The invention discloses a freight spaceship reentry
recovery attitude cooperative control method. The method comprises the following steps: S1, determining key attitude indexes in a freight spaceship reentry
recovery process; s2, collecting atmospheric environment parameters in a reentry process, and meanwhile, obtaining earth
gravitational field distribution data to provide environment input for a subsequent
attitude control algorithm; s3, based on the Newton's second law and the Euler equation, establishing a
kinetic model of the freight spaceship, establishing an attitude
kinematics model by adopting a
quaternion method or an Euler angle method, and establishing an execution mechanism model for a propulsion
system of the freight spaceship; through sub-filter local
estimation and main filter global weighting,
noise and abnormal values are effectively filtered, attitude
estimation precision is improved,
instruction distribution adopts a pseudo-
inverse method in combination with a weighted least square method, an initial instruction is obtained through the pseudo-
inverse method, then secondary optimization is performed in combination with execution mechanism constraints, instruction oversaturation is avoided, and attitude
estimation accuracy is improved. Extra redundant execution mechanisms are not needed, and the hardware cost is reduced.