a certain height layer;
the coordinates of the centroid subsatellite point of the parafoil system in the coordinate system Oxy at any moment are x and y, and the projection of the velocity vector on the x axis is V x The projection on the y-axis is V y ；
x，y，V x ，V y Is the current value; x ', y ', V ' x ，V′ y Is the latter time period value; τ is the time period.
Further, the step S3 calculates the distance between the predicted landing point of the parafoil and each obstacle avoidance point, and determines the closest obstacle avoidance point, which specifically is:
s3.1, calculating the distance between the predicted falling point of the parafoil and each obstacle avoidance point, wherein the calculation method still adopts the formula (1), and the longitude and the latitude of the target point are replaced by the longitude and the latitude of the obstacle avoidance point;
s3.2, setting the first obstacle avoidance point as the nearest obstacle avoidance point, setting the distance between the predicted falling point of the parafoil and the first obstacle avoidance point as the nearest obstacle avoidance point distance, comparing the distance between the predicted falling point of the parafoil and other obstacle avoidance points, and if the distance is closer to the obstacle avoidance point, replacing the obstacle avoidance point with the nearest obstacle avoidance point.
Furthermore, the invention also provides a fairing homing control and safety obstacle avoidance system for resisting high altitude wind interference, which comprises:
drop point priority determination module: before launch of a carrier rocket, determining a plurality of target points and obstacle avoidance points in the falling area range of a fairing of the carrier rocket, calculating a preferable target point as a falling point after the parafoil begins to work, and giving priority identification;
a predicted drop point determining module: calculating a predicted flight trajectory of the parafoil, and calculating a predicted drop point according to the flight trajectory;
an optimal flight strategy determination module: according to the calculated predicted falling points of the parafoil, calculating the distance between the predicted falling points of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point;
if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, reselecting the flight target point with the next lowest priority; and repeating calculation aiming at the reselected target point until the target point with the distance between the predicted falling point and the nearest obstacle avoidance point larger than the obstacle avoidance safety distance is optimized to be used as the optimal flight strategy.
The invention further provides a processor, which is used for running a program, wherein the fairing homing control and the safety obstacle avoidance method resisting high altitude wind interference are executed when the program runs.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention provides a controllable parafoil for realizing multi-target fixed point recovery obstacle avoidance of a rocket fairing, aiming at the innovativeness of a target point and an obstacle avoidance area, and the accurate avoidance of the obstacle avoidance area is realized on the premise of stable and efficient landing;
(2) The method can update the optimal target point in real time, judge the control mode of the parafoil in real time according to the real-time flight state parameters of the parafoil, and effectively control the whole process of recovering the parafoil and avoiding the obstacle.
Drawings
FIG. 1 is a flow chart of the flight optimization strategy calculation of the present invention;
FIG. 2 is a graph of the linear flight relationship of the parafoil flight path of the present invention.
Detailed Description
The features and advantages of the present invention will become more apparent and clear from the following detailed description of the invention.
The fairing of the carrier rocket is separated from the main body after the boosting take-off function is completed, and falls to the ground freely under the uncontrolled condition, and the scattering range reaches 2000km 2 The above. By adopting the parafoil with gliding capability, the spreading range can be effectively reduced by utilizing the gliding capability. In general, the homing of the parafoil can adopt the modes of fixed-point homing, line homing or multi-target homing and the like. Under the condition that the homing capacity of the parafoil is insufficient to cover the whole falling area range, a multi-target homing method with an obstacle avoidance function is adopted aiming at falling area scattering characteristics, so that a better homing effect can be achieved.
According to the invention, the optimal target point in the multiple target points is locked through calculation, and the information of the optimal target point is continuously updated and the parafoil is controlled to fly towards the optimal target point in the flight process. And realizing the optimal flight strategy of landing point prediction and obstacle avoidance flight in the process of selecting an optimal target point (landing point) and an optimal route.
The calculation method of the flight optimal strategy comprises the following steps of:
1. before launch of a carrier rocket, determining a plurality of target points and obstacle avoidance points in the falling area range of a fairing of the carrier rocket, calculating a preferable target point as a falling point after the parafoil begins to work, and giving priority identification;
2. calculating a predicted flight trajectory of the parafoil, and calculating a predicted drop point according to the flight trajectory;
3. according to the calculated predicted falling points of the parafoil, calculating the distance between the predicted falling points of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point;
if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, reselecting the flight target point with the next lowest priority; and repeating the calculation process for the reselected target point until the target point with the distance between the predicted falling point and the nearest obstacle avoidance point larger than the obstacle avoidance safety distance is optimized to be used as the optimal flight strategy.
The calculation flow of homing control and safety obstacle avoidance (flight optimization strategy) is shown in fig. 1.
1. The method for calculating the preferred drop point and giving the priority mark is as follows:
1.1 calculating the distance between the projection point of the parafoil and each target point according to the following formula:
wherein Distance is any target point Distance from the projection point of the parachute, radius is the earth radius, la_para is the latitude of the projection point of the parachute, lon_para is the longitude of the projection point of the parachute, la_destination is any target point latitude, and lon_destination is any target point longitude;
1.2, sequencing each target point according to the distance, setting the priority of each target point, wherein the priority of each target point is highest and the priority of each target point is lowest.
2. The calculation method of the parafoil homing control track and the predicted falling point is as follows:
when the parafoil is in a gliding, i.e., linear, state, then its flight path simulated motion state can be calculated using the following recurrence formula. Wherein V is * Is the horizontal speed of the parafoil system in the case of linear motion; v is the horizontal speed in the case of a cornering motion of the parafoil system; deltaV is the difference between the horizontal velocity during linear motion and the horizontal velocity during cornering motion. Phi is the negative direction of the horizontal velocity V-direction counter-clockwise rotation to the Ox axisAngle of orientation, 0<Phi is less than or equal to 2 pi. Taking a ground coordinate system Oxy, wherein the coordinate system is fixedly connected with the earth, and an origin O is a target point; the Ox axis is oriented to the east and the Oy axis is oriented to the north. The wind vector W is constant at a certain level. The coordinates of the centroid subsatellite point of the parafoil system in the coordinate system Oxy at any moment are x and y, and the projection of the velocity vector on the x axis is V x The projection on the y-axis is V y 。x，y，V x ，V y Is the current value; x ', y ', V ' x ，V′ y Is the latter time period value. τ is the time period. The flight relation diagram of the parafoil in the straight flight state is shown in fig. 2. When the parafoil is in a gliding or linear motion state, assuming that the linear motion of the parafoil is greater than the horizontal turning motion speed by delta V, the flight path simulation motion state of the parafoil can be calculated by using recursive formulas (2) to (6). If Δv=0, equations (7) to (10) may be used. The linear flight relation diagram of the parafoil flight path is shown in figure 2.
x′＝x+(V x ＝ΔVcosΦ+W x )τ (2)
y′＝y+(V y +ΔVsinΦ+W y )τ (3)
V′ x ＝V x (4)
V′ y ＝V y (5)
ΔV＝V * -V (6)
x′＝x+(V x +W x )τ (7)
y′＝y+(V y +W y )τ (8)
V′ x ＝V x (9)
V′ y ＝V y (10)
3. After calculating the predicted landing point of the parafoil according to the predicted flight track of the parafoil, the distance between the predicted landing point of the parafoil and each obstacle avoidance point is calculated, and the nearest obstacle avoidance point is calculated.
And if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, the flight target point with the next lowest priority is reselected. And repeating the above calculation process for the reselection target point. And (3) taking the target point with the distance between the predicted falling point and the nearest obstacle avoidance point being larger than the obstacle avoidance safety distance as the optimal flight strategy.
The calculation method of the distance between the predicted falling point and the nearest obstacle avoidance point of the parafoil comprises the following steps:
1. and (3) calculating the distance between the predicted landing point of the parafoil and each obstacle avoidance point, wherein the calculation method still adopts a formula (1), and the longitude and the latitude of the target point are replaced by the longitude and the latitude of the obstacle avoidance point.
2. The first obstacle avoidance point is set as the nearest obstacle avoidance point, the distance between the predicted falling point of the parafoil and other obstacle avoidance points is compared with the predicted falling point of the parafoil, and if the distance is closer to the obstacle avoidance point, the obstacle avoidance point is replaced with the nearest obstacle avoidance point.
The method aims at effectively avoiding the obstacle avoidance area on the premise that the parachute can stably and accurately land in the target point area range under the condition of disturbing the real-time flight path of the parachute by high-altitude air, and has profound significance for relevant researches in the technical field of spacecraft return and landing.
The invention has been described in detail in connection with the specific embodiments and exemplary examples thereof, but such description is not to be construed as limiting the invention. It will be understood by those skilled in the art that various equivalent substitutions, modifications or improvements may be made to the technical solution of the present invention and its embodiments without departing from the spirit and scope of the present invention, and these fall within the scope of the present invention. The scope of the invention is defined by the appended claims.
What is not described in detail in the present specification is a well known technology to those skilled in the art.
