Pyramid-configuration momentum wheel set positioning method, device, equipment, medium and program product

Abstract

The invention relates to the technical field of spaceflight, in particular to a pyramid configuration momentum wheel set positioning method, device and equipment, a medium and a program product, and the method comprises the steps: obtaining a pyramid configuration installation reference according to a first installation angle and a second installation angle of a momentum wheel; the coordinate system where the rectangular bottom surface of the pyramid configuration installation reference is located coincides with the coordinate system where the momentum wheel set installation surface on the spacecraft is located; enabling the angular momentum directions of the momentum wheels to be parallel to the side edges of the pyramid configuration installation reference in a one-to-one correspondence manner; wherein the included angle between the diagonal line of the rectangular bottom surface and one side of the rectangular bottom surface is the first mounting angle, and the included angle between each side edge and the rectangular bottom surface is the second mounting angle. The invention aims to provide a pyramid configuration momentum wheel set positioning method, device and equipment, a medium and a program product aiming at at least one technical problem designed in the background technology.

Description

Technical Field

[0001] The present application relates to the field of aerospace technology, and in particular to a method, device, equipment, medium and program product for positioning a pyramid-configuration momentum wheel set. Background Art

[0002] The momentum wheel is an inertial actuator in the attitude control system of a spacecraft. In the spacecraft attitude control system, the momentum wheel provides appropriate control torque according to the instructions of the attitude control system to correct the attitude deviation of the spacecraft or complete a certain predetermined attitude adjustment.

[0003] Generally speaking, there are two commonly used configurations for the flywheel configuration of four momentum wheels: three orthogonal and one oblique and pyramid configuration. In the three orthogonal and one oblique method, only the oblique flywheel needs to be installed through a bracket, and the other three orthogonal flywheels can be directly installed on the satellite cabin board, which can save the weight of the satellite structure and save launch costs. Compared with the three orthogonal plus one oblique method, the pyramid configuration is more flexible, and the momentum wheels are evenly distributed, which can better balance the attitude control requirements of the spacecraft and reduce the risk of system instability caused by the failure of a single momentum wheel. However, the angular momentum direction of each momentum wheel in the pyramid configuration is at a certain angle to the satellite's X-axis, Y-axis, and Z-axis, which brings certain difficulties to the positioning of each momentum wheel on the spacecraft. Summary of the invention

[0004] The purpose of the present application is to provide a pyramid configuration momentum wheel group positioning method, device, equipment, medium and program product in response to at least one technical problem designed in the background technology.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions: One aspect of the present application provides a pyramid configuration momentum wheel group positioning method, comprising: Obtaining a pyramid configuration installation reference according to a first installation angle and a second installation angle of the momentum wheel; The coordinate system where the rectangular bottom surface of the pyramid configuration installation reference is located coincides with the coordinate system where the momentum wheel assembly installation surface on the spacecraft is located; The angular momentum directions of the momentum wheels are arranged one by one in parallel with the side edges of the pyramid configuration installation reference; The included angle between the diagonal line of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle, and the included angles between each of the side edges and the rectangular bottom surface are the second installation angles.

[0006] Optionally, before arranging the angular momentum directions of the momentum wheels in parallel with the side edges of the pyramid configuration installation reference in a one-to-one correspondence, the method further comprises: Each momentum wheel in the momentum wheel group is arranged at a preset position on the mounting surface of the momentum wheel group.

[0007] Optionally, the pyramid-configuration momentum wheel group positioning method provided in the present application, wherein each momentum wheel in the momentum wheel group is arranged at a preset position on the momentum wheel group mounting surface, comprises: Disposing each momentum wheel assembly at a preset position on the momentum wheel assembly mounting surface; Wherein, the momentum wheel assembly comprises a momentum wheel bracket and a momentum wheel installed on the momentum wheel bracket.

[0008] Optionally, before arranging each momentum wheel in the momentum wheel group at a preset position on the momentum wheel group mounting surface, the method further includes: The momentum wheel brackets are obtained according to the second installation angle, and the momentum wheels are installed on the momentum wheel brackets in a one-to-one correspondence.

