Multi-degree-of-freedom whole satellite automatic attitude adjustment method and system

Abstract

The application discloses a multi-degree-of-freedom whole satellite automatic attitude adjusting method and system, and relates to the technical field of satellite assembly, and particularly relates to a multi-degree-of-freedom whole satellite automatic attitude adjusting method and system.

Description

Technical Field

[0001] This invention belongs to the field of electronic engineering technology, and in particular relates to a multi-degree-of-freedom automatic attitude adjustment method and system for satellites. Background Technology

[0002] Solar panels, as the energy source of a satellite, are a crucial component. As an essential member of aerospace equipment, the satellite requires precise attitude adjustment for accurate docking during the assembly of the solar panels. Due to the complexity and high precision requirements of the docking process, traditional assembly methods rely on operators manually adjusting the support legs of the satellite transport vehicle. This manual attitude adjustment depends on operator experience and precise theodolite measurements, repeated until the required docking accuracy is met. Traditional satellite attitude adjustment and docking methods suffer from drawbacks such as long adjustment times, low efficiency, low docking accuracy, and high labor intensity, making it difficult to meet the requirements for safe and efficient solar panel and satellite assembly in the context of increasingly numerous space missions. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a multi-degree-of-freedom automatic attitude adjustment method and system for the entire satellite, which effectively improves the docking and assembly efficiency and safety of the entire satellite and the solar array.

[0004] The objective of this invention is achieved through the following technical solution: a multi-degree-of-freedom automatic attitude adjustment method for satellites, comprising: establishing a leg coordinate system and a clamping seat plane coordinate system; obtaining the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system; obtaining the coordinates of the clamping seat in the leg coordinate system under the initial attitude based on the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system; obtaining the pose of the leg in the current attitude based on the preset current position coordinates of the leg; and obtaining the pose of the leg in the current attitude based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the coordinates of the leg in the current attitude. The process involves: obtaining the coordinates of the clamping seat in the leg coordinate system under the current posture; obtaining the pose of the clamping seat relative to the current posture under the target posture; obtaining the coordinates of the clamping seat in the leg coordinate system under the target posture based on the coordinates of the clamping seat in the leg coordinate system under the current posture and the pose of the clamping seat relative to the current posture under the target posture; obtaining the pose matrix of the initial posture and the target posture based on the coordinates of the clamping seat in the leg coordinate system under the initial posture and the target posture; and obtaining the target coordinates of the leg based on the pose matrix of the initial posture and the target posture and the preset leg coordinates under the initial posture.

[0005] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for satellites, the coordinate system of the legs is as follows: the four legs form a rectangle, the geometric center of the rectangle is the origin O of the coordinate system, the line connecting the origin O to the center of the right front leg and the right rear leg is X+, the vertical upward is Z+, and Y+ is determined by the right-hand rule; the coordinate system of the clamping seats is as follows: the four clamping seats form a rectangle, the center of the two lower clamping seats is the origin O2, the line connecting O2 and P3 is X+, the line connecting O2 to the midpoint of P5 and P7 is Z+, and Y+ is determined by the right-hand rule; among them, P3 is the clamping seat at the lower right corner; P7 is the clamping seat at the upper right corner; and P5 is the clamping seat at the upper left corner.

[0006] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for the entire satellite, the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system is obtained by the following formula:

[0007]

[0008] in,

[0009]

[0010] R is the pose matrix between the outrigger coordinate system and the clamping seat plane coordinate system, α is the rotation angle of the clamping seat plane coordinate system about the X-axis of the outrigger coordinate system, β is the rotation angle of the clamping seat plane coordinate system about the Y-axis of the outrigger coordinate system, γ is the rotation angle of the clamping seat plane coordinate system about the Z-axis of the outrigger coordinate system, x is the X-axis coordinate of the origin of the clamping seat coordinate system in the outrigger coordinate system, y is the Y-axis coordinate of the origin of the clamping seat coordinate system in the outrigger coordinate system, and z is the Z-axis coordinate of the origin of the clamping seat coordinate system in the outrigger coordinate system.

[0011] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for the entire satellite, the coordinates of the clamping seat in the leg coordinate system under the initial attitude are obtained by the following formula:

[0012] P = R × P0;

[0013] Where P is the coordinate of the clamping seat in the leg coordinate system under the initial posture, R is the pose matrix between the leg coordinate system and the clamping seat plane coordinate system, and P0 is the preset coordinate of the clamping seat in the clamping seat coordinate system.

