A thrust vector parameter-based fine electric propulsion system thruster distribution method

Abstract

This invention relates to the field of space electric propulsion technology, and particularly to a method for refined thruster allocation in an electric propulsion system based on thrust vector parameters. The method includes: for each electric thruster, determining the first and second angles between the thrust vector of the current electric thruster and the coordinate system of the entire satellite when the thrust vector points towards the center of mass of the entire satellite, based on the thrust vector parameters of the current electric thruster and the transformation model between the thrust vector of the electric thruster and the coordinate system of the entire satellite; determining the propellant consumption for maintaining north-south position using the current electric thruster, based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector of the current electric thruster and the coordinate system of the entire satellite when the thrust vector points towards the center of mass of the entire satellite; and sorting all the electric thrusters to be allocated according to their propellant consumption based on the propellant consumption of each electric thruster to identify and allocate the target electric thrusters, thereby reducing the propellant load of the electric propulsion system and improving the overall payload capacity of the satellite.

Description

Technical Field

[0001] This invention relates to the field of space electric propulsion technology, and in particular to a method for refining thruster allocation in an electric propulsion system based on thrust vector parameters. Background Technology

[0002] High-orbit satellites use electric propulsion for north-south position maintenance throughout their entire lifespan after reaching their designated orbit. This requires the electric propulsion system to have a reliable lifespan of 15 years in orbit and a cumulative firing time of 14,000 hours. High-orbit satellites typically mount their electric thrusters on a vector control mechanism. Before ignition, the vector control mechanism is adjusted so that the thrust vector of the electric thruster passes through the satellite's center of mass.

[0003] Currently, there is no reliable method for allocating electric thrusters in electric propulsion systems. Existing electric thrusters are simply installed directly onto the satellite's vector control mechanism without detailed evaluation to select the thruster with the lowest propellant consumption. Consequently, the current allocation method results in higher propellant consumption, leading to a lower overall payload capacity for the satellite.

[0004] Therefore, there is an urgent need for a refined thruster allocation method for electric propulsion systems based on thrust vector parameters. Summary of the Invention

[0005] To address the problem that traditional allocation methods result in high propellant consumption for electric propulsion, leading to poor overall satellite payload capacity, this invention provides a refined thruster allocation method for electric propulsion systems based on thrust vector parameters.

[0006] In a first aspect, embodiments of the present invention provide a method for refined thruster allocation in an electric propulsion system based on thrust vector parameters, comprising:

[0007] Obtain the thrust vector parameters and specific impulse of each electric thruster to be assigned;

[0008] For each electric thruster, the following is performed:

[0009] Based on the thrust vector parameters of the current electric thruster and the predetermined transformation model between the electric thruster vector and the whole satellite coordinate system, the angle between the thrust vector of the current electric thruster and the whole satellite coordinate system is determined when the thrust vector of the current electric thruster points to the center of mass of the whole satellite; wherein, the angle includes the first angle between the thrust vector and the Y-axis of the whole satellite coordinate system and the second angle between the thrust vector and the X-axis of the whole satellite coordinate system.

[0010] Based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite, the propellant consumption when using the current electric thruster to maintain the north-south position is determined.

[0011] Based on the propellant consumption of each electric thruster, all electric thrusters to be allocated are sorted by propellant consumption to determine the target electric thruster and allocate it.

[0012] Secondly, embodiments of the present invention also provide a thruster distribution device for a refined electric propulsion system based on thrust vector parameters, comprising:

[0013] The acquisition unit is used to acquire the thrust vector parameters and specific impulse of each electric thruster to be assigned;

[0014] The first calculation unit is used to perform the following for each electric thruster: based on the thrust vector parameters of the current electric thruster and a pre-determined transformation model between the electric thruster vector and the overall satellite coordinate system, determine the angle between the thrust vector of the current electric thruster and the overall satellite coordinate system when the thrust vector of the current electric thruster points towards the center of mass of the overall satellite; wherein, the angle includes a first angle between the thrust vector and the Y-axis of the overall satellite coordinate system and a second angle between the thrust vector and the X-axis of the overall satellite coordinate system;

[0015] The second calculation unit is used to determine the propellant consumption when using the current electric thruster to maintain the north-south position based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

[0016] The allocation unit is used to sort all electric thrusters to be allocated based on their propellant consumption, thereby identifying the target electric thruster and allocating it accordingly.