[0009] Optionally, each of the momentum wheel brackets has the same structure.

[0010] Optionally, acquiring each momentum wheel bracket according to the second installation angle includes: Acquire the bottom surface of the momentum wheel bracket in the coordinate system where the rectangular bottom surface is located, acquire the plane which forms the second installation angle with the bottom surface of the momentum wheel bracket as the momentum wheel installation surface on the momentum wheel bracket, and acquire the angular momentum direction reference straight line which is perpendicular to the momentum wheel installation surface; Correspondingly, the angular momentum directions of the momentum wheels are arranged one by one in parallel with the side edges of the pyramid configuration installation reference, including: The angular momentum direction reference straight lines are arranged one by one in parallel with the side edges of the pyramid configuration installation reference.

[0011] Another aspect of the present application provides a pyramid-shaped momentum wheel positioning device, comprising: A pyramid configuration installation reference acquisition module, used to acquire a pyramid configuration installation reference according to a first installation angle and a second installation angle of the momentum wheel; A coordinate system coincidence module, used to coincide the coordinate system of the rectangular bottom surface of the pyramid configuration installation reference with the coordinate system of the momentum wheel assembly installation surface on the spacecraft; The angular momentum positioning module is used to set the angular momentum directions of the momentum wheels in parallel with the side edges of the pyramid configuration installation reference in a one-to-one correspondence.

[0012] The third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the pyramid configuration momentum wheel group positioning method provided in the present application when executing the computer program.

[0013] The fourth aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the pyramid configuration momentum wheel group positioning method provided in the present application is implemented.

[0014] The fifth aspect of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the pyramid configuration momentum wheel group positioning method provided in the present application.

[0015] The technical solution provided by this application can achieve at least one of the following beneficial effects: The pyramid configuration momentum wheel group positioning method, device, equipment, medium and program product provided in the present application introduce a pyramid configuration installation reference in the process of positioning each momentum wheel in the momentum wheel group, and realize the positioning of the angular momentum direction of each momentum wheel by determining the positional relationship between the pyramid configuration installation reference and the momentum wheel group mounting surface on the spacecraft, and determining the positional relationship between the pyramid configuration installation reference and the angular momentum direction of each momentum wheel, thereby reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group.

[0016] The additional technical features and advantages of the present application will be more clearly explained in the following description, or can be understood through the specific practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the specific implementation methods of the present application, the following is a brief introduction to the drawings required for the description of the specific implementation methods. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A schematic diagram of a process flow of a pyramid configuration momentum wheel assembly positioning method provided in an embodiment of the present application; Figure 2 A schematic diagram of the principle of a pyramid configuration provided in an embodiment of the present application; Figure 3 A schematic diagram of the relationship between the angular momentum direction of each momentum wheel and the first installation angle in a pyramid-shaped momentum wheel set provided in an embodiment of the present application; Figure 4 A schematic diagram of the relationship between the angular momentum direction of each momentum wheel and the second installation angle in a pyramid-shaped momentum wheel set provided in an embodiment of the present application; Figure 5 A schematic diagram of a momentum wheel bracket obtained by using a pyramid-configuration momentum wheel assembly positioning method provided by the present application; Figure 6 A schematic diagram of a momentum wheel assembly obtained by using a pyramid-shaped momentum wheel assembly positioning method provided by the present application; Figure 7 A schematic diagram of a pyramid configuration installation reference obtained by using a pyramid configuration momentum wheel assembly positioning method provided by the present application; Figure 8 A schematic diagram showing that the coordinate system of the rectangular bottom surface of the pyramid configuration installation reference obtained by using a pyramid configuration momentum wheel group positioning method provided by the present application coincides with the coordinate system of the momentum wheel group installation surface on the spacecraft; Fig. 9 A schematic diagram of a positional relationship of each momentum wheel assembly after positioning using a pyramid-configuration momentum wheel assembly positioning method provided by the present application; Fig.10 A schematic diagram of another positional relationship of each momentum wheel assembly after positioning using a pyramid-configuration momentum wheel assembly positioning method provided by the present application; Fig.11 A schematic structural diagram of an implementation scheme of a pyramid-configuration momentum wheel positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical solution of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0020] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0021] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0022] In order to solve the problem that the angular momentum direction of each momentum wheel in the pyramid configuration is at a certain angle to the satellite's X-axis, Y-axis and Z-axis, which brings certain difficulties to the positioning of each momentum wheel on the spacecraft, the embodiments of the present application respectively provide a pyramid configuration momentum wheel group positioning method, device, equipment, medium and program product, which can reduce the difficulty of positioning the pyramid configuration momentum wheel group and improve the installation efficiency of the pyramid configuration momentum wheel group.

