中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (2): 71-81.doi: 10.16708/j.cnki.1000-758X.2026.0025

• 载人月球探测专刊 • 上一篇    下一篇

载人月面着陆GNC技术及验证

陈上上1,2，李骥1,2，杨巍1,*，王晓磊1，张一1,2，张晓文1,2，王鹏基1,2，郭朝礼1，李雨欣1，贾飞达1，奚坤1，文毅1   

  1. 1.北京控制工程研究所，北京100191
    2.空间智能控制技术重点实验室，北京100191
  • 收稿日期:2025-10-22 修回日期:2025-12-18 录用日期:2025-12-30 发布日期:2026-03-20 出版日期:2026-03-31

Manned lunar landing GNC technology and verification

CHEN Shangshang1,2，LI Ji1,2，YANG Wei1,*，WANG Xiaolei1，ZHANG Yi1,2，ZHANG Xiaowen1,2，WANG Pengji1,2，GUO Chaoli1，LI Yuxin1，JIA Feida1，XI Kun1，WEN Yi1   

  1. 1.Beijing Institute of Control Engineering, Beijing 100191, China
    2.Science and Technology on Space Intelligent Control Laboratory, Beijing 100191, China
  • Received:2025-10-22 Revision received:2025-12-18 Accepted:2025-12-30 Online:2026-03-20 Published:2026-03-31

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摘要： 制导、导航与控制（GNC）技术是实现月面软着陆最核心的技术，其系统设计的正确性高度依赖于充分的地面验证。与无人着陆任务相比，载人月面着陆对GNC系统的可靠性与自主性提出了更为严苛的要求。为了应对这些挑战，在制导方面提出了预测降轨策略、航程受控的动力显式制导律、最优定高避障等设计方法；在导航方面，基于信号一致性检验技术设计了融合惯性测量单元、微波雷达、图像导航敏感器等数据的组合导航方案；在姿态控制方面，开发了扰动快速估计、高精度力矩分配、多发动机故障检测等技术。为了验证所研制的GNC技术，在数学仿真中采用姿态与轨道控制系统（AOCS）通用平台模型，并通过试验获取新研单机模型参数；在半物理仿真方面，设计了一套具备环境模拟、人控模拟等功能的全新验证系统；在全系统综合验证试验中增加了应急上升、主发动机故障等工况。验证结果表明：数学仿真落点精度优于100m，半物理仿真1min的导航误差小于1m，全系统综合验证试验的应急处理流程正确，三种验证方式的制导与控制性能均符合预期。研究方法充分继承中国现有着陆GNC技术，针对载人任务的新需求开发了必要的新技术，并且通过了系统化的地面验证，为后续工作开展提供了可靠的依据。

关键词: 制导、导航与控制（GNC）, 地面验证, 载人月面着陆, 可靠性, 自主性

Abstract: The guidance, navigation, and control (GNC) technology is most critical for achieving a soft landing on the lunar surface, and its design correctness critically relies on comprehensive ground verification. Compared with unmanned missions, manned lunar landings impose higher requirements on the reliability and autonomy of the GNC system. To address these challenges, several novel methods were proposed in guidance, including predictive descent orbit strategy, range-controlled powered explicit guidance law, and optimal constant-altitude hazard avoidance. For navigation, an integrated navigation scheme was designed based on signal consistency checking technology, which combined data from inertial measurement unit, microwave radar, and optical navigation sensors. For attitude control, technologies such as rapid disturbance estimation, high-precision torque allocation, and multi-engine fault detection were developed. To verify the developed GNC technology, the Attitude and Orbit Control System (AOCS) general platform models were adopted in mathematical simulations, and model parameters for newly developed individual units were obtained through experiments. For hardware-in-the-loop simulations, a new verification system was designed, featuring capabilities such as environment simulation and manual control simulation. For full-system comprehensive verification tests, additional scenarios such as emergency ascent and main engine failure were included. The mathematical simulations achieved a landing point accuracy better than 100m, the hardware-in-the-loop simulations demonstrated a navigation error of less than 1m in 1 minute, and the emergency handling procedures in the full-system comprehensive verification tests met expectations. Guidance and control results across all three verification methods were normal. The research methodology fully inherits China's existing landing GNC technologies, develops necessary new technologies tailored to the new mission characteristics, and has been validated through simulations and testing. The research results can provide valuable references for subsequent work.

Key words: Guidance, navigation, and control (GNC), ground verification, manned lunar landing, reliability, autonomy