A small satellite mass center of mass online measurement support vehicle and a measurement method

Abstract

The present application relates to a kind of small satellite mass centroid online measurement support vehicle and measurement method, belong to satellite assembly technical field;Manual lift is installed at the top corner of the bottom of base;3 measurement sensors are fixedly installed on the top surface of base;Automatic lift top surface at the top corner;Support motor is arranged at the side wall of the top surface of base;The bottom of main frame is supported by automatic lift;One side of turnover platform is rotatably connected with main frame, to realize that turnover platform is opened or closed relative to main frame around the side;Guide rail is arranged on the both sides of main frame bottom plate;Counterweight block is driven along guide rail by counterweight motor;Turnover platform is rotated by turnover mechanism;The top center of turnover platform is provided with docking ring;The present application realizes real-time measurement satellite mass centroid, provides data for centroid alignment and mass characteristic analysis, further reduces satellite final counterweight mass, optimizes cable layout, improves satellite mass characteristic, better satisfy launch and flight data requirements.

Description

Technical Field

[0001] This invention belongs to the field of satellite assembly technology, and relates to a support vehicle and measurement method for online measurement of the centroid of a small satellite. Background Technology

[0002] Currently, small satellite mass characteristic testing includes mass center-of-mass testing and rotational inertia testing. Mass center-of-mass testing is performed using a mass center-of-mass test bench, while rotational inertia testing is performed using a torsion pendulum table. After the satellite is assembled, mass center-of-mass testing is conducted. Based on the difference between the measurement results and the design requirements, the satellite is balanced and its mass characteristics are analyzed to ensure that the measured values ​​are within the theoretical design values, thereby meeting the launch and flight requirements.

[0003] When analyzing satellite centroid balancing and mass characteristics, if the measured values ​​before balancing differ significantly from the theoretical values, it is necessary to further identify the source of the deviation. Current methods involve checking the quality of the satellite's main structure, individual equipment, cables, and pipeline components, but cannot analyze the centroid of each component to accurately identify the source of error. Secondly, traditional testing methods require hoisting the satellite to the centroid platform for testing, and then hoisting it back onto the support vehicle after testing. This makes it impossible to monitor the mass and centroid distribution during the satellite assembly process in real time to provide data support for subsequent quality analysis. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose an online measurement support vehicle and measurement method for the center of mass of a small satellite, so as to realize the real-time measurement of the center of mass of the satellite, provide data for center of mass balancing and mass characteristic analysis, further reduce the final weight of the satellite, optimize the cable layout, improve the satellite mass characteristics, and better meet the launch and flight data requirements.

[0005] The solution of the present invention is:

[0006] A support vehicle for online measurement of the centroid of a small satellite includes a docking ring, a tilting platform, a main frame, a counterweight motor, a counterweight block, a guide rail, a tilting mechanism, an automatic lift, a support motor, a manual lift, a base, and three measuring sensors. The base is horizontally positioned. The manual lift is installed at the top corner of the base's bottom, allowing for manual adjustment of the base's height and level. The three measuring sensors are fixedly installed on the upper surface of the base. The automatic lift is located at the top corner of its upper surface. The support motor is located on the side wall of the base's upper surface and is electrically connected to the automatic lift to drive its operation. The main frame is horizontally positioned above the base, and its bottom is supported by a... The system includes a movable lifting platform; a tilting platform horizontally positioned on top of the main frame, with one side of the platform rotatably connected to the main frame, allowing the platform to rotate and open or close relative to the main frame around that side; guide rails positioned on both sides of the main frame's base plate, with the guide rail axis perpendicular to the side connecting the tilting platform and the main frame; a counterweight engaging with the guide rails; a counterweight motor electrically connected to the counterweight, enabling the counterweight to move along the guide rails; the root of the tilting mechanism positioned on the main frame's base plate, with its top connected to the bottom of the tilting platform, driving the platform to rotate; and a docking ring positioned at the top center of the tilting platform, allowing docking with an external small satellite.

[0007] In the aforementioned small satellite mass center of mass online measurement support vehicle, three measuring sensors are evenly distributed in a circular ring around the center of the base.