[0023] The details are described in detail through the following examples.

[0024] like Figure 1 As shown, one aspect of the present application provides a pyramid configuration momentum wheel group positioning method, comprising: Step 100: Obtaining a pyramid configuration installation reference C1 according to a first installation angle β1 and a second installation angle β2 of the momentum wheel A; Step 200: The coordinate system where the rectangular bottom surface of the pyramid configuration installation reference C1 is located coincides with the coordinate system where the momentum wheel assembly installation surface C2 on the spacecraft is located; specifically, Figure 8 As shown, in the three-dimensional design software, the pyramid configuration installation reference C1 is imported into the model of the spacecraft (such as a satellite, etc.); Step 300: Arrange the angular momentum directions of the momentum wheels A in parallel with the side edges of the pyramid configuration installation reference C1 in a one-to-one correspondence; The included angle between the diagonal line of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle β1, and the included angle between each of the side edges and the rectangular bottom surface is the second installation angle β2.

[0025] It can be understood that the first installation angle β1 and the second installation angle β2 of the momentum wheel A determine the angular momentum direction of the momentum wheel A. The specific values ​​of the first installation angle β1 and the second installation angle β2 of the momentum wheel A are calculated by the attitude control subsystem based on the angular momentum of the momentum wheel A, the rotational inertia of the satellite and the attitude maneuvering requirements of the satellite; once the first installation angle β1 and the second installation angle β2 of one momentum wheel A are determined, the first installation angles β1 and the second installation angles β2 of several other momentum wheels A can be indirectly obtained.

[0026] In the embodiment of the present application, the pyramid configuration installation reference C1 is a complete quadrangular pyramid or a quadrangular pyramid with part of the top removed. The side of the complete quadrangular pyramid is a triangle, and the side of the quadrangular pyramid with the top removed is a trapezoid. This structure makes the pyramid configuration installation reference C1 stable and symmetrical. Figure 2 As shown, the specific shape of the pyramid configuration installation reference C1 is determined by two angles: one is the angle that determines the specific shape of the rectangle formed by the rectangular bottom surface, and the other is the angle formed by the side edge and the rectangular bottom surface, so that the angle between the diagonal of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle β1 of the momentum wheel A, and the angles between each side edge and the rectangular bottom surface are the second installation angle β2 of the momentum wheel A, then the specific shape of the pyramid configuration installation reference C1 can be determined.

[0027] In one embodiment of the present application, Figure 3 and Figure 4 As shown, the first installation angle β1 of each momentum wheel A (the angular momentums of the four momentum wheels A are represented by RWA#1, RWA#2, RWA#3 and RWA#4 respectively) is 70°, and the second installation angle β2 is 30°. According to the first installation angle β1 and the second installation angle β2, the following is obtained: Figure 7 The pyramid configuration installation reference C1 is shown, and the four side edges of the pyramid configuration installation reference C1 are represented by C11, C12, C13 and C14 respectively.

