小天体柔性附着状态协同估计方法

Considering possible mission failure due to lander roll-over or rebound during small celestial body touchdown, the concept of "flexible landing" is proposed. As a substitute for the traditional rigid landing mode in small celestial body exploration, flexible landing provides a new solution and a technical approach for improving small celestial body landing reliability. On this basis, the problem of flexible lander state estimation is investigated. An approximate model of the flexible lander is first established, and an approximate representation of the flexible lander' s attitude is proposed upon the idea of the flexible lander' s "equivalent plane". Then, a cooperative state estimation method for flexible landing is developed, whose feasibility is thereafter examined through numerical simulations.