[0008] In the aforementioned online measurement support vehicle for small satellite mass centroid, the support vehicle also includes an auxiliary support beam; the auxiliary support beam has a square frame structure; the auxiliary support beam is installed on the outer side wall where the main frame and the flipping platform are rotatably connected; the auxiliary support beam can rotate and fold relative to the main frame; when the auxiliary support beam is needed, it is fully extended and rotated to tilt at a specified angle relative to the main frame, thereby providing stable support to the main frame from the outside; when the auxiliary support beam is not needed, it is folded up and rotated to attach to the outer side wall of the main frame.

[0009] The aforementioned online measurement support vehicle for the center of mass of a small satellite also includes an inclination sensor, a level, and a grating ruler. The inclination sensor is installed on the side wall of the flipping platform to measure the rotation angle of the flipping platform. The level is installed on the upper surface of the base to monitor the levelness of the upper surface of the base when the base is adjusted by a manual lift. The grating ruler is circumferentially parallel to the outside of the guide rail to observe the displacement of the counterweight.

[0010] The above-mentioned method for online measurement of the centroid of a small satellite using a support vehicle includes the following steps:

[0011] Step 1: Define the measurement coordinate system oxyz for the small satellite's mass center of mass; the origin o of the measurement coordinate system oxyz is located at the center of the upper surface of the main frame; the y-axis is parallel to the side of the rotating connection between the flipping table and the main frame; the z-axis is vertically upward; the x-axis is determined by the right-hand rule.

[0012] Step 2: Without installing external small satellites, calibrate the center of gravity of the support vehicle;

[0013] Step 3: Install the external microsatellite, and with the platform still in the flipped state, measure the mass of the external microsatellite and its centroid coordinates in the oxy plane;

[0014] Step 4: Remove the external small satellite, repeat Step 2, and calibrate the center of gravity of the support vehicle;

[0015] Step 5: Install the external microsatellite, rotate the platform to the specified angle, and measure the mass and vertical coordinate (z) of the external microsatellite's center of mass. c .

[0016] In the above-described online method for measuring the centroid of a small satellite, step two, the method for calibrating the centroid of the support vehicle, is as follows:

[0017] The base is lifted off the ground and leveled by adjusting the manual lifting mechanism; the main frame is lifted upward by the automatic lifting mechanism driven by the support motor, so that the bottom of the main frame is separated from the three measuring sensors; the counterweight block is moved along the guide rail by the counterweight motor until the center of gravity of the support vehicle is located on the vertical line where the origin o is located, thus completing the calibration.

[0018] In the above-described online method for measuring the mass centroid of a small satellite, step three, in which the rotating platform is not rotated, involves measuring the mass centroid of the external small satellite as follows:

[0019] The external microsatellite is mounted on the upper surface of the flipping platform via a docking ring. The main frame is lowered by an automatic lift driven by a support motor until its bottom contacts the three measuring sensors. The three sensors bear the load, and their measured values ​​are P1, P2, and P3. The coordinates of the three sensors in the oxy plane are (x1, y1), (x2, y2), and (x3, y3), respectively. The mass M1 of the external microsatellite is calculated based on P1, P2, and P3. The coordinates (x1, y1), (x2, y2), and (x3, y3) of the external microsatellite in the oxy plane are calculated based on the mass M1 and (x1, y1), (x2, y2), and (x3, y3). c ,y c ).

[0020] In the above-mentioned online measurement method for the centroid of a small satellite, the calculation method for the mass M1 of the external small satellite is as follows:

[0021] M1 = P1 + P2 + P3 - M

[0022] In the formula, M represents the mass of all the support vehicle structural components supported by the three measuring sensors;

[0023] The method for calculating the coordinates of an external small satellite in the oxy plane is as follows:

[0024] x c = (P1x1 + P2x2 + P3x3) / M1

[0025] y c = (P1y1+P2y2+P3y3) / M1.

[0026] In the above-described online method for measuring the mass and centroid of a small satellite, in step five, the rotating platform is rotated to a specified angle, and the mass and vertical coordinate z of the external small satellite's centroid are measured. c The method is as follows:

[0027] The external microsatellite is mounted on the upper surface of the flipping platform via a docking ring; the auxiliary support beam is fully extended and rotated to a specified angle of inclination with the main frame, achieving stable external support for the main frame; the flipping platform is pushed from below by the flipping mechanism, causing the external microsatellite to rotate to a specified angle α; after stabilization, the auxiliary support beam is folded up and rotated to attach to the outer wall of the main frame; the main frame is lowered by an automatic lift driven by a support motor until the bottom of the main frame contacts the three measuring sensors, which bear the load, and the measured values ​​of the three measuring sensors are P1′, P2′, and P3′; the coordinates of the three measuring sensors in the oxy plane are (x1, y1), (x2, y2), and (x3, y3), respectively; the mass M2 of the external microsatellite is calculated based on P1′, P2′, and P3′; the vertical coordinate z of the external microsatellite's center of mass is calculated based on the external microsatellite's mass M2 and (x1, y1), (x2, y2), and (x3, y3). c .

