Pyramid Configuration Momentum Wheel Group Positioning Method, Device, Equipment, Medium and Program Product

Abstract

This application relates to the field of aerospace technology. Specifically, it relates to a positioning method, device, equipment, medium and program product for a pyramid configuration momentum wheel set, including: obtaining a pyramid configuration installation reference according to the first installation angle and the second installation angle of the momentum wheel; making the coordinate system where the rectangular bottom surface of the pyramid configuration installation reference coincides with the coordinate system of the momentum wheel set installation surface on the spacecraft; arranging the angular momentum directions of each momentum wheel in one-to-one correspondence and parallel to each side edge of the pyramid configuration installation reference; wherein, the included angle between the diagonal of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle, and the included angle between each side edge and the rectangular bottom surface is the second installation angle. The purpose of this application is to provide a positioning method, device, equipment, medium and program product for a pyramid configuration momentum wheel set for 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 group. Background Art

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

[0003] Generally speaking, there are two common configuration methods for the flywheel configuration of four momentum wheels: three orthogonal and one obliquely installed, and pyramid configuration. In the three orthogonal and one obliquely installed method, only the obliquely installed 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 satellite structure weight and reduce the launch cost. The pyramid configuration is more flexible than the three orthogonal plus one obliquely installed method, 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, in the pyramid configuration, the angular momentum direction of each momentum wheel forms a certain angle with the satellite 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 method, device, equipment, medium and program product for positioning a pyramid configuration momentum wheel group for at least one technical problem designed in the background art.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] One aspect of the present application provides a method for positioning a pyramid configuration momentum wheel group, including:

[0007] Obtaining a pyramid configuration installation reference according to the first installation angle and the second installation angle of the momentum wheel;

[0008] Coinciding the coordinate system where the rectangular bottom surface of the pyramid configuration installation reference is located with the coordinate system where the momentum wheel group installation surface on the spacecraft is located;

[0009] Arranging the angular momentum directions of the momentum wheels in one-to-one correspondence with the side edges of the pyramid configuration installation reference;

[0010] Wherein, the included angle between the diagonal of the rectangular bottom surface and one side of the rectangular bottom surface is the first installation angle, and the included angle between each side edge and the rectangular bottom surface is the second installation angle.

[0011] Optionally, before setting the angular momentum directions of the momentum wheels to be parallel to the respective side edges of the pyramid configuration installation reference one by one, the following steps are further included:

[0012] Set each momentum wheel in the momentum wheel group at a preset position on the momentum wheel group installation surface.

[0013] Optionally, in the method for positioning a pyramid configuration momentum wheel group provided by the present application, the step of setting each momentum wheel in the momentum wheel group at a preset position on the momentum wheel group installation surface includes:

[0014] Set each momentum wheel assembly at a preset position on the momentum wheel group installation surface;

[0015] Wherein, the momentum wheel assembly includes a momentum wheel bracket and a momentum wheel installed on the momentum wheel bracket.

[0016] Optionally, before setting each momentum wheel in the momentum wheel group at a preset position on the momentum wheel group installation surface, the following steps are further included:

[0017] Obtain each momentum wheel bracket according to the second installation angle, and install each momentum wheel on each momentum wheel bracket in one-to-one correspondence.

[0018] