Journal of Astronautics ›› 2022, Vol. 43 ›› Issue (1): 46-55.doi: 10.3873/j.issn.1000-1328.2022.01.006

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

LIU Wang wang, LI Mao deng, LI Tao, WANG Yun peng, ZHANG Xiao wen, LIU Yang, HAO Ce,ZHU Fei hu, HU Jin chang, ZHAO Yu, XU Li jia, HUA Bao cheng, HUANG Xiang yu, WANG Xiao lei   

  1. 1. Beijing Institute of Control Engineering, Beijing 100094, China;
    2. Science and Technology on Space Intelligent Control Laboratory, Beijing 100094, China
  • Received:2021-09-14 Revised:2021-10-18 Online:2022-01-15 Published:2022-01-15

Abstract: 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.

Key words: Tianwen 1 probe, Guidance, navigation and control (GNC), Hazard detection and avoidance, Entry, descent and landing (EDL)

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