[0028] In the above-mentioned online measurement method for the centroid of a small satellite, the calculation method for the mass M2 of the external small satellite is as follows:

[0029] M2=P1′+P2′+P3′-M

[0030] In the formula, M represents the mass of all the support vehicle structural components supported by the three measuring sensors;

[0031] The vertical coordinate z of the outer small satellite's center of mass c The calculation method is as follows:

[0032] z c =(P1′x1+P2′x2+P3′x3) / M2·sinα-H / cosα-H2

[0033] In the formula, α is the rotation angle of the flipping table;

[0034] H represents the height of the main frame;

[0035] H2 is the total height of the docking ring and the flipping platform.

[0036] The beneficial effects of this invention compared to the prior art are:

[0037] (1) The present invention can measure the satellite mass centroid in real time during the assembly process, obtain the satellite mass centroid at each stage, thereby obtaining the influence of the satellite main structure, propulsion system, single equipment and cables on the overall satellite mass centroid, and find the source of centroid error in mass characteristic analysis and centroid leveling.

[0038] (2) This invention reduces the number of satellite hoisting operations, improves overall assembly efficiency and product quality, performs quality centroid testing during satellite assembly, reduces the number of times docking ring screws are disassembled and assembled, and the number of times satellite hoisting and other operations are disassembled and assembled, protects satellite hoisting points and docking ring threaded holes, reduces risks and improves efficiency;

[0039] (3) Traditional testing methods use a centroid platform, a coordinate conversion mechanism and a control cabinet to perform measurements. During the measurement process, the power cord and signal line must be plugged and unplugged at least 4 times. This invention integrates the testing system onto the support vehicle, which reduces the number of times cables are plugged and unplugged, reduces the risk of cable connection errors, improves equipment reliability, reduces the labor intensity of testing personnel, and improves efficiency. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the rotating platform of the bracket vehicle in the rotating state of the present invention;

[0041] Figure 2 This is a schematic diagram of the bracket vehicle's tilting platform in its untilted state.

[0042] Figure 3 This is a schematic diagram showing the distribution of the three measuring sensors in this invention;

[0043] Figure 4 This is a schematic diagram illustrating the calculation of the vertical coordinates of the external small satellite's centroid in this invention. Detailed Implementation

[0044] The present invention will be further described below with reference to the embodiments.

[0045] This invention provides a support vehicle and method for online measurement of the center of mass of a small satellite. It measures the center of mass of the satellite in real time, providing data for center of mass balancing and mass characteristic analysis, further reducing the final weight of the satellite, optimizing cable layout, improving satellite mass characteristics, and better meeting the requirements of launch and flight data.

[0046] Small satellite mass centroid online measurement support vehicle, such as Figure 1 , Figure 2 As shown, the system specifically includes a docking ring 2, a tilting platform 3, a main frame 4, a counterweight motor 5, a counterweight block 6, a guide rail 7, a tilting mechanism 9, an automatic lift 11, a support motor 14, a manual lift 15, a base 16, and three measuring sensors 18. The base 16 is placed horizontally. The manual lift 15 is installed at the top corner of the bottom of the base 16, allowing for manual adjustment of the height and level of the base 16. The three measuring sensors 18 are fixedly installed on the upper surface of the base 16. The automatic lift 11 is located at the top corner of its upper surface. The support motor 14 is located on the side wall of the upper surface of the base 16 and is electrically connected to the automatic lift 11 to drive its operation. The main frame 4 is horizontally positioned above the base 16, and its bottom... Supported by an automatic lift 11; the tilting platform 3 is horizontally positioned on top of the main frame 4, and one side of the tilting platform 3 is rotatably connected to the main frame 4, allowing the tilting platform 3 to rotate around this side relative to the main frame 4 to open or close; guide rails 7 are positioned on both sides of the base plate of the main frame 4, and the axis of the guide rails 7 is perpendicular to the connecting side of the tilting platform 3 and the main frame 4; a counterweight 6 cooperates with the guide rail 7; a counterweight motor 5 is electrically connected to the counterweight 6, enabling the counterweight 6 to be driven to translate along the guide rail 7; the root of the tilting mechanism 9 is positioned on the base plate of the main frame 4, and the top of the tilting mechanism 9 is connected to the bottom of the tilting platform 3, driving the tilting platform 3 to rotate; a docking ring 2 is provided at the top center of the tilting platform 3, allowing docking with an external small satellite. Three measuring sensors 18 are evenly distributed in a circular pattern around the center of the base 16, such as... Figure 3 As shown.