[0014] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for the entire satellite, the coordinates of the clamping seat in the leg coordinate system under the current attitude are obtained by the following formula:

[0015] P1 = A1 × P;

[0016] Where P1 is the coordinate of the clamping seat in the leg coordinate system under the current posture, P is the coordinate of the clamping seat in the leg coordinate system under the initial posture, and A1 is the pose of the leg under the current posture.

[0017] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for a satellite, the coordinates of the clamping seat in the leg coordinate system under the target attitude are obtained by the following formula:

[0018]

[0019] in, Let the coordinates of the clamping seat in the leg coordinate system be the coordinates of the target posture. To determine the current orientation of the clamping seat relative to the outrigger coordinate system. To compress the position of the seat relative to the current posture when it is in the target posture, The coordinates of the clamping seat in the clamping seat plane coordinate system.

[0020] In the above-mentioned multi-degree-of-freedom automatic attitude adjustment method for satellites, the pose matrices of the initial attitude and the target attitude are obtained by using the Rodrigue algorithm based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the coordinates of the clamping seat in the leg coordinate system under the target attitude.

[0021] In the above-described multi-degree-of-freedom automatic attitude adjustment method for satellites, the target coordinates of the outriggers are obtained using the following formula:

[0022]

[0023] in, Let be the pose matrix for the initial pose and the target pose.

[0024] A multi-degree-of-freedom automatic attitude adjustment system for satellites includes: a first module for establishing a leg coordinate system and a clamping seat plane coordinate system; a second module for obtaining the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system; a third module for obtaining the coordinates of the clamping seat in the leg coordinate system under the initial attitude based on the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system; a fourth module for obtaining the pose of the leg in the current attitude based on the preset current position coordinates of the leg; and a fifth module for obtaining the current pose of the leg in the current attitude based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the pose of the leg in the current attitude. The first module is used to obtain the coordinates of the clamping seat in the leg coordinate system under the current posture; the second module is used to obtain the pose of the clamping seat relative to the current posture when in the target posture; the third module is used to obtain the coordinates of the clamping seat in the leg coordinate system under the target posture based on the coordinates of the clamping seat in the leg coordinate system under the current posture and the pose of the clamping seat relative to the current posture when in the target posture; the fourth module is used to obtain the pose matrix of the initial posture and the target posture based on the coordinates of the clamping seat in the leg coordinate system under the initial posture and the coordinates of the clamping seat in the leg coordinate system under the target posture; the fifth module is used to obtain the target coordinates of the leg based on the pose matrix of the initial posture and the target posture and the preset leg coordinates under the initial posture.

[0025] An electronic device includes: a memory for storing computer-readable instructions; and a processor for executing the computer-readable instructions to perform a multi-degree-of-freedom satellite automatic attitude adjustment method.

[0026] Compared with the prior art, the present invention has the following advantages:

[0027] This invention utilizes the Rodriguez attitude calculation method, based on real-time feedback of the outriggers' current attitude and precise measurement of attitude differences. It automatically calculates the rotation angle of the clamping seat around its current coordinate system into the motion of each axis in each outrigger, enabling automatic and high-precision attitude adjustment of the satellite during docking and assembly with the solar array. This avoids the problems of low docking efficiency and product risks caused by asynchronous operations among multiple operators in the original docking process due to multiple measurements and repeated attitude adjustments. Using this invention, the docking and assembly efficiency and safety of the entire satellite and solar array are effectively improved. Attached Figure Description

[0028] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0029] Figure 1 This is a schematic diagram of the establishment of the outrigger coordinate system provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the establishment of the plane coordinate system of the clamping seat provided in an embodiment of the present invention;

[0031] Figure 3 This is a schematic diagram showing the relationship between the support leg coordinate system and the clamping seat plane coordinate system provided in an embodiment of the present invention. Detailed Implementation

[0032] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] This embodiment provides a method for automatic attitude adjustment of a satellite with multiple degrees of freedom, the method including:

[0034] Establish the coordinate system for the outriggers and the coordinate system for the clamping seat.

[0035] The initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system is obtained;

[0036] The coordinates of the clamping seat in the leg coordinate system under the initial posture are obtained based on the initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system.

[0037] The pose of the outrigger in the current posture is obtained based on the preset coordinates of the outrigger's current position.

[0038] The coordinates of the clamping seat in the leg coordinate system under the initial posture and the pose of the leg under the current posture are obtained.

[0039] Obtain the position of the clamping seat relative to the current position when it is in the target position;

[0040] The coordinates of the clamping seat in the leg coordinate system under the current posture and the pose of the clamping seat relative to the current posture under the target posture are obtained.

[0041] The pose matrices of the initial and target poses are obtained using the Rodriguez algorithm based on the coordinates of the clamping seat in the leg coordinate system under the initial pose and the coordinates of the clamping seat in the leg coordinate system under the target pose.

[0042] The target coordinates of the outriggers are obtained based on the pose matrices of the initial and target poses and the outrigger coordinates under the preset initial pose.

[0043] (1) Establish the coordinate system for the outriggers: The four outriggers form a rectangle, with the geometric center of the rectangle being the origin O of the coordinate system. The line connecting O to the centers of the right front and right rear outriggers is X+, the vertical upward line is Z+, and Y+ is determined by the right-hand rule. Figure 1 As shown. Establish a plane coordinate system for the clamping seats: the four clamping seats form a rectangle, where P3 is the lower right corner clamping seat; P7 is directly above P3, the upper right corner clamping seat; P5 is flush with P7, the upper left corner clamping seat. The center of the two lower clamping seats is taken as the origin O2. The line connecting O2 and P3 is X+, the line connecting O2 and the midpoint of the lines connecting P5 and P7 is Z+, and Y+ is determined by the right-hand rule, as shown. Figure 2 and Figure 3 As shown. Since the satellite and the attitude adjustment legs are located in the multi-degree-of-freedom whole-satellite attitude adjustment system, coordinate system 1 can represent the current attitude of the satellite; the solar array clamping seat coordinate system can represent the current attitude of the solar array.

[0044] (2) Based on the installation relationship between different satellites and the mounting flange of the multi-degree-of-freedom satellite attitude adjustment platform, and the relationship between the flange and the leg coordinate system, the initial attitude data between the two coordinate systems are calculated: α, β, γ, x, y, z. Where α, β, and γ are the rotation angles of the clamping seat plane coordinate system around the X, Y, and Z axes of the leg coordinate system, respectively, and x, y, and z are the coordinates of the origin of the clamping seat coordinate system in the leg coordinate system.

[0045] The rotation matrix around the X-axis is

[0046] The rotation matrix around the Y-axis is

[0047] The rotation matrix around the Z-axis is

[0048] The sequence of motion along each axis is defined as follows: first around X, then around Y, then around Z. Therefore, the rotation matrix is:

[0049]

[0050] The pose matrix between the two coordinate systems is:

[0051]

[0052] (3) Based on the width and height values ​​between the clamping seats, calculate the coordinates P0 of the clamping seat in the clamping seat coordinate system, and based on the pose matrix between the two coordinate systems, calculate the coordinates of the clamping seat in the leg coordinate system under the initial posture. P = R × P0.

[0053] (4) Each outrigger has three degrees of freedom: translation along the X, Y, and Z coordinate systems. Through coordinated control, the attitude adjustment system can achieve overall translation along the X, Y, and Z axes and rotation around the X, Y, and Z axes, respectively. Furthermore, the system can obtain the current position of each axis in real time based on the position feedback unit of each axis and calculate the coordinates of the point representing the motion of that axis in the outrigger coordinate system. Based on the four outrigger coordinates and the coordinate system definition, the vector coordinates of each coordinate axis under the current attitude and the vector coordinates of each coordinate axis under the initial attitude are calculated, and the attitude matrix of the current attitude relative to the initial attitude is calculated.

[0054] —The direction cosine matrix between the outrigger coordinate system OXYZ in the initial attitude and the outrigger coordinate system O1X1Y1Z1 in the current attitude.

[0055]

[0056] cosα1, cosβ1, cosγ1 — direction cosines between the O1X1 axis and the OX, OY, and OZ axes, respectively.

[0057] cosα², cosβ², cosγ² — direction cosines between the O1Y1 axis and the OX, OY, and OZ axes, respectively.

[0058] cosα3, cosβ3, cosγ3 — direction cosines between the O1Z1 axis and the OX, OY, and OZ axes, respectively.

[0059] and

[0060]

[0061] The solution yields:

[0062] A O'O =R xyz

[0063]

[0064] A 31 =-sinβ

[0065]

[0066]

[0067] Then, based on the rotation matrix, the coordinates of a certain leg in the initial posture, and the coordinates of the leg in the current posture, the translation of the two coordinate systems is calculated to obtain the pose A1 of the leg coordinate system in the current posture and the initial posture (the pose of the leg in the current posture).

[0068] (5) Calculate the coordinates P of the clamping seat in the leg coordinate system under the initial posture, and the pose A1 of the leg coordinate system and the initial posture under the current posture.

[0069] P1=A1×P

[0070] (6) The theodolite performs precise data measurement on the clamping seat to determine the difference between the current posture and the target posture Δα, Δβ, Δγ, and the control system obtains the position of the clamping seat relative to the current clamping seat posture when acquiring the target posture of the clamping seat.

[0071] (7) Calculate the coordinates of the clamping seat in the leg coordinate system under the target attitude. The method is as follows:

[0072]

[0073] —Coordinates of the clamping seat in the outrigger coordinate system under the target attitude

[0074] —Based on the current posture of the clamping seat and the position of the support leg coordinate system (static coordinate system), the direction cosines of each moving coordinate axis and the static coordinate axis of the support leg coordinate system are calculated from the coordinate P1 of the clamping seat in the support leg coordinate system under the current posture (obtained in step (5)), and the translation amount is calculated.

[0075] —The pose of the target seat relative to the current pose (obtained in step (6)) can be obtained by substituting the rotation angle increments Δα, Δβ, and Δγ as angle values ​​into the rotation matrix.

[0076] (8) The coordinates P of the clamping seat in the leg coordinate system (static coordinate system) under the initial attitude (obtained in step (3)) and the coordinates of the clamping seat in the leg coordinate system (static coordinate system) under the target attitude are obtained from the coordinates P of the clamping seat in the initial attitude (static coordinate system). (Obtained in step (7)) Based on the Rodriguez algorithm, calculate the pose matrices of the two (the pose matrices of the initial pose and the target pose).

[0077] Specifically:

[0078] Let antisymmetric matrix

[0079]

[0080]

[0081] Then the rotation matrix R = (IS) -1 (I+S);

[0082] Where S is the assumed antisymmetric matrix, a, b, c are three elements in the antisymmetric matrix S, and I is the 3×3 identity matrix.

[0083] The coordinates after pose adjustment are UVW, and the initial (before pose adjustment) coordinates are xyz.

[0084] Then we have:

[0085]

[0086] Therefore, it is only necessary to calculate a, b, c, Δx, Δy, and Δz.

[0087] Among them, U i Let X be the pose-adjusted coordinate, and V be the coordinate of the pose adjustment. i Let W be the Y-coordinate after pose adjustment. i Let Z be the Z-coordinate after pose adjustment, R be the rotation matrix during pose adjustment, and x be the Z-coordinate. i The X coordinate before pose adjustment is y. i The Y coordinate before pose adjustment, z iLet Δx be the Z-coordinate before attitude adjustment, Δx be the difference between the X-coordinate of the point before attitude adjustment and the X-coordinate after attitude adjustment, Δy be the difference between the Y-coordinate of the point before attitude adjustment and the Y-coordinate after attitude adjustment, Δz be the difference between the Z-coordinate of the point before attitude adjustment and the Z-coordinate after attitude adjustment, and i be the index of the attitude adjustment point. The attitude matrix before and after attitude adjustment can be solved with 3 points, so i can be taken from 1 to 3.

[0088] The solution method is as follows, based on 3 sets of common points, and the formula is summarized as follows:

[0089]

[0090] in:

[0091] z 21 W represents the difference between the Z coordinates z2 and z1 before pose adjustment. 21 The difference between the Z coordinates W2 and W1 after pose adjustment, y 21 V represents the difference between the Y coordinates y2 and y1 before pose adjustment. 21 The difference between the Y coordinates V2 and V1 after pose adjustment, x 21 U is the difference between the X coordinates x2 and x1 before pose adjustment. 21 The difference between the X coordinates U2 and U1 after pose adjustment, z 31 W represents the difference between the Z coordinates z3 and z1 before pose adjustment. 31 The difference between the Z coordinates W3 and W1 after pose adjustment, y 31 V represents the difference between the Y coordinates y3 and y1 before pose adjustment. 31 The difference between the Y coordinates V3 and V1 after pose adjustment, x 31 U represents the difference between the X coordinates x3 and x1 before pose adjustment. 31 This represents the difference between the X coordinates U3 and U1 after pose adjustment.

