A software-defined satellite-oriented attitude control method and system

Abstract

The embodiment of the application provides a kind of software-defined satellite-oriented attitude control method and system, the attitude control system includes: attitude controller, including flywheel and magnetic torque device, configured to execute attitude control instruction;Attitude sensor, including star sensor, sun sensor, inertial sensor IMU, configured to measure the current attitude of satellite, obtain current attitude data;Operating system, configured to call the attitude sensor and the attitude controller;Service container, based on the operating system to realize running environment building;Attitude meta-service integration module, running in the server container realizes multiple meta-services, wherein the meta-service includes: for realizing autonomous intelligent planning satellite attitude, attitude planning module is arranged.By the architecture of the software-defined satellite-oriented attitude control system of some embodiments of the application, only the module corresponding to the relevant meta-service (for example, attitude determination service module, attitude planning module, etc.) needs to be developed, deployed or updated on-orbit.

Description

Technical Field

[0001] This application relates to the field of satellite attitude control, and more specifically, the embodiments of this application relate to an attitude control method and system for software-defined satellites. Background Technology

[0002] Traditional attitude control systems consist of an attitude dynamics model, an attitude controller (flywheel, magnetic torque converter, etc.), actuators, and attitude sensors, such as... Figure 1 As shown.

[0003] Figure 1 The satellite's attitude control system includes: attitude dynamics model, attitude controller, actuators, and attitude sensitive period. Figure 1 The desired attitude shown is the attitude of a given satellite target as indicated on the ground. Figure 1 The measured attitude is the current attitude of the satellite converted from the real-time measurement value of the attitude sensor. Figure 1 The attitude deviation is the difference between the desired attitude and the measured attitude. Figure 1 The attitude dynamics model is used to calculate the control torque based on the attitude deviation and to decompose the control parameter values ​​of the attitude controller. Figure 1 The attitude controller is used to calculate the action of the actuator based on the control parameter values, and Figure 1 The actuator is used to execute the action commands of the attitude controller.

[0004] Figure 1 Traditional attitude control systems employ a tightly coupled architecture, which is not conducive to rapid software development, deployment, iterative updates, and dynamic reconfiguration, and cannot meet the requirements of software-defined satellites. Figure 1 Traditional attitude control systems require ground control to first inject remote control commands to set or switch working modes when performing attitude adjustment tasks. Then, the desired attitude is injected into the attitude adjustment mode, and the satellite management then schedules the attitude control system to execute the task. This method is limited by time windows and cannot meet the needs of rapidly changing attitude adjustment tasks. Summary of the Invention

[0005] The purpose of this application is to provide an attitude control method and system for software-defined satellites. Through the architecture of the attitude control system for software-defined satellites in some embodiments of this application, when it is necessary to update certain functions, only the modules corresponding to the relevant meta-services (e.g., attitude determination service module, attitude planning module, etc.) need to be developed, deployed, or updated in orbit. Other modules corresponding to meta-services do not need to be redeveloped or tested, thereby greatly reducing the workload and facilitating rapid version iteration.

[0006] In a first aspect, embodiments of this application provide an attitude control system for software-defined satellites. The attitude control system includes: an attitude controller, comprising a flywheel and a magnetic torque converter, configured to execute attitude control commands; an attitude sensor, comprising a star sensor, a sun sensor, and an inertial measurement unit (IMU), configured to measure the current attitude of the satellite and obtain current attitude data; an operating system, configured to invoke the attitude sensor and the attitude controller; a service container, based on the operating system, to build a runtime environment; and an attitude meta-service integration module, running in the server container to implement various meta-services, wherein the meta-services include: an attitude planning module for autonomously and intelligently planning the desired attitude of the satellite.

[0007] The embodiments of this application redesign the traditional attitude control system architecture, establish a unified data standard, adopt functionally subdivided meta-services, decouple the software from hardware and software functional modules, greatly improve code reusability, reduce development time, and lower development costs, which is especially important for the rapidly developing era of low-Earth orbit commercial satellites.