[0047] like Figure 1 As shown, the support vehicle also includes an auxiliary support beam 23; the auxiliary support beam 23 is a square frame structure; the auxiliary support beam 23 is installed on the outer side wall where the main frame 4 and the flipping platform 3 are rotatably connected; the auxiliary support beam 23 can rotate and fold relative to the main frame 4; when the auxiliary support beam 23 is needed for support, the auxiliary support beam 23 is fully unfolded and rotated to tilt at a specified angle relative to the main frame 4, so as to achieve stable support for the main frame 4 from the outside; when the auxiliary support beam 23 is not needed for support, the auxiliary support beam 23 is folded up and rotated to attach to the outer side wall of the main frame 4.

[0048] like Figure 2As shown, the support vehicle also includes an inclination sensor 1, a level 20, and a grating ruler 21; the inclination sensor 1 is installed on the side wall of the flipping table 3 to measure the rotation angle of the flipping table 3; the level 20 is installed on the upper surface of the base 16 to monitor the levelness of the upper surface of the base 16 when the base 16 is adjusted by the manual lifting machine 15; the grating ruler 21 is arranged circumferentially parallel to the outside of the guide rail 7 to observe the displacement of the counterweight 6.

[0049] This support vehicle is designed for online measurement of the centroid of small satellites, and specifically includes the following steps:

[0050] Step 1: Define the measurement coordinate system oxyz for the center of mass of the small satellite; the origin o of the measurement coordinate system oxyz is located at the center of the upper surface of the main frame 4; the y-axis is parallel to the side of the rotating connection between the flipping table 3 and the main frame 4; the z-axis is vertically upward; the x-axis is determined by the right-hand rule.

[0051] Step 2: Without installing external small satellites, calibrate the center of gravity of the support vehicle. The method for calibrating the center of gravity of the support vehicle is as follows: Adjust the manual lifting mechanism 15 to lift the base 16 off the ground and adjust it to a horizontal state; drive the automatic lifting mechanism 11 to lift the main frame 4 upwards through the support motor 14, so that the bottom of the main frame 4 is separated from the three measuring sensors 18; drive the counterweight block 6 to move along the guide rail 7 through the counterweight motor 5 until the center of gravity of the support vehicle is located on the vertical line where the origin o is located, and the calibration is completed.

[0052] A schematic diagram of the online mass and center of mass measurement support vehicle leveling state is shown. The manual lifting platform 15 is in the supporting state, and the support vehicle is adjusted to a level state according to the level instrument 20. The counterweight motor 5 drives the transmission assembly 8 to move the counterweight block 6 on the guide rail 7 to the zero point of the support vehicle's center of mass. The tilting motor 10 drives the tilting mechanism 9 to level the main frame 4. The support motor 14 drives the automatic lifting platform 11 to descend via the transmission rod 12 and gearbox 13, putting the measuring sensor 18 in the clamping measurement state. After confirming the satellite is in measurement condition, data from the three measuring sensors 18 are collected, and the satellite's horizontal mass and center of mass are calculated by software. After the measurement is completed, the support motor 14 drives the automatic lifting platform 11 to rise via the transmission rod 12 and gearbox 13, putting the measuring sensor 18 in the retracted non-measuring state.