[0017] This invention provides a method for refining the allocation of thrusters in an electric propulsion system based on thrust vector parameters. By inputting the thrust vector parameters and specific impulse of each electric thruster, the amount of propellant consumed by each electric thruster when maintaining its north-south position is determined. The allocation optimization result of the electric thrusters is obtained based on the sorting of propellant consumption, which can reduce the amount of propellant carried by the electric propulsion system and thus improve the overall payload capacity of the satellite. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a flowchart of a thruster allocation method for a refined electric propulsion system based on thrust vector parameters, provided by an embodiment of the present invention.

[0020] Figure 2 This is a hardware architecture diagram of a computing device provided in an embodiment of the present invention;

[0021] Figure 3 This is a structural diagram of a thruster distribution device for a refined electric propulsion system based on thrust vector parameters, provided by an embodiment of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0023] The following describes the specific implementation of the above concept.

[0024] Please refer to Figure 1 This invention provides a method for refined thruster allocation in an electric propulsion system based on thrust vector parameters. The method includes:

[0025] Step 100: Obtain the thrust vector parameters and specific impulse of each electric thruster to be assigned;

[0026] Step 102: For each electric thruster, perform the following: Based on the thrust vector parameters of the current electric thruster and the pre-determined transformation model between the electric thruster vector and the entire satellite coordinate system, determine the angle between the thrust vector of the current electric thruster and the entire satellite coordinate system when the thrust vector points to the center of mass of the entire satellite; wherein, the angle includes the first angle between the thrust vector and the Y-axis of the entire satellite coordinate system and the second angle between the thrust vector and the X-axis of the entire satellite coordinate system;

[0027] Step 104: Based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite, determine the amount of propellant consumed when using the current electric thruster to maintain the north-south position.

[0028] Step 106: Based on the propellant consumption of each electric thruster, sort all the electric thrusters to be allocated according to their propellant consumption to determine the target electric thruster and allocate it.

[0029] In this embodiment of the invention, by inputting the thrust vector parameters and specific impulse of each electric thruster, the propellant consumption of each electric thruster when maintaining its north-south position is determined. The allocation optimization result of the electric thrusters is obtained based on the sorting of propellant consumption, which can reduce the propellant carried by the electric propulsion system and thus improve the overall payload capacity of the satellite.

[0030] For step 100:

[0031] In this embodiment of the invention, the thrust vector parameters include the thrust vector skew angle, offset position angle, lateral position angle, and thrust vector lateral displacement.

[0032] In this embodiment, each electric thruster to be assigned can be tested individually in any way to obtain the thrust vector deflection angle α of each electric thruster. T Offset position angle γ T Lateral position angle β T and thrust vector lateral displacement δ T .

[0033] Regarding step 102:

[0034] In some implementations, step 102 may include:

[0035] Based on the thrust vector parameters of the current electric thruster, generate the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster;

[0036] Obtain a pre-determined transformation model between the electric thruster vector and the entire satellite coordinate system;

[0037] Substituting the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster into the transformation model, we obtain the angle between the thrust vector of the current electric thruster and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

[0038] In this embodiment, the thrust vector deflection angle α of the current electric thruster is utilized. T Offset position angle γ T Lateral position angle β T and thrust vector lateral displacement δ T Generate the transformation matrix from the yaw coordinate system of the vector control mechanism to the electric thruster coordinate system corresponding to the current electric thruster. The transformation matrix that converts the current electric thruster from the yaw coordinate system of the vector control mechanism to the electric thruster coordinate system. Substituting into the following transformation model, we can obtain the first angle α and the first angle β between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points towards the center of mass of the entire satellite.