Claims (10)
1. A fairing homing control and safe obstacle avoidance method for resisting high altitude wind interference is characterized by comprising the following steps:
s1: before launch of a carrier rocket, determining a plurality of target points and obstacle avoidance points in the falling area range of a fairing of the carrier rocket, calculating a preferable target point as a falling point after the parafoil begins to work, and giving priority identification;
s2: calculating a predicted flight trajectory of the parafoil, and calculating a predicted drop point according to the flight trajectory;
s3: according to the calculated predicted falling points of the parafoil, calculating the distance between the predicted falling points of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point;
if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, reselecting the flight target point with the next lowest priority; and repeating the calculation process for the reselected target point until the target point with the distance between the predicted falling point and the nearest obstacle avoidance point larger than the obstacle avoidance safety distance is optimized to be used as the optimal flight strategy.
2. The method for controlling and safely avoiding the navigation of the fairing against high altitude wind interference according to claim 1, wherein the method comprises the following steps: the step S1 calculates a preferred target point as a drop point, specifically:
s1.1, calculating the distance between the projection point of the parafoil and each target point;
s1.2, sequencing each target point according to the distance, setting the priority of each target point, wherein the priority of each target point is highest and the priority of each target point is lowest.
3. The method for controlling and safely avoiding obstacle for fairing homing resistant to high altitude wind interference as recited in claim 2, wherein the distance between the projected point of the parafoil and each target point is calculated according to the following formula:
wherein Distance is any target point Distance from the projection point of the parachute, radius is the earth radius, la_para is the latitude of the projection point of the parachute, lon_para is the longitude of the projection point of the parachute, la_destination is any target point latitude, and lon_destination is any target point longitude.
4. The method for controlling and safely avoiding the navigation of the fairing against high altitude wind interference according to claim 1, wherein the method comprises the following steps: step S2 is to calculate the predicted flight trajectory of the parafoil, and calculate the predicted drop point according to the flight trajectory, specifically:
when the parafoil is in a gliding or linear motion state, assuming that the linear motion of the parafoil is greater than the horizontal turning motion speed by delta V, calculating a predicted flight track by using recursive formulas (2) to (6); if Δv=0, then the calculations are performed using equations (7) to (10):
x′＝x+(V x -ΔVcosΦ+W x )τ (2)
y′＝y+(V y +ΔVsinΦ+W y )τ (3)
V′ x ＝V x (4)
V′ y ＝V y (5)
ΔV＝V * -V (6)
x′＝x+(V x +W x )τ (7)
y′＝y+(V y +W y )τ (8)
V′ x ＝V x (9)
V′ y ＝V y (10)
wherein V is * Is the horizontal speed of the parafoil system in the case of linear motion; v is the horizontal speed in the case of a cornering motion of the parafoil system; deltaV is the difference between the horizontal velocity during linear motion and the horizontal velocity during cornering motion; phi is the negative angle of rotation of the horizontal velocity V counter-clockwise to the Ox axis, 0<Φ≤2π；
Taking a ground coordinate system Oxy, wherein the coordinate system is fixedly connected with the earth, and an origin O is a target point; the Ox axis points to the east and the Oy axis points to the north; the wind vector W is constant at a certain height layer;
the coordinates of the centroid subsatellite point of the parafoil system in the coordinate system Oxy at any moment are x and y, and the projection of the velocity vector on the x axis is V x The projection on the y-axis is V y ；
x，y，V x ，V y Is the current value; x ', y ', V ' x ，V′ y Is the latter time period value; τ is the time period.
5. The method for controlling and safely avoiding the navigation of the fairing against high altitude wind interference according to claim 1, wherein the method comprises the following steps: step S3, calculating the distance between the predicted falling point of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point, wherein the method specifically comprises the following steps:
s3.1, calculating the distance between the predicted falling point of the parafoil and each obstacle avoidance point, wherein the calculation method still adopts the formula (1), and the longitude and the latitude of the target point are replaced by the longitude and the latitude of the obstacle avoidance point;
s3.2, setting the first obstacle avoidance point as the nearest obstacle avoidance point, setting the distance between the predicted falling point of the parafoil and the first obstacle avoidance point as the nearest obstacle avoidance point distance, comparing the distance between the predicted falling point of the parafoil and other obstacle avoidance points, and if the distance is closer to the obstacle avoidance point, replacing the obstacle avoidance point with the nearest obstacle avoidance point.