[0053] Step 3: Install the external microsatellite. With the flipping platform 3 still, measure the mass and centroid coordinates of the external microsatellite in the oxy plane. The method for measuring the mass and centroid of the external microsatellite with the flipping platform 3 still is as follows:

[0054] The external microsatellite is mounted on the upper surface of the flipping platform 3 via the docking ring 2; the main frame 4 is lowered by the automatic lifting platform 11 driven by the support motor 14 until the bottom of the main frame 4 contacts the three measuring sensors 18, which bear the load and measure the values ​​P1, P2, and P3 of the three measuring sensors 18; the coordinates of the three measuring sensors 18 in the oxy plane are (x1, y1), (x2, y2), and (x3, y3), respectively; the mass M1 of the external microsatellite is calculated based on P1, P2, and P3; the coordinates (x1, y1), (x2, y2), and (x3, y3) of the external microsatellite in the oxy plane are calculated based on the mass M1 and (x1, y1), (x2, y2), and (x3, y3). c ,y c ).

[0055] The method for calculating the mass M1 of the external small satellite is as follows:

[0056] M1 = P1 + P2 + P3 - M

[0057] In the formula, M represents the mass of all the support vehicle structural components supported by the 3 measuring sensors 18;

[0058] The method for calculating the coordinates of an external small satellite in the oxy plane is as follows:

[0059] x c = (P1x1 + P2x2 + P3x3) / M1

[0060] y c = (P1y1+P2y2+P3y3) / M1.

[0061] Step 4: Remove the external small satellite, repeat step 2, and calibrate the center of gravity of the support vehicle.

[0062] Step 5: Install the external microsatellite. With the platform 3 rotated to the specified angle, measure the mass of the external microsatellite and the vertical coordinate (z) of its center of mass. c .

[0063] With the rotating platform 3 rotated to the specified angle, measure the mass of the external small satellite and the vertical coordinate z of its center of mass. c The method is as follows:

[0064] The external microsatellite is mounted on the upper surface of the flipping platform 3 via the docking ring 2; the auxiliary support beam 23 is fully extended and rotated to a specified angle relative to the main frame 4, achieving stable external support for the main frame 4; the flipping mechanism 9 pushes the flipping platform 3 from below, causing the external microsatellite to rotate to a specified angle α; after stabilization, the auxiliary support beam 23 is folded up and rotated to attach to the outer wall of the main frame 4; the support motor 14 drives the automatic lift 11 to lower the main frame 4 until the bottom of the main frame 4 is aligned with the three measuring sensors. The device 18 is in contact with the object, and the force is borne by three measuring sensors 18. The measured values ​​of the three measuring sensors 18 are P1′, P2′, and P3′. The coordinates of the three measuring sensors 18 in the oxy plane are (x1, y1), (x2, y2), and (x3, y3), respectively. The mass M2 of the external small satellite is calculated based on P1′, P2′, and P3′. The coordinates z of the center of mass of the external small satellite in the vertical direction are calculated based on the mass M2 and (x1, y1), (x2, y2), and (x3, y3). c .

[0065] like Figure 4 As shown, the specific method for calculating the mass M2 of the external small satellite is as follows:

[0066] M2=P1′+P2′+P3′-M

[0067] In the formula, M represents the mass of all the support vehicle structural components supported by the 3 measuring sensors 18;

[0068] The vertical coordinate z of the outer small satellite's center of mass c The calculation method is as follows:

[0069] z c =(P1′x1+P2′x2+P3′x3) / M2·sinα-H / cosα-H2

[0070] In the formula, α is the rotation angle of the flipping table 3;

[0071] H represents the height of the main frame 4;

[0072] H2 is the total height of docking ring 2 and flipping platform 3.

[0073] Small satellite centroid balancing is divided into two-axis balancing and three-axis balancing according to design requirements. Two-axis balancing only requires testing the two centroids Xc and Yc in the horizontal direction before balancing; three-axis balancing also requires measuring the centroid Zc in the vertical direction.

[0074] The online measurement support vehicle for small satellite mass center of mass has two working states: assembly state and measurement state. In the assembly state, the satellite is being assembled; there is no need to measure the overall satellite mass center of mass, the measurement sensors are unsupported, and the automatic lift raises to support the main frame. The measurement state is divided into horizontal measurement state and tilt measurement state; the automatic lift lowers, and the measurement sensors are in a clamped state. For two-axis balancing satellites, only the horizontal measurement state needs to be measured online; for three-axis balancing satellites, both the horizontal and tilt states need to be measured online separately.