[0039] In some implementations, the transformation model between the electric thruster vector and the whole satellite coordinate system is as follows:

[0040]

[0041] in,

[0042]

[0043] In the formula, T O Let be the matrix of the electric thruster vector in the whole-satellite coordinate system O. and For matrix T O The elements are the components of the electric thruster vector in the X-axis and y-axis directions of the whole satellite coordinate system O. R, K, O1, and O2 represent the coordinate systems corresponding to the installation reference point of the vector adjustment mechanism, the coordinate systems corresponding to the rotation intersection points on the vector adjustment mechanism, the pitch coordinate system of the vector adjustment mechanism, and the yaw coordinate system of the vector adjustment mechanism, respectively. Let C be the coordinates of the center of mass C of the entire star in the coordinate system O of the entire star. This is the transformation matrix from the whole-star coordinate system O to the vector adjustment mechanism coordinate system R. This is the transformation matrix from the R coordinate system to the K coordinate system of the vector adjustment mechanism. This is the transformation matrix from the K coordinate system to the O1 coordinate system of the vector adjustment mechanism. This is the transformation matrix from coordinate system O1 to coordinate system O2 of the vector adjustment mechanism. This is the transformation matrix from the yaw coordinate system O2 of the vector control mechanism to the electric thruster coordinate system.

[0044] In this embodiment, the electric thruster vector in the whole satellite coordinate system O is represented by the matrix T. O It can be a 1x3 matrix, and the matrix elements include... and Since the thrust vector of the current electric thruster needs to point towards the center of mass of the entire star, therefore... and It is 0, and Given quantities Since it is generated using the thrust vector parameters of the current electric thruster, the first angle α and the first angle β between the thrust vector and the coordinate system of the entire satellite can be calculated when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

[0045] Regarding step 104:

[0046] In some implementations, step 104 includes:

[0047] Based on the first and second included angles corresponding to the current electric thruster, determine the efficiency of the effective thrust component of the current electric thruster when maintaining the north-south position;

[0048] Based on efficiency and specific impulse of the current electric thruster, determine the propellant consumption when using the current electric thruster for north-south position maintenance.

[0049] In some implementations, the efficiency of the effective thrust component of the current electric thruster during north-south position holding is calculated using the following formula:

[0050] η = cosα * cosβ

[0051] In the formula, η is the efficiency of the effective thrust component when the current electric thruster is maintaining its north-south position, α is the first included angle corresponding to the current electric thruster, and β is the second included angle corresponding to the current electric thruster.

[0052] In some implementations, the propellant consumption for north-south position holding using the current electric thruster is calculated using the following formula:

[0053] m p =M0(1-e -ΔV / Igη )

[0054] In the formula, m p The propellant consumption is M0 when using the current electric thruster for north-south position holding, M0 is the weight of the satellite after positioning, ΔV is the velocity increment required for north-south position holding, I is the specific impulse of the current electric thruster, g is the gravitational acceleration, and η is the efficiency of the effective thrust component of the current electric thruster when holding north-south position.

[0055] As can be seen, the propellant consumption for maintaining the north-south position using the above two formulas can be calculated. It can be understood that by iteratively executing steps 102-104, the propellant consumption for maintaining the north-south position using each of the assigned electric thrusters individually can be determined.

[0056] Regarding step 106,

[0057] For example, if there are 5 electric thrusters to be allocated, and the aircraft requires 4 electric thrusters, with 2 in the primary group and 2 in the backup group, then, based on the propellant consumption of the 5 electric thrusters to be allocated obtained in step 104, 4 target electric thrusters with smaller propellant consumption are selected from the 5 electric thrusters, and the 4 target electric thrusters are allocated to the primary group and backup group as needed according to the propellant consumption.

[0058] like Figure 2 , Figure 3 As shown, this embodiment of the invention provides a thrust distribution device for a refined electric propulsion system based on thrust vector parameters. The device embodiment can be implemented through software, hardware, or a combination of both. From a hardware perspective, such as... Figure 2 The diagram shown is a hardware architecture diagram of a computing device for a thruster allocation device in a refined electric propulsion system based on thrust vector parameters, provided by an embodiment of the present invention. (Except for...) Figure 2In addition to the processor, memory, network interface, and non-volatile memory shown, the computing device in the embodiment may also include other hardware, such as a forwarding chip responsible for processing packets. Taking software implementation as an example, such as... Figure 3 As shown, as a logical device, it is formed by the CPU of its computing device reading the corresponding computer program from the non-volatile memory into memory and running it. This embodiment provides a thruster allocation device for a refined electric propulsion system based on thrust vector parameters, comprising:

[0059] Acquisition unit 301 is used to acquire the thrust vector parameters and specific impulse of each electric thruster to be assigned;

[0060] The first calculation unit 302 is used to perform the following for each electric thruster: based on the thrust vector parameters of the current electric thruster and a pre-determined transformation model between the electric thruster vector and the entire satellite coordinate system, determine the angle between the thrust vector of the current electric thruster and the entire satellite coordinate system when the thrust vector of the current electric thruster points to the center of mass of the entire satellite; wherein, the angle includes the first angle between the thrust vector and the Y-axis of the entire satellite coordinate system and the second angle between the thrust vector and the X-axis of the entire satellite coordinate system;

[0061] The second calculation unit 303 is used to determine the propellant consumption when using the current electric thruster to maintain the north-south position based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

[0062] The allocation unit 304 is used to sort all electric thrusters to be allocated based on their working propellant consumption, so as to determine the target electric thruster and allocate it.

[0063] In one embodiment of the present invention, the first computing unit 302 is used to perform:

[0064] Based on the thrust vector parameters of the current electric thruster, generate the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster;

[0065] Obtain a pre-determined transformation model between the electric thruster vector and the entire satellite coordinate system;

[0066] Substituting the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster into the transformation model, we obtain the angle between the thrust vector of the current electric thruster and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

[0067] In one embodiment of the present invention, the transformation model between the electric thruster vector and the whole satellite coordinate system in the first calculation unit 302 is as follows:

[0068]

[0069] in,

[0070]

[0071] In the formula, T O Let be the matrix of the electric thruster vector in the whole-satellite coordinate system O. and For matrix T O The elements are the components of the electric thruster vector in the X-axis and y-axis directions of the whole satellite coordinate system O. R, K, O1, and O2 represent the coordinate systems corresponding to the installation reference point of the vector adjustment mechanism, the coordinate systems corresponding to the rotation intersection points on the vector adjustment mechanism, the pitch coordinate system of the vector adjustment mechanism, and the yaw coordinate system of the vector adjustment mechanism, respectively. Let C be the coordinates of the center of mass C of the entire star in the coordinate system O of the entire star. This is the transformation matrix from the whole-star coordinate system O to the vector adjustment mechanism coordinate system R. This is the transformation matrix from the R coordinate system to the K coordinate system of the vector adjustment mechanism. This is the transformation matrix from the K coordinate system to the O1 coordinate system of the vector adjustment mechanism. This is the transformation matrix from coordinate system O1 to coordinate system O2 of the vector adjustment mechanism. This is the transformation matrix from the yaw coordinate system O2 of the vector control mechanism to the electric thruster coordinate system.

[0072] In one embodiment of the present invention, the second computing unit 303 is used to perform:

[0073] Based on the first and second included angles corresponding to the current electric thruster, determine the efficiency of the effective thrust component of the current electric thruster when maintaining the north-south position;

[0074] Based on efficiency and specific impulse of the current electric thruster, determine the propellant consumption when using the current electric thruster for north-south position maintenance.

[0075] In one embodiment of the present invention, the efficiency of the effective thrust component of the current electric thruster in the second calculation unit 303 when maintaining the north-south position is calculated by the following formula:

[0076] η = cosα * cosβ

[0077] In the formula, η is the efficiency of the effective thrust component when the current electric thruster is maintaining its north-south position, α is the first included angle corresponding to the current electric thruster, and β is the second included angle corresponding to the current electric thruster.

[0078] In one embodiment of the present invention, the propellant consumption when the current electric thruster is used to maintain the north-south position in the second calculation unit 303 is calculated using the following formula:

[0079] m p =M0(1-e -ΔV / Igη )

[0080] In the formula, m p The propellant consumption is M0 when using the current electric thruster for north-south position holding, M0 is the weight of the satellite after positioning, ΔV is the velocity increment required for north-south position holding, I is the specific impulse of the current electric thruster, g is the gravitational acceleration, and η is the efficiency of the effective thrust component of the current electric thruster when holding north-south position.