[0008] In some embodiments, the operating system is an open-source operating system.

[0009] In some embodiments, the attitude meta-service integration module includes: an attitude determination service module, configured to calculate satellite attitude in real time based on coordinate transformation data and attitude measurement data to obtain satellite attitude data.

[0010] Some embodiments of this application include a service provision module for calculating satellite attitude, whose data can be provided to the attitude planning module for further data calculation and processing.

[0011] In some embodiments, the attitude meta-service integration module includes: an attitude planning module, configured to autonomously and intelligently plan the desired attitude of the satellite based on solar vector data and the satellite attitude data, to obtain desired attitude data.

[0012] Some embodiments of this application provide an attitude planning module that can overcome the technical drawback of having to inject desired attitude data from the ground, thereby improving the flexibility and immediacy of satellite attitude control.

[0013] In some embodiments, the attitude meta-service integration module includes a wheel control service module configured to generate flywheel control commands based on the desired attitude data and flywheel state data.

[0014] Some embodiments of this application provide a flywheel control service module, through which flywheel control commands can be generated in real time.

[0015] In some embodiments, the attitude meta-service integration module includes a magnetic control service module configured to generate magnetic rod control commands based on the desired attitude data and environmental magnetic vector data.

[0016] Some embodiments of this application provide a method for obtaining magnetic rod control commands.

[0017] In some embodiments, the attitude meta-service integration module includes: a coordinate transformation service module, configured to calculate the coordinate transformation data in real time and provide the coordinate transformation data to the attitude determination service module.

[0018] Some embodiments of this application calculate coordinate transformation data using a coordinate transformation service module.

[0019] In some embodiments, the attitude meta-service integration module includes: a solar vector calculation module, configured to predict the solar vector data in real time and provide the solar vector data to the attitude planning module.

[0020] Some embodiments of this application obtain solar vector data through a solar vector calculation module.

[0021] In some embodiments, the attitude meta-service integration module includes a magnetic vector calculation service module configured to calculate the environmental magnetic vector data.

[0022] Some embodiments of this application provide a method for calculating environmental magnetic vector data.

[0023] In some embodiments, the attitude meta-service integration module includes: a data acquisition service module, configured to acquire load state data to obtain the attitude measurement data and the flywheel state data.

[0024] Some embodiments of this application obtain attitude measurement data and flywheel state data through a data acquisition service module.

[0025] Secondly, some embodiments of this application provide an attitude control method for software-defined satellites, applied to the attitude control system described in the first aspect embodiment. The attitude control method includes: acquiring satellite attitude data; acquiring desired satellite attitude data based on the satellite attitude data; acquiring wheel control commands and magnetic control commands based on the desired satellite attitude data; and executing the wheel control commands and the magnetic control commands.

[0026] In some embodiments, acquiring satellite attitude data includes: collecting attitude measurement data from an attitude sensor and an attitude controller at a set working cycle; calculating coordinate transformation data in real time at the set working cycle; reading the attitude measurement data and the coordinate transformation data in real time at the set working cycle, and calculating the satellite attitude data based on the attitude measurement data and the coordinate transformation data.

[0027] In some embodiments, obtaining the desired satellite attitude data based on the satellite attitude data includes: calculating solar vector data in real time according to the set working cycle; and reading the satellite attitude data, the solar vector data, and the mission request in real time according to the set working cycle to calculate the desired satellite attitude data, wherein the mission request comes from ground-based data or from an inter-satellite network.