[0075] Flowchart of small satellite assembly and mass centroid measurement (taking the state after the three-axis balancing satellite equipment cable assembly is completed as an example). The measurement process is as follows: The support vehicle is prepared; the satellite is assembled after docking with the support vehicle's docking ring; after assembly, the support vehicle is ready for state transition, the automatic lift descends, and the horizontal mass centroid measurement begins; after measurement, the platform flips to the tilted state and performs tilted state mass characteristic testing; after measurement, the platform flips back to the horizontal state, and the automatic lift rises; the satellite's internal state is adjusted; the automatic lift descends to measure the horizontal mass centroid and flips to measure the tilt state; after measurement, it flips back to the horizontal state, the automatic lift rises, balancing calculations are performed, and the satellite is balancing; the automatic lift descends to measure the horizontal and tilted mass centroids after balancing; after measurement, it flips back to the horizontal state, the automatic lift rises, and the measurement is complete.

[0076] This invention solves the problem that existing small satellites only measure the mass centroid after final assembly, which cannot provide more effective data support for centroid balancing and mass characteristic analysis. It provides a small satellite mass centroid online measurement support vehicle, which is easy to operate, safe and reliable, and improves assembly efficiency and product quality.

[0077] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A support vehicle for online measurement of the centroid of a small satellite, characterized in that: The system includes a docking ring (2), a flipping platform (3), a main frame (4), a counterweight motor (5), a counterweight block (6), a guide rail (7), a flipping mechanism (9), an automatic lift (11), a support motor (14), a manual lift (15), a base (16), and three measuring sensors (18). The base (16) is placed horizontally. The manual lift (15) is installed at the top corner of the bottom of the base (16) to manually adjust the height and level of the base (16). The three measuring sensors (18) are fixedly installed on the upper surface of the base (16). The automatic lift (11) is located at the top corner of the upper surface. The support motor (14) is located on the side wall of the upper surface of the base (16), and is electrically connected to the automatic lift (11) to drive its operation. The main frame (4) is horizontally positioned above the base (16), and the bottom of the main frame (4) is automatically lifted. The lowering mechanism (11) is supported; the flipping platform (3) is horizontally set on the top of the main frame (4), and one side of the flipping platform (3) is rotatably connected to the main frame (4), so that the flipping platform (3) can rotate around the side relative to the main frame (4) to open or close; the guide rail (7) is set on both sides of the bottom plate of the main frame (4), and the axial direction of the guide rail (7) is perpendicular to the side connecting the flipping platform (3) and the main frame (4); the counterweight (6) cooperates with the guide rail (7); the counterweight motor (5) is electrically connected to the counterweight (6), so that the counterweight (6) is driven to move along the guide rail (7) by the counterweight motor (5); the root of the flipping mechanism (9) is set on the bottom plate of the main frame (4), and the top of the flipping mechanism (9) is connected to the bottom of the flipping platform (3), so that the flipping platform (3) is driven to rotate by the flipping mechanism (9); a docking ring (2) is set at the top center of the flipping platform (3), so that it can dock with the external small satellite through the docking ring (2); Among them, three measuring sensors (18) are evenly distributed in a circular pattern around the center of the base (16).

2. The small satellite mass centroid online measurement support vehicle according to claim 1, characterized in that: The support vehicle also includes an auxiliary support beam (23); the auxiliary support beam (23) is a square frame structure; the auxiliary support beam (23) is installed on the outer side wall where the main frame (4) and the flipping table (3) are rotatably connected; the auxiliary support beam (23) realizes rotation and folding relative to the main frame (4); when the auxiliary support beam (23) is needed for support, the auxiliary support beam (23) is fully unfolded and rotated to tilt to a specified angle with the main frame (4) to achieve stable support for the main frame (4) from the outside; when the auxiliary support beam (23) is not needed for support, the auxiliary support beam (23) is folded up and rotated to attach to the outer side wall of the main frame (4).

3. The small satellite mass centroid online measurement support vehicle according to claim 1, characterized in that: The support vehicle also includes an inclination sensor (1), a level (20), and a grating ruler (21); the inclination sensor (1) is installed on the side wall of the flipping table (3) to measure the rotation angle of the flipping table (3); the level (20) is installed on the upper surface of the base (16) to monitor the levelness of the upper surface of the base (16) when the base (16) is adjusted by the manual lift (15); the grating ruler (21) is arranged circumferentially parallel to the outside of the guide rail (7) to observe the displacement of the counterweight (6).

