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