[0092] In the expressions in rows 2, 5, and 6, respectively, we denote:

[0093] k1 = -z 21 -W 21 k2=x 21 +U k3=V 21 -y 21

[0094] k4 = -z 31 -W 31 k5 = x 31 +U k6=V 31 -y 31

[0095] k7 = y 31 +V31 k8 = x 31 +U 31 k9 = W 31 -z 31

[0096] Then we have:

[0097]

[0098]

[0099] Substitute R and a set of its common points achievable

[0100] Where C is the translation matrix in the Rodrigues pose matrix, and R is the rotation matrix in the Rodrigues pose matrix.

[0101] Then the pose matrices of the two can be calculated.

[0102] (9) Based on the pose matrix, calculate the target coordinates of each leg when the target position of the clamping seat is determined.

[0103]

[0104] This determines the motion of each axis in each leg when the clamping seat rotates around the coordinate axis of its current coordinate system at a certain angle, thus completing the calculation of the leg motion.

[0105] This embodiment also provides a multi-degree-of-freedom satellite automatic attitude adjustment system, including: a first module for establishing a leg coordinate system and a clamping seat plane coordinate system; a second module for obtaining the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system; a third module for obtaining the coordinates of the clamping seat in the leg coordinate system under the initial attitude based on the initial pose relationship between the leg coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system; a fourth module for obtaining the pose of the leg in the current attitude based on the preset current position coordinates of the leg; and a fifth module for obtaining the pose of the leg in the current attitude based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the pose of the leg in the current attitude. The system obtains the coordinates of the clamping seat in the leg coordinate system under the current posture; the sixth module obtains the pose of the clamping seat relative to the current posture when it is in the target posture; the seventh module obtains the coordinates of the clamping seat in the leg coordinate system under the target posture based on the coordinates of the clamping seat in the leg coordinate system under the current posture and the pose of the clamping seat relative to the current posture when it is in the target posture; the eighth module obtains the pose matrix of the initial posture and the target posture based on the coordinates of the clamping seat in the leg coordinate system under the initial posture and the coordinates of the clamping seat in the leg coordinate system under the target posture; the ninth module obtains the target coordinates of the leg based on the pose matrix of the initial posture and the target posture and the preset leg coordinates under the initial posture.

[0106] This embodiment also provides an electronic device, including: a memory for storing computer-readable instructions; and a processor for running the computer-readable instructions to execute a multi-degree-of-freedom satellite automatic attitude adjustment method.

[0107] This invention utilizes the Rodriguez attitude calculation method, based on real-time feedback of the outriggers' current attitude and precise measurement of attitude differences. It automatically calculates the rotation angle of the clamping seat around its current coordinate system into the motion of each axis in each outrigger, enabling automatic and high-precision attitude adjustment of the satellite during docking and assembly with the solar array. This avoids the problems of low docking efficiency and product risks caused by asynchronous operations among multiple operators in the original docking process due to multiple measurements and repeated attitude adjustments. Using this invention, the docking and assembly efficiency and safety of the entire satellite and solar array are effectively improved.

[0108] 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 multi-degree-of-freedom automatic attitude adjustment method for a satellite, characterized in that... include: Establish the coordinate system for the outriggers and the coordinate system for the clamping seat. The initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system is obtained; The coordinates of the clamping seat in the leg coordinate system under the initial posture are obtained based on the initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system. The pose of the outrigger in the current posture is obtained based on the preset coordinates of the outrigger's current position. The coordinates of the clamping seat in the leg coordinate system under the initial posture and the pose of the leg under the current posture are obtained. Obtain the position of the clamping seat relative to the current position when it is in the target position; The coordinates of the clamping seat in the leg coordinate system under the current posture and the pose of the clamping seat relative to the current posture under the target posture are obtained. The pose matrices of the initial and target attitudes are obtained based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the coordinates of the clamping seat in the leg coordinate system under the target attitude. The target coordinates of the outriggers are obtained based on the pose matrices of the initial and target poses and the outrigger coordinates under the preset initial pose.

2. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The coordinate system for the outriggers is as follows: the four outriggers form a rectangle, the geometric center of the rectangle is the origin O of the coordinate system, the line connecting the origin O of the coordinate system with the center of the right front outrigger and the right rear outrigger is X+, the vertical upward line is Z+, and Y+ is determined by the right-hand rule. The coordinate system of the clamping seats is as follows: the four clamping seats form a rectangle, with the center of the two lower clamping seats as the origin O2. The line connecting O2 and P3 is X+, the line connecting O2 and the midpoints of P5 and P7 is Z+, and Y+ is determined by the right-hand rule. Among them, P3 is the clamping seat in the lower right corner; P7 is the clamping seat in the upper right corner; and P5 is the clamping seat in the upper left corner.

3. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system is obtained by the following formula: ； in, ； Let be the pose matrix between the outrigger coordinate system and the clamping seat plane coordinate system. The angle of rotation of the clamping seat plane coordinate system around the X-axis of the support leg coordinate system. The angle of rotation of the clamping seat plane coordinate system around the Y-axis of the support leg coordinate system. The angle of rotation of the clamping seat plane coordinate system around the Z-axis of the support leg coordinate system. Let X be the coordinate of the origin of the clamping seat coordinate system in the leg coordinate system. Let Y be the Y-axis coordinate of the origin of the clamping seat coordinate system in the leg coordinate system. The coordinate of the origin of the clamping seat coordinate system is the Z-axis coordinate of the support leg coordinate system.

4. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The coordinates of the clamping seat in the leg coordinate system under the initial attitude are obtained by the following formula: P= ×P0; Where P represents the coordinates of the clamping seat in the leg coordinate system under the initial attitude. P0 is the pose matrix between the leg coordinate system and the clamping seat plane coordinate system, and P0 is the preset coordinate of the clamping seat in the clamping seat coordinate system.

5. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The coordinates of the clamping seat in the leg coordinate system under the current posture are obtained by the following formula: P1= ×P; Where P1 is the coordinate of the clamping seat in the leg coordinate system under the current attitude, and P is the coordinate of the clamping seat in the leg coordinate system under the initial attitude. The position of the supporting leg in the current posture.

6. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The coordinates of the clamping seat in the leg coordinate system under the target attitude are obtained by the following formula: in, Let the coordinates of the clamping seat in the leg coordinate system be the coordinates of the target posture. To determine the current orientation of the clamping seat relative to the outrigger coordinate system. P0 represents the pose of the clamping seat relative to the current pose when it is in the target pose, and is the preset coordinate of the clamping seat in the clamping seat coordinate system.

7. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The pose matrices of the initial and target orientations are obtained using the Rodrigue algorithm based on the coordinates of the clamping seat in the leg coordinate system under the initial orientation and the coordinates of the clamping seat in the leg coordinate system under the target orientation.

8. The multi-degree-of-freedom automatic attitude adjustment method for a satellite according to claim 1, characterized in that: The target coordinates of the outriggers are obtained using the following formula: Target coordinates of each leg = × Coordinates of each leg in the initial posture; in, Let be the pose matrix for the initial pose and the target pose.

9. A multi-degree-of-freedom automatic attitude adjustment system for satellites, characterized in that... include: The first module is used to establish the coordinate system of the outriggers and the coordinate system of the clamping seat plane. The second module is used to obtain the initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system; The third module is used to obtain the coordinates of the clamping seat in the leg coordinate system under the initial posture based on the initial pose relationship between the outrigger coordinate system and the clamping seat plane coordinate system and the preset coordinates of the clamping seat in the clamping seat coordinate system. The fourth module is used to obtain the pose of the outrigger in the current posture based on the preset coordinates of the outrigger's current position. The fifth module is used to obtain the coordinates of the clamping seat in the leg coordinate system in the current posture based on the coordinates of the clamping seat in the initial posture and the pose of the leg in the current posture. The sixth module is used to obtain the pose of the clamping seat relative to the current pose when it is in the target pose; The seventh module is used to obtain the coordinates of the clamping seat in the leg coordinate system in the target posture based on the coordinates of the clamping seat in the current posture in the leg coordinate system and the pose of the clamping seat relative to the current posture in the target posture. The eighth module is used to obtain the pose matrix of the initial attitude and the target attitude based on the coordinates of the clamping seat in the leg coordinate system under the initial attitude and the coordinates of the clamping seat in the leg coordinate system under the target attitude. The ninth module is used to obtain the target coordinates of the outriggers based on the pose matrix of the initial and target poses and the outrigger coordinates under the preset initial pose.

10. An electronic device, characterized in that, include: Memory: Used to store computer-readable instructions; as well as Processor: for executing the computer-readable instructions to perform the method as described in any one of claims 1 to 8.

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