4. The method for online measurement of the centroid of a small satellite using a support vehicle for online measurement of the centroid of a small satellite as described in claim 1, characterized in that: Includes the following steps: Step 1: Define the measurement coordinate system oxyz for the mass center of the small satellite; the origin o of the measurement coordinate system oxyz is located at the center of the upper surface of the main frame (4); the y-axis is parallel to the side of the rotating connection between the flipping table (3) and the main frame (4); the z-axis is vertically upward; the x-axis is determined by the right-hand rule. Step 2: Without installing external small satellites, calibrate the center of gravity of the support vehicle; Step 3: Install the external microsatellite and flip the platform (3). Without flipping the platform, measure the mass of the external microsatellite and its centroid coordinates in the oxy plane. Step 4: Remove the external small satellite, repeat Step 2, and calibrate the center of gravity of the support vehicle; Step 5: Install the external microsatellite, flip the platform (3) to the specified angle, and measure the mass and vertical coordinates of the external microsatellite's center of mass. .

5. The method for online measurement of the centroid of a small satellite according to claim 4, characterized in that: In step two, the method for calibrating the center of gravity of the support vehicle is as follows: The base (16) is lifted off the ground by adjusting the manual lifting machine (15) and adjusted to a horizontal state; the automatic lifting machine (11) is driven by the support motor (14) to lift the main frame (4) upward, so that the bottom of the main frame (4) is separated from the three measuring sensors (18); the counterweight block (6) is driven by the counterweight motor (5) to move along the guide rail (7) until the center of mass of the support vehicle is located on the vertical line where the origin o is located, and the calibration is completed.

6. The method for online measurement of the centroid of a small satellite according to claim 4, characterized in that: In step three, the method for measuring the centroid of the external small satellite while the flipping platform (3) is not flipped is as follows: The external small satellite is mounted on the upper surface of the flipping platform (3) via the docking ring (2); the main frame (4) is lowered by the automatic lift (11) driven by the support motor (14) until the bottom of the main frame (4) contacts the three measuring sensors (18), which bear the load and measure the values ​​of the three measuring sensors (18). , , The coordinates of the three measuring sensors (18) in the oxy plane are respectively , , ;according to , , Calculate the mass of external small satellites According to the mass of external small satellites and , , Calculate the coordinates of the external small satellite in the oxy plane. .

7. The method for online measurement of the mass centroid of a small satellite according to claim 6, characterized in that: External small satellite mass The calculation method is as follows: In the formula, The mass of all bracket vehicle structural components supported by 3 measuring sensors (18); The method for calculating the coordinates of an external small satellite in the oxy plane is as follows: 。 8. The method for online measurement of the centroid of a small satellite according to claim 4, characterized in that: In step five, the flipping platform (3) is flipped to a specified angle, and the mass and vertical coordinates of the external small satellite are measured. The method is as follows: The external microsatellite is mounted on the upper surface of the flipping platform (3) via the docking ring (2); the auxiliary support beam (23) is fully deployed and rotated to a specified angle relative to the main frame (4) to achieve stable support for the main frame (4) from the outside; the flipping platform (3) is pushed from below by the flipping mechanism (9) to rotate the external microsatellite to the specified angle. After stabilization, the auxiliary support beam (23) is folded up and rotated to attach to the outer wall of the main frame (4); the automatic lift (11) is driven by the support motor (14) to lower the main frame (4) until the bottom of the main frame (4) contacts the three measuring sensors (18), and the three measuring sensors (18) bear the load and measure the values ​​of the three measuring sensors (18). , , The coordinates of the three measuring sensors (18) in the oxy plane are respectively , , ;according to , , Calculate the mass of external small satellites According to the mass of external small satellites and , , Calculate the vertical coordinates of the outer small satellite's center of mass. .

9. The method for online measurement of the mass centroid of a small satellite according to claim 8, characterized in that: External small satellite mass The calculation method is as follows: In the formula, The mass of all bracket vehicle structural components supported by 3 measuring sensors (18); The vertical coordinates of the outer small satellite's center of mass. The calculation method is as follows: In the formula, The rotation angle of the flipped tabletop (3); The height of the main frame (4); The total height of the docking ring (2) and the flipping platform (3).

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