7.6 Testing and Verification
263
connected to the test system to form a closed-loop loop. The purposes of this phase
are:
(1) To provide a true dynamic environment for the Laser 3-D Imaging Sensor and
verify the dynamic performance of the Laser 3-D Imaging Sensor.
(2) To verify the effectiveness of the hazard detection and safe landing area
selection algorithm for the hovering.
(3) To verify the feasibility of the navigation in the case of measurement corrections
gained by real components;
(4) To verify the feasibility and effectiveness of GNC algorithm for obstacle
avoidance and slow descending.
The GNC semi-physical simulation test system for the Chang’E-3 lunar lander was
a large-scale system for soft-landing test on the ground (as shown in Fig. 7.23).
The test system was complex, including a 6-DOF soft-landing motion simulation
platform (as shown in Fig. 7.24), a lunar surface simulation model, as shown in, a
dynamic computer, ground test main control computer, sensor and actuator interface box, digital simulation demonstration platform, optical terminal and optical
fiber communication network, lander onboard components and other ground support
equipment.
2. Test Method
The six-degree-of-freedom movement of the lunar lander was simulated by a softlanding motion simulation system (including 3-DOF translation platform and flight
rotation simulation platform). The onboard landing navigation sensor components
(including Laser Rangefinder, 3-D Laser Image Sensor and Optical Image Sensor,
etc.) were installed on the flight rotation simulation platform and connected into
the control loop, the lunar surface simulation model was located on the ground to
provide a relative measurement target for the landing navigation sensors (as shown
in Fig. 7.25). The dynamics of the lunar lander and the actuators were replaced by
mathematical models. Through the measurement of navigation sensors, GNC application software in CCU, and calculations of dynamics and kinematics in the dynamic
computer, a closed-loop GNC semi-physical simulation test system was constructed
to experimentally verify the hover, obstacle avoidance, and slow descending of GNC
design and algorithms.
263
connected to the test system to form a closed-loop loop. The purposes of this phase
are:
(1) To provide a true dynamic environment for the Laser 3-D Imaging Sensor and
verify the dynamic performance of the Laser 3-D Imaging Sensor.
(2) To verify the effectiveness of the hazard detection and safe landing area
selection algorithm for the hovering.
(3) To verify the feasibility of the navigation in the case of measurement corrections
gained by real components;
(4) To verify the feasibility and effectiveness of GNC algorithm for obstacle
avoidance and slow descending.
The GNC semi-physical simulation test system for the Chang’E-3 lunar lander was
a large-scale system for soft-landing test on the ground (as shown in Fig. 7.23).
The test system was complex, including a 6-DOF soft-landing motion simulation
platform (as shown in Fig. 7.24), a lunar surface simulation model, as shown in, a
dynamic computer, ground test main control computer, sensor and actuator interface box, digital simulation demonstration platform, optical terminal and optical
fiber communication network, lander onboard components and other ground support
equipment.
2. Test Method
The six-degree-of-freedom movement of the lunar lander was simulated by a softlanding motion simulation system (including 3-DOF translation platform and flight
rotation simulation platform). The onboard landing navigation sensor components
(including Laser Rangefinder, 3-D Laser Image Sensor and Optical Image Sensor,
etc.) were installed on the flight rotation simulation platform and connected into
the control loop, the lunar surface simulation model was located on the ground to
provide a relative measurement target for the landing navigation sensors (as shown
in Fig. 7.25). The dynamics of the lunar lander and the actuators were replaced by
mathematical models. Through the measurement of navigation sensors, GNC application software in CCU, and calculations of dynamics and kinematics in the dynamic
computer, a closed-loop GNC semi-physical simulation test system was constructed
to experimentally verify the hover, obstacle avoidance, and slow descending of GNC
design and algorithms.