[0028] In some embodiments, the step of obtaining wheel control commands and magnetic control commands based on the desired satellite attitude data includes: acquiring attitude measurement data and flywheel state data of the attitude sensor and the attitude controller at a set working cycle; acquiring environmental magnetic vector data; calculating the wheel control commands based on the desired attitude data and the flywheel state; and calculating the magnetic control commands based on the desired attitude data and the environmental magnetic vector data. Attached Figure Description

[0029] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 An architecture diagram of a satellite attitude control system provided for related technologies;

[0031] Figure 2 An architecture diagram of a software-defined satellite attitude control system provided in an embodiment of this application;

[0032] Figure 3 A flowchart illustrating the attitude control method for software-defined satellites provided in this application embodiment. Detailed Implementation

[0033] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0034] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0035] According to the background art section... Figure 1 Traditional attitude control systems employ a tightly coupled architecture, which hinders rapid software development, deployment, iterative updates, and dynamic reconfiguration, failing to meet the requirements of software-defined satellites. The attitude control system for software-defined satellites provided in some embodiments of this application redesigns the traditional attitude control system architecture, establishes a unified software-defined satellite data standard, and adopts functionally segmented meta-services. This decouples the software from hardware and software functional modules (this is because traditional flywheel control modules have different drivers and communication protocols for flywheels from different manufacturers, resulting in tight coupling between software drivers and hardware; attitude determination and attitude control software are packaged into a single service, also characterized by tight coupling). This significantly improves code reusability, reduces development time, and lowers development costs, which is particularly important for the rapidly developing era of low-Earth orbit commercial satellites.

[0036] As described in the background section Figure 1 Traditional attitude control systems require ground-based remote control commands to set or switch operating modes before performing attitude adjustment tasks. The desired attitude is then programmed into the attitude adjustment mode, and satellite management then schedules the attitude control system to execute the commands. This approach is limited by a time window and cannot meet rapidly changing attitude adjustment requirements. The attitude control system for software-defined satellites provided in some embodiments of this application does not rely on satellite management. Its attitude planning meta-service has autonomous planning capabilities, allowing it to plan satellite attitude autonomously based on ground-injected tasks or inter-satellite collaborative tasks.

[0037] Please refer to Figure 2 , Figure 2 The present application provides an attitude control system for software-defined satellites, comprising: an attitude controller including a flywheel and a magnetic torque converter, configured to execute attitude control commands; an attitude sensor including a star sensor, a sun sensor, and an inertial measurement unit (IMU), configured to measure the current attitude of the satellite and obtain current attitude data; an operating system (e.g., an open-source operating system), configured to invoke the attitude sensor and the attitude controller; a service container, based on the operating system, to build a runtime environment; and an attitude meta-service integration module, running in the server container to implement various meta-services, wherein the meta-services include: an attitude planning module for autonomously and intelligently planning the desired attitude of the satellite.

[0038] It should be noted that, in some embodiments of this application, the payload includes at least an attitude sensor and an attitude controller. The attitude sensor includes at least a star sensor, a solar sensor, and an IMU, configured as an attitude measurement device. The attitude controller includes at least a flywheel and a magnetic torque converter, configured as an attitude control command executor, including hardware devices and drivers. The meta-services include attitude determination service, attitude planning service, wheel control service, magnetic control service, coordinate transformation service, solar vector calculation service, magnetic vector calculation service, and data acquisition service. The attitude determination service is configured for real-time satellite attitude calculation and storage; the attitude planning service is configured for autonomous intelligent planning of the satellite's desired attitude; the wheel control service is configured for flywheel control command generation; the magnetic control service is configured for magnetic rod control command generation; the coordinate transformation service is configured for real-time calculation and storage of coordinate transformation matrices; the solar vector calculation service is configured for real-time solar vector prediction; the magnetic vector calculation service is configured for environmental magnetic vector calculation and storage; and the data acquisition service is configured to collect payload status data and save it to corresponding database tables or files.

[0039] It is easy to understand that the embodiments of this application redesign the traditional attitude control system architecture, establish a unified data standard, adopt functionally subdivided meta-services, decouple the software from hardware and software functional modules, greatly improve code reusability, reduce development time, and lower development costs, which is especially important for the rapidly developing era of low-Earth orbit commercial satellites.