[0028] The pyramid configuration momentum wheel group positioning method provided in the present application introduces a pyramid configuration installation reference C1 in the process of positioning each momentum wheel A in the momentum wheel group, and realizes the positioning of the angular momentum direction of each momentum wheel A by determining the positional relationship between the pyramid configuration installation reference C1 and the momentum wheel group installation surface C2 on the spacecraft, and determining the positional relationship between the pyramid configuration installation reference C1 and the angular momentum direction of each momentum wheel A, thereby reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group; at the same time, when the first installation angle β1 and the second installation angle β2 of the momentum wheel A change due to the angular momentum of the momentum wheel A, the rotational inertia of the satellite and the attitude maneuvering requirements of the satellite, it is only necessary to draw the pyramid configuration installation reference C1 according to the re-determined first installation angle β1 and the second installation angle β2, and then perform auxiliary positioning of each momentum wheel A according to the pyramid configuration installation reference C1, thereby achieving the purpose of quickly positioning the angular momentum direction of each momentum wheel A after the pyramid configuration momentum wheel group design is modified, and improving production efficiency.

[0029] In order to further reduce the difficulty of positioning the pyramid configuration momentum wheel set and improve the installation efficiency of the pyramid configuration momentum wheel set, the pyramid configuration momentum wheel set positioning method provided in the present application further includes before step 300: Step 400: disposing each momentum wheel A in the momentum wheel set at a preset position on the momentum wheel set mounting surface C2.

[0030] In order to further reduce the difficulty of positioning the pyramid-shaped momentum wheel set and improve the installation efficiency of the pyramid-shaped momentum wheel set, Figure 5 and Figure 6 As shown, in the pyramid configuration momentum wheel assembly positioning method provided in the present application, step 400 includes: Step 410: disposing each momentum wheel assembly B at a preset position on the momentum wheel assembly mounting surface C2; The momentum wheel assembly B includes a momentum wheel bracket Z1 and a momentum wheel A installed on the momentum wheel bracket Z1.

[0031] In order to further reduce the difficulty of positioning the pyramid configuration momentum wheel set and improve the installation efficiency of the pyramid configuration momentum wheel set, the pyramid configuration momentum wheel set positioning method provided in the present application further includes before step 400: Step 500: Acquire each of the momentum wheel brackets Z1 according to the second installation angle β2, and install each of the momentum wheels A on each of the momentum wheel brackets Z1 in a one-to-one correspondence.

[0032] Optionally, each of the momentum wheel brackets Z1 has the same structure. In this way, the types of momentum wheel brackets Z1 can be reduced, the design workload and complexity can be reduced, and the momentum wheel bracket Z1 can be quickly and accurately designed using standard design and installation steps, with high installation accuracy, and the installation position of the momentum wheel A on the satellite can be easily adjusted.

[0033] In order to further reduce the difficulty of positioning the pyramid configuration momentum wheel set and improve the installation efficiency of the pyramid configuration momentum wheel set, in the pyramid configuration momentum wheel set positioning method provided in the present application, the step 500 includes: Step 510: acquiring the bottom surface of the momentum wheel bracket Z1 in the coordinate system where the rectangular bottom surface is located, acquiring the plane which forms the second installation angle β2 with the bottom surface of the momentum wheel bracket Z1 as the momentum wheel installation surface Z11 on the momentum wheel bracket Z1, and acquiring the angular momentum direction reference straight line R1 which is perpendicular to the momentum wheel installation surface Z11; Accordingly, step 300 includes: Step 310: Arrange each of the angular momentum direction reference straight lines R1 in parallel with each side edge of the pyramid configuration installation reference C1 in a one-to-one correspondence.

[0034] In this way, the momentum wheel installation surface Z11 and the angular momentum direction reference line R1 can be obtained according to the second installation angle β2, so as to facilitate the angular momentum direction reference line R1 to be set parallel to the corresponding side edge, and locate the angular momentum direction of the momentum wheel A. Fig. 9 and Fig.10 Two embodiments of positioning a momentum wheel set are completed by using the pyramid configuration momentum wheel set positioning method provided by the present application.

[0035] The pyramid configuration momentum wheel group positioning method provided in the present application is preferably applied to three-dimensional drawing software.