6. The utility model provides a high altitude wind interference resistant radome homing control and safe obstacle avoidance system which characterized in that includes:
drop point priority determination module: before launch of a carrier rocket, determining a plurality of target points and obstacle avoidance points in the falling area range of a fairing of the carrier rocket, calculating a preferable target point as a falling point after the parafoil begins to work, and giving priority identification;
a predicted drop point determining module: calculating a predicted flight trajectory of the parafoil, and calculating a predicted drop point according to the flight trajectory;
an optimal flight strategy determination module: according to the calculated predicted falling points of the parafoil, calculating the distance between the predicted falling points of the parafoil and each obstacle avoidance point, and determining the nearest obstacle avoidance point;
if the distance between the predicted falling point of the parafoil and the nearest obstacle avoidance point is smaller than the obstacle avoidance safety distance, reselecting the flight target point with the next lowest priority; and repeating calculation aiming at the reselected target point until the target point with the distance between the predicted falling point and the nearest obstacle avoidance point larger than the obstacle avoidance safety distance is optimized to be used as the optimal flight strategy.
7. The high altitude wind interference resistant fairing homing control and safety barrier system of claim 6, wherein: the calculation of the preferred target point as the drop point is specifically:
s1.1, calculating the distance between the projection point of the parafoil and each target point;
the distance between the projection point of the parafoil and each target point is calculated according to the following formula:
wherein Distance is any target point Distance from the projection point of the parachute, radius is the earth radius, la_para is the latitude of the projection point of the parachute, lon_para is the longitude of the projection point of the parachute, la_destination is any target point latitude, and lon_destination is any target point longitude;
s1.2, sequencing each target point according to the distance, setting the priority of each target point, wherein the priority of each target point is highest and the priority of each target point is lowest.
8. The high altitude wind interference resistant fairing homing control and safety barrier system of claim 6, wherein: the method comprises the steps of calculating the predicted flight trajectory of the parafoil, and calculating the predicted drop point according to the flight trajectory, wherein the method specifically comprises the following steps:
when the parafoil is in a gliding or linear motion state, assuming that the linear motion of the parafoil is greater than the horizontal turning motion speed by delta V, calculating a predicted flight track by using recursive formulas (2) to (6); if Δv=0, then the calculations are performed using equations (7) to (10):
x′＝x+(V x ＝ΔVcosΦ+W x )τ (2)
y′＝y+(V y +ΔVsinΦ+W y )τ (3)
V′ x ＝V x (4)
V′ y ＝V y (5)
ΔV＝V * -V (6)
x′＝x+(V x +W x )τ (7)
y′＝y+(V y +W y )τ (8)
V′ x ＝V x (9)
V′ y ＝V y (10)
wherein V is * Is the horizontal speed of the parafoil system in the case of linear motion; v is the horizontal speed in the case of a cornering motion of the parafoil system; deltaV is the difference between the horizontal velocity during linear motion and the horizontal velocity during cornering motion; phi is the negative angle of rotation of the horizontal velocity V counter-clockwise to the Ox axis, 0<Φ≤2π；
Taking a ground coordinate system Oxy, wherein the coordinate system is fixedly connected with the earth, and an origin O is a target point; the Ox axis points to the east and the Oy axis points to the north; the wind vector W is constant at a certain height layer;
the coordinates of the centroid subsatellite point of the parafoil system in the coordinate system Oxy at any moment are x and y, and the projection of the velocity vector on the x axis is V x The projection on the y-axis is V y ；
x，y，V x ，V y Is the current value; x ', y ', V ' x ，V′ y Is the latter time period value; τ is the time period.
9. The high altitude wind interference resistant fairing homing control and safety barrier system of claim 6, wherein: the distance between the predicted falling point of the parafoil and each obstacle avoidance point is calculated, and the nearest obstacle avoidance point is determined, specifically:
s3.1, calculating the distance between the predicted falling point of the parafoil and each obstacle avoidance point, wherein the calculation method still adopts the formula (1), and the longitude and the latitude of the target point are replaced by the longitude and the latitude of the obstacle avoidance point;
s3.2, setting the first obstacle avoidance point as the nearest obstacle avoidance point, setting the distance between the predicted falling point of the parafoil and the first obstacle avoidance point as the nearest obstacle avoidance point distance, comparing the distance between the predicted falling point of the parafoil and other obstacle avoidance points, and if the distance is closer to the obstacle avoidance point, replacing the obstacle avoidance point with the nearest obstacle avoidance point.
10. A processor, characterized by: the processor is configured to run a program, where the program executes the fairing homing control and safety obstacle avoidance method of any one of claims 1 to 5.
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| CN118602870A (en) * | 2024-06-20 | 2024-09-06 | 中北大学 | A fairing separation trajectory planning method to prevent the loss of lock of the rocket-borne antenna feed subsystem |
| CN119225422A (en) * | 2024-09-23 | 2024-12-31 | 中国人民解放军国防科技大学 | A method for homing point planning of parafoil system based on terrain and features |
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