[0081] In one embodiment of the present invention, the thrust vector parameters in the acquisition unit 301 include the thrust vector skew angle, offset position angle, lateral position angle, and thrust vector lateral displacement.

[0082] It is understood that the structures illustrated in the embodiments of the present invention do not constitute a specific limitation on a thruster distribution device for a refined electric propulsion system based on thrust vector parameters. In other embodiments of the present invention, a thruster distribution device for a refined electric propulsion system based on thrust vector parameters may include more or fewer component units than illustrated, or combine certain component units, or split certain component units, or arrange different component units. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0083] The information interaction and execution process between the modules in the above-mentioned device are based on the same concept as the method embodiment of the present invention, and the specific details can be found in the description of the method embodiment of the present invention, and will not be repeated here.

[0084] This invention also provides a computing device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements a thruster allocation method for a refined electric propulsion system based on thrust vector parameters, according to any embodiment of this invention.

[0085] This invention also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program causes the processor to perform a thruster allocation method for a refined electric propulsion system based on thrust vector parameters, according to any embodiment of this invention.

[0086] Specifically, a system or apparatus equipped with a storage medium may be provided, on which software program code implementing the functions of any of the embodiments described above is stored, and the computer (or CPU or MPU) of the system or apparatus may read and execute the program code stored in the storage medium.

[0087] In this case, the program code read from the storage medium can itself implement the function of any of the above embodiments, and therefore the program code and the storage medium storing the program code constitute part of the present invention.

[0088] Examples of storage media used to provide program code include floppy disks, hard disks, magneto-optical disks, optical disks (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), magnetic tapes, non-volatile memory cards, and ROMs. Alternatively, program code can be downloaded from a server computer via a communication network.

[0089] Furthermore, it should be clear that not only can the program code read by the computer be executed, but also the operating system or other components operating on the computer can be instructed based on the program code to perform some or all of the actual operations, thereby realizing the function of any of the embodiments described above.

[0090] Furthermore, it is understood that the program code read from the storage medium is written to the memory set in the expansion board inserted into the computer or to the memory set in the expansion module connected to the computer. Then, based on the instructions of the program code, the CPU or other components installed on the expansion board or expansion module execute some and all of the actual operations, thereby realizing the function of any of the above embodiments.

[0091] 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.

[0092] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as ROM, RAM, magnetic disk, or optical disk.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for refining thruster allocation in an electric propulsion system based on thrust vector parameters, characterized in that, include: Obtain the thrust vector parameters and specific impulse of each electric thruster to be assigned; For each electric thruster, the following is performed: Based on the thrust vector parameters of the current electric thruster and the predetermined transformation model between the electric thruster vector and the whole satellite coordinate system, the angle between the thrust vector of the current electric thruster and the whole satellite coordinate system is determined when the thrust vector of the current electric thruster points to the center of mass of the whole satellite; wherein, the angle includes the first angle between the thrust vector and the Y-axis of the whole satellite coordinate system and the second angle between the thrust vector and the X-axis of the whole satellite coordinate system. Based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite, the propellant consumption when using the current electric thruster to maintain the north-south position is determined. Based on the propellant consumption of each electric thruster, all electric thrusters to be allocated are sorted by propellant consumption to determine the target electric thruster and allocate it.

2. The method according to claim 1, characterized in that, The method for determining the angle between the thrust vector and the overall satellite coordinate system when the thrust vector of the current electric thruster points towards the center of mass of the entire satellite, based on the thrust vector parameters of the current electric thruster and a pre-determined transformation model between the electric thruster vector and the overall satellite coordinate system, includes: Based on the thrust vector parameters of the current electric thruster, generate the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster; Obtain a pre-determined transformation model between the electric thruster vector and the entire satellite coordinate system; Substituting the transformation matrix from the yaw coordinate system of the vector adjustment mechanism to the electric thruster coordinate system corresponding to the current electric thruster into the transformation model, we obtain the angle between the thrust vector of the current electric thruster and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite.