[0040] In some embodiments of this application, the operating system is an open-source operating system. For example, the open-source operating system includes at least existing Linux kernel operating systems such as Ubuntu, CentOS, and Red Hat, operating systems tailored based on the Linux kernel, and other embedded operating systems.

[0041] For example, in some embodiments of this application, the attitude meta-service integration module includes an attitude determination service module configured to calculate satellite attitude in real time based on coordinate transformation data and attitude measurement data to obtain satellite attitude data. In other words, some embodiments of this application define subdivided meta-services including a service provision module for calculating satellite attitude, the data of which can be provided to the attitude planning module for further data calculation and processing.

[0042] For example, in some embodiments of this application, the attitude meta-service integration module includes an attitude planning module configured to autonomously and intelligently plan the desired satellite attitude based on solar vector data and the satellite attitude data, thereby obtaining desired attitude data. In other words, some embodiments of this application provide an attitude planning module that overcomes the technical limitation that desired attitude data must be injected from the ground, improving the flexibility and immediacy of satellite attitude control.

[0043] For example, in some embodiments of this application, the attitude meta-service integration module includes a wheel control service module configured to generate flywheel control commands based on the desired attitude data and flywheel state data. In other words, some embodiments of this application provide a wheel control service module through which flywheel control commands can be generated in real time.

[0044] For example, in some embodiments, the attitude meta-service integration module includes a magnetic control service module configured to generate magnetic rod control commands based on the desired attitude data and environmental magnetic vector data. In other words, some embodiments of this application provide a method for obtaining magnetic rod control commands.

[0045] For example, in some embodiments of this application, the attitude meta-service integration module includes a coordinate transformation service module, configured to calculate the coordinate transformation data in real time and provide the coordinate transformation data to the attitude determination service module. In other words, some embodiments of this application calculate the coordinate transformation data through the coordinate transformation service module.

[0046] For example, in some embodiments of this application, the attitude meta-service integration module includes a solar vector calculation module, configured to predict the solar vector data in real time and provide the solar vector data to the attitude planning module. That is, some embodiments of this application obtain solar vector data through the solar vector calculation module.

[0047] For example, in some embodiments of this application, the attitude meta-service integration module includes a magnetic vector calculation service module configured to calculate the environmental magnetic vector data. In other words, some embodiments of this application provide a method for calculating environmental magnetic vector data.

[0048] For example, in some embodiments of this application, the attitude meta-service integration module includes a data acquisition service module configured to acquire load state data to obtain the attitude measurement data and the flywheel state data. That is, in some embodiments of this application, the attitude measurement data and flywheel state data are obtained through the data acquisition service module.

[0049] It should be noted that, as Figure 2As shown, the attitude control system for software-defined satellites also includes a database, which is configured as the attitude control system's data storage device and includes at least MySQL, Redis, and MongoDB. The service container is configured as the deployment and operation platform for the attitude control system services and includes at least Docker and Kubernetes.

[0050] Some embodiments of this application provide an attitude control method for software-defined satellites, applied to the attitude control system described in the above embodiments. The attitude control method includes: acquiring satellite attitude data; acquiring desired satellite attitude data based on the satellite attitude data; acquiring wheel control commands and magnetic control commands based on the desired satellite attitude data; and executing the wheel control commands and the magnetic control commands.

[0051] For example, in some embodiments of this application, the acquisition of satellite attitude data includes: collecting attitude measurement data from the attitude sensor and attitude controller according to a set working cycle; calculating coordinate transformation data in real time according to the set working cycle; reading the attitude measurement data and the coordinate transformation data in real time according to the set working cycle, and calculating the satellite attitude data based on the attitude measurement data and the coordinate transformation data.

[0052] For example, in some embodiments of this application, obtaining the desired satellite attitude data based on the satellite attitude data includes: calculating solar vector data in real time according to the set working cycle; and reading the satellite attitude data, the solar vector data, and the mission request in real time according to the set working cycle to calculate the desired satellite attitude data, wherein the mission request comes from ground-based information or from an inter-satellite network.

