宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (9): 1219-1226.doi: 10.3873/j.issn.1000-1328.2022.09.009

• 制导、导航、控制与电子 • 上一篇    下一篇

小天体柔性附着状态协同估计方法

崔平远，陆晓萱，朱圣英，梁子璇，葛丹桐   

  1. 1.北京理工大学深空探测技术研究所，北京 100081；2. 深空自主导航与控制工信部重点实验室，北京 100081

  • 收稿日期:2021-09-15 修回日期:2022-06-09 出版日期:2022-09-15 发布日期:2022-09-15
  • 基金资助:
    国家重点研发计划（2019YFA0706500）；国家自然科学基金（61873302，61973032）；基础科研（JCKY2018602B002）；空间碎片专项（KJSP2020020302）

Cooperative State Estimation Method for Small Celestial Body Flexible Landing

CUI Pingyuan, LU Xiaoxuan, ZHU Shengying, LIANG Zixuan, GE Dantong   

  1. 1. Institute of Deep Space Exploration, Beijing Institute of Technology, Beijing 100081, China; 2. Key Laboratory of Autonomous Navigation and Control for Deep Space Exploration, Ministry of Industry and Information Technology, Beijing 100081, China
  • Received:2021-09-15 Revised:2022-06-09 Online:2022-09-15 Published:2022-09-15

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摘要： 针对小天体附着过程易发生倾覆、反弹导致任务失败问题，提出“柔性附着”概念，替代传统小天体探测的刚性附着模式，为提高小天体附着任务可靠性提供新的解决思路和技术途径。在此基础上，针对柔性着陆器的状态估计问题展开研究。首先建立了柔性着陆器近似模型，提出了柔性着陆器“等效面”概念及柔性着陆器姿态的近似表征方式，进而提出了柔性附着状态协同估计方法，并通过数值仿真检验了柔性着陆器状态协同估计的可行性。

关键词: 小天体探测, 柔性附着, 等效面, 自主导航, 协同估计

Abstract: 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.

Key words: Small celestial body exploration, Flexible landing, Equivalent plane, Autonomous navigation, Cooperative estimation

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