[0036] like Fig.11 As shown, from the software level, another aspect of the present application provides a pyramid configuration momentum wheel group positioning device, and the pyramid configuration momentum wheel group positioning device specifically includes the following contents: A pyramid configuration installation reference C1 acquisition module 10, for acquiring a pyramid configuration installation reference C1 according to a first installation angle β1 and a second installation angle β2 of the momentum wheel A; A coordinate system coincidence module 20 is used to coincide the coordinate system where the rectangular bottom surface of the pyramid configuration installation reference C1 is located with the coordinate system where the momentum wheel assembly installation surface C2 on the spacecraft is located; The angular momentum positioning module 30 is used to set the angular momentum directions of the momentum wheels A in parallel with the side edges of the pyramid configuration installation reference C1 in a one-to-one correspondence.

[0037] The embodiment of the pyramid configuration momentum wheel group positioning device provided in the present application can be specifically used to execute the processing flow of the embodiment of the pyramid configuration momentum wheel group positioning method in the above-mentioned embodiment. Its functions will not be repeated here, and reference can be made to the detailed description of the above-mentioned pyramid configuration momentum wheel group positioning method embodiment.

[0038] The part of the pyramid configuration momentum wheel group positioning device that performs momentum wheel group positioning can be completed in the server or client device. Specifically, it can be selected according to the processing capacity of the client device and the limitations of the user's usage scenario. This application is not limited to this. If all operations are completed in the client device, the client device can also include a processor for specific processing of the satellite momentum wheel bracket Z1 design.

[0039] The client device may have a communication module (i.e., a communication unit) that can communicate with a remote server to achieve data transmission with the server. The server may include a server on the task scheduling center side, and other implementation scenarios may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0040] The server and the client device may communicate with each other using any suitable network protocol, including network protocols that have not yet been developed on the date of filing this application. The network protocols may include, for example, TCP / IP, UDP / IP, HTTP, HTTPS, etc. Of course, the network protocols may also include, for example, RPC (Remote Procedure Call Protocol) and REST (Representational State Transfer) protocols used on top of the above protocols.

[0041] From the above description, it can be seen that the pyramid configuration momentum wheel group positioning device provided in the embodiment of the present application can introduce a pyramid configuration installation reference in the process of positioning each momentum wheel in the momentum wheel group, and by determining the positional relationship between the pyramid configuration installation reference and the momentum wheel group installation surface on the spacecraft, and determining the positional relationship between the pyramid configuration installation reference and the angular momentum direction of each momentum wheel, the angular momentum direction of each momentum wheel is positioned, thereby reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group.

[0042] The present application also provides an electronic device, which may include a processor, a memory, a receiver and a transmitter, wherein the processor is used to execute the pyramid configuration momentum wheel group positioning method mentioned in the above embodiment, wherein the processor and the memory may be connected via a bus or other means, such as by bus connection. The receiver may be connected to the processor and the memory via a wired or wireless manner.

[0043] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or a combination of the above chips.

[0044] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs, non-transient computer executable programs and modules, such as the program instructions / modules corresponding to the pyramid configuration momentum wheel group positioning method in the embodiment of the present application. The processor executes various functional applications and data processing of the processor by running the non-transient software programs, instructions and modules stored in the memory, that is, the pyramid configuration momentum wheel group positioning method in the above method embodiment is realized.

[0045] The memory may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created by the processor, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include a memory remotely arranged relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0046] The one or more modules are stored in the memory, and when executed by the processor, the pyramid configuration momentum wheelset positioning method in the embodiment is performed.

[0047] In some embodiments of the present application, the user equipment may include a processor, a memory, and a transceiver unit, which may include a receiver and a transmitter. The processor, memory, receiver, and transmitter may be connected through a bus system. The memory is used to store computer instructions, and the processor is used to execute the computer instructions stored in the memory to control the transceiver unit to send and receive signals.

[0048] As an implementation method, the functions of the receiver and the transmitter in the present application can be considered to be implemented through a transceiver circuit or a dedicated chip for transceiver, and the processor can be considered to be implemented through a dedicated processing chip, a processing circuit or a general chip.

[0049] As another implementation method, it is possible to use a general-purpose computer to implement the server provided in the embodiment of the present application, that is, to store the program code for implementing the functions of the processor, receiver, and transmitter in a memory, and the general-purpose processor implements the functions of the processor, receiver, and transmitter by executing the code in the memory.