[0053] For example, in some embodiments of this application, the step of obtaining wheel control commands and magnetic control commands based on the desired satellite attitude data includes: collecting attitude measurement data and flywheel state data of the attitude sensor and the attitude controller at a set working cycle; acquiring environmental magnetic vector data; calculating the wheel control commands based on the desired attitude data and the flywheel state; and calculating the magnetic control commands based on the desired attitude data and the environmental magnetic vector data.

[0054] The following is combined Figure 3 The above-described attitude control method for software-defined satellites is illustrated by example.

[0055] The data acquisition service module collects attitude measurement data from the attitude sensor and attitude controller according to the set working cycle and stores it in the database.

[0056] The coordinate transformation service module calculates coordinate transformation data in real time according to the set working cycle and stores it in the database.

[0057] The attitude determination service module reads attitude measurement data and coordinate transformation data in real time according to the set working cycle, calculates the satellite attitude data, and stores it in the database.

[0058] The solar vector calculation module calculates solar vector data in real time according to the set working cycle and stores it in the database.

[0059] The attitude planning module reads satellite attitude, solar vector, and mission requests in real time according to a set work cycle to calculate the desired satellite attitude data and stores it in the database. Mission requests can come from ground stations or from the inter-satellite network.

[0060] The magnetic vector calculation module calculates environmental magnetic vector data in real time according to a set working cycle and stores it in the database.

[0061] The wheel control service module reads the desired attitude and flywheel status in real time according to the set working cycle, calculates wheel control commands, and stores them in the database and file system.

[0062] The magnetic control service module reads the desired attitude and environmental magnetic vector in real time according to the set working cycle, calculates the magnetic control command, and stores it in the database and file system.

[0063] The attitude controller reads and executes wheel control commands and magnetic control commands according to the set working cycle.

[0064] pass Figure 2 The attitude control system architecture for software-defined satellites provided in some embodiments of this application can establish a unified data standard, adopt functionally subdivided meta-services, and decouple software from hardware and software functional modules. It has advantages such as good substitutability, high reusability, ease of iteration, and good scalability. The attitude control system architecture described in some embodiments of this application does not rely on traditional satellite management; the attitude planning meta-service can autonomously plan the desired attitude based on ground missions or inter-satellite missions.

[0065] It is easy to understand that this application has at least the following technical advantages by adopting the above technical solution:

[0066] (1) Good substitutability. Examples of this application. Figure 2 The architecture described above decouples software from hardware and software services through a unified data standard, making any software or hardware replaceable. For example, traditional flywheel controller drivers are provided by the manufacturer. If the attitude control system needs to change the brand or model of the flywheel controller, the entire attitude control system software needs to be modified and tested, resulting in high costs for replacing the flywheel controller. However, with a unified data standard, a new flywheel controller only needs to conform to the data standard to be compatible with the attitude control system.

[0067] (2) High reusability and agile iteration. Examples of this application Figure 2The architecture allows for updates to certain functionalities by simply developing, deploying, or updating the relevant meta-services in-orbit. Other meta-services do not need to be redeveloped or tested, which greatly reduces workload and facilitates rapid version iteration.

[0068] (3) Good scalability. The meta-services of the embodiments of this application replace the traditional tightly coupled attitude control system. Each service runs independently without state and establishes state interaction through the database. Extending new functions only requires compliance with data standards, which has very good scalability.

