Abstract: The rendezvous and docking in the lunar orbit is one of the most critical technology of the Chang’e-6 mission. To achieve high-precision and high-reliable lunar rendezvous and docking, Chang’e-6 adopted an autonomous navigation algorithm based on filter independence and estimation fusion, and a new homing guidance algorithm based on Hohmann rendezvous with time and trigger angle planning method. Furthermore, a novel relative states controller for closing phase is designed, in which the adaptive adjustment of control parameters is realized by using dynamic programming to the dead zone, and a new jet pulse width modulation method is used, which is equivalent to the Pseudo-Rate Modulator(PRM). Based on these autonomous guidance navigation and control technology, the problem of autonomous lunar rendezvous and docking with weak ground support and strong environment uncertainty is solved, and these techniques enabled China to complete the historic Lunar Sample Return mission from the far side of the moon.

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