[0050] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the aforementioned pyramid configuration momentum wheel group positioning method are implemented. The computer-readable storage medium can be a tangible storage medium, such as a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a floppy disk, a hard disk, a removable storage disk, a CD-ROM, or any other form of storage medium known in the technical field.

[0051] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed by a processor, implements the steps of the aforementioned pyramid configuration momentum wheel group positioning method.

[0052] It should be understood by those skilled in the art that the exemplary components, systems and methods described in conjunction with the embodiments disclosed herein can be implemented in hardware, software or a combination of the two. Whether it is performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A pyramid configuration momentum wheel positioning method, characterized in that: include: Obtaining a pyramid configuration installation reference according to a first installation angle and a second installation angle of the momentum wheel; The coordinate system where the rectangular bottom surface of the pyramid configuration installation reference is located coincides with the coordinate system where the momentum wheel assembly installation surface on the spacecraft is located; The angular momentum directions of the momentum wheels are arranged one by one in parallel with the side edges of the pyramid configuration installation reference; The included angle between the diagonal line of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle, and the included angles between each of the side edges and the rectangular bottom surface are the second installation angles.

2. The pyramid configuration momentum wheel group positioning method according to claim 1, characterized in that: Before arranging the angular momentum directions of the momentum wheels in parallel with the side edges of the pyramid configuration installation reference in a one-to-one correspondence, the method further comprises: Each momentum wheel in the momentum wheel group is arranged at a preset position on the mounting surface of the momentum wheel group.

3. The pyramid configuration momentum wheel group positioning method according to claim 2, characterized in that: The step of arranging each momentum wheel in the momentum wheel group at a preset position on the mounting surface of the momentum wheel group comprises: Disposing each momentum wheel assembly at a preset position on the momentum wheel assembly mounting surface; Wherein, the momentum wheel assembly comprises a momentum wheel bracket and a momentum wheel installed on the momentum wheel bracket.

4. The pyramid configuration momentum wheel group positioning method according to claim 3, characterized in that: Before arranging each momentum wheel in the momentum wheel group at a preset position on the momentum wheel group mounting surface, the method further includes: The momentum wheel brackets are obtained according to the second installation angle, and the momentum wheels are installed on the momentum wheel brackets in a one-to-one correspondence.

5. The pyramid configuration momentum wheel group positioning method according to claim 4, characterized in that: The momentum wheel brackets have the same structure.

6. The pyramid configuration momentum wheel group positioning method according to claim 5, characterized in that: The step of obtaining each momentum wheel bracket according to the second installation angle includes: Acquire the bottom surface of the momentum wheel bracket in the coordinate system where the rectangular bottom surface is located, acquire the plane which forms the second installation angle with the bottom surface of the momentum wheel bracket as the momentum wheel installation surface on the momentum wheel bracket, and acquire the angular momentum direction reference straight line which is perpendicular to the momentum wheel installation surface; Correspondingly, the angular momentum directions of the momentum wheels are arranged one by one in parallel with the side edges of the pyramid configuration installation reference, including: The angular momentum direction reference straight lines are arranged one by one in parallel with the side edges of the pyramid configuration installation reference.

7. A pyramid-shaped momentum wheel positioning device, characterized in that: include: A pyramid configuration installation reference acquisition module, used to acquire a pyramid configuration installation reference according to a first installation angle and a second installation angle of the momentum wheel; A coordinate system coincidence module, used to coincide the coordinate system of the rectangular bottom surface of the pyramid configuration installation reference with the coordinate system of the momentum wheel assembly installation surface on the spacecraft; The angular momentum positioning module is used to set the angular momentum directions of the momentum wheels in parallel with the side edges of the pyramid configuration installation reference in a one-to-one correspondence.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the pyramid configuration momentum wheel group positioning method as described in any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the pyramid configuration momentum wheel group positioning method as described in any one of claims 1 to 6 is implemented.

10. Computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the pyramid configuration momentum wheel group positioning method as described in any one of claims 1 to 6 is implemented.

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