[0069] (4) Good reconfigurability. The payload of the attitude control system is a vulnerable component. Statistics show that between 1988 and 2014, 57% of the failures in different subsystems of remote sensing satellites originated from control system and payload failures. In the era of commercial satellites, hardware redundancy design and dynamic reconfiguration are indispensable. (Examples of this application) Figure 2 In the described attitude control system architecture, when a flywheel fails, the wheel control service can automatically reconstruct available wheel control combinations; when no available wheel control combinations are available, the magnetic control service can replace some functions to maximize the satisfaction of attitude control objectives.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0071] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0072] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0075] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. An attitude control system for software-defined satellites, characterized in that, The attitude control system includes: The attitude controller, including a flywheel and a magnetic torque generator, is configured to execute attitude control commands; Attitude sensors, including star sensors, sun sensors, and inertial measurement units (IMUs), are configured to measure the current attitude of the satellite and obtain current attitude data. The operating system is configured to invoke the attitude sensor and the attitude controller; The service container is built based on the operating system to establish the runtime environment. The attitude meta-service integration module runs in a server container to implement various meta-services, including: an attitude planning module for autonomously and intelligently planning the desired attitude of a satellite.

2. The attitude control system as described in claim 1, characterized in that, The operating system in question is an open-source operating system.

3. The attitude control system as described in claim 1, characterized in that, The attitude meta-service integration module includes an attitude determination service module, which is configured to calculate the satellite attitude in real time based on coordinate transformation data and attitude measurement data to obtain satellite attitude data.

4. The attitude control system as described in claim 3, characterized in that, The attitude meta-service integration module includes an attitude planning module, which is configured to autonomously and intelligently plan the desired attitude of the satellite based on the solar vector data and the satellite attitude data, and obtain the desired attitude data.

5. The attitude control system as described in claim 4, characterized in that, The attitude meta-service integration module includes a wheel control service module, configured to generate flywheel control commands based on the desired attitude data and flywheel state data.

6. The attitude control system as described in claim 5, characterized in that, The attitude meta-service integration module includes a magnetic control service module, configured to generate magnetic rod control commands based on the desired attitude data and environmental magnetic vector data.

7. The attitude control system as described in claim 6, characterized in that, The attitude meta-service integration module includes a coordinate transformation service module, which is configured to calculate the coordinate transformation data in real time and provide the coordinate transformation data to the attitude determination service module.

8. The attitude control system as described in claim 7, characterized in that, The attitude meta-service integration module includes a solar vector calculation module, configured to predict the solar vector data in real time and provide the solar vector data to the attitude planning module.

9. The attitude control system as described in claim 8, characterized in that, The attitude meta-service integration module includes a magnetic vector calculation service module, which is configured to calculate the environmental magnetic vector data.

10. The attitude control system as described in claim 9, characterized in that, The attitude meta-service integration module includes a data acquisition service module, configured to acquire load state data to obtain the attitude measurement data and the flywheel state data.

11. An attitude control method for software-defined satellites, applied to an attitude control system as described in any one of claims 1-10, the attitude control method comprising: Acquire satellite attitude data; Obtain the desired satellite attitude data based on the satellite attitude data; Based on the desired satellite attitude data, wheel control commands and magnetic control commands are obtained; Execute the wheel control command and the magnetic control command.

12. The attitude control method as described in claim 11, characterized in that, The acquisition of satellite attitude data includes: The attitude measurement data of the attitude sensor and attitude controller are collected according to the set working cycle; Calculate coordinate transformation data in real time according to the set work cycle; The attitude measurement data and coordinate transformation data are read in real time according to the set working cycle, and the satellite attitude data is calculated based on the attitude measurement data and coordinate transformation data.

13. The attitude control method as described in claim 11, characterized in that, The step of obtaining the desired satellite attitude data based on the satellite attitude data includes: The solar vector data is calculated in real time according to the set working cycle; The satellite attitude data, solar vector data, and mission request are read in real time according to the set working cycle to calculate the desired satellite attitude data, wherein the mission request comes from ground-based data or from the inter-satellite network.

14. The method as described in claim 11, characterized in that, The step of obtaining wheel control commands and magnetic control commands based on the desired satellite attitude data includes: The attitude measurement data of the attitude sensor and the flywheel status data of the attitude controller are collected according to the set working cycle. Acquire environmental magnetic vector data; The wheel control command is calculated based on the desired attitude data and the flywheel state data; The magnetic control command is calculated based on the desired attitude data and the environmental magnetic vector data.

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