3. The method according to claim 2, characterized in that, The transformation model between the electric thruster vector and the whole satellite coordinate system is as follows: in, In the formula, T O Let be the matrix of the electric thruster vector in the whole-satellite coordinate system O. and For matrix T O The elements are the components of the electric thruster vector in the X-axis and y-axis directions of the whole satellite coordinate system O. R, K, O1, and O2 represent the coordinate systems corresponding to the installation reference point of the vector adjustment mechanism, the coordinate systems corresponding to the rotation intersection points on the vector adjustment mechanism, the pitch coordinate system of the vector adjustment mechanism, and the yaw coordinate system of the vector adjustment mechanism, respectively. Let C be the coordinates of the center of mass C of the entire star in the coordinate system O of the entire star. This is the transformation matrix from the whole-star coordinate system O to the vector adjustment mechanism coordinate system R. This is the transformation matrix from the R coordinate system to the K coordinate system of the vector adjustment mechanism. This is the transformation matrix from the K coordinate system to the O1 coordinate system of the vector adjustment mechanism. This is the transformation matrix from coordinate system O1 to coordinate system O2 of the vector adjustment mechanism. This is the transformation matrix from the yaw coordinate system O2 of the vector control mechanism to the electric thruster coordinate system.

4. The method according to claim 1, characterized in that, The determination of propellant consumption for north-south position maintenance using the current electric thruster, based on the specific impulse of the current electric thruster, the thrust vector of the current electric thruster pointing towards the center of mass of the entire satellite, and the first and second angles between the thrust vector and the coordinate system of the entire satellite, includes: Based on the first included angle and the second included angle corresponding to the current electric thruster, determine the efficiency of the effective thrust component of the current electric thruster when maintaining the north-south position; Based on the efficiency and the specific impulse of the current electric thruster, the propellant consumption is determined when using the current electric thruster to maintain the north-south position.

5. The method according to claim 4, characterized in that, The efficiency of the effective thrust component of the current electric thruster during north-south position holding is calculated using the following formula: η = cosα * cosβ In the formula, η is the efficiency of the effective thrust component when the current electric thruster is maintaining its north-south position, α is the first included angle corresponding to the current electric thruster, and β is the second included angle corresponding to the current electric thruster.

6. The method according to claim 4, characterized in that, The propellant consumption for north-south position maintenance using the current electric thruster is calculated using the following formula: m p =M0(1-e -ΔV / Igη ) In the formula, m p The propellant consumption is M0 when using the current electric thruster for north-south position holding, M0 is the weight of the satellite after positioning, ΔV is the velocity increment required for north-south position holding, I is the specific impulse of the current electric thruster, g is the gravitational acceleration, and η is the efficiency of the effective thrust component of the current electric thruster when holding north-south position.

7. The method according to any one of claims 1-6, characterized in that, The thrust vector parameters include thrust vector skew angle, offset position angle, lateral position angle, and thrust vector lateral displacement.

8. A thruster distribution device for a refined electric propulsion system based on thrust vector parameters, characterized in that, include: The acquisition unit is used to acquire the thrust vector parameters and specific impulse of each electric thruster to be assigned; The first calculation unit is used to perform the following for each electric thruster: based on the thrust vector parameters of the current electric thruster and a pre-determined transformation model between the electric thruster vector and the overall satellite coordinate system, determine the angle between the thrust vector of the current electric thruster and the overall satellite coordinate system when the thrust vector of the current electric thruster points towards the center of mass of the overall satellite; wherein, the angle includes a first angle between the thrust vector and the Y-axis of the overall satellite coordinate system and a second angle between the thrust vector and the X-axis of the overall satellite coordinate system; The second calculation unit is used to determine the propellant consumption when using the current electric thruster to maintain the north-south position based on the specific impulse of the current electric thruster and the first and second angles between the thrust vector and the coordinate system of the entire satellite when the thrust vector of the current electric thruster points to the center of mass of the entire satellite. The allocation unit is used to sort all electric thrusters to be allocated based on their propellant consumption, thereby identifying the target electric thruster and allocating it accordingly.

9. A computing device comprising a memory and a processor, wherein the memory stores a computer program, and the processor, when executing the computer program, implements the method as described in any one of claims 1-7.

10. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method of any one of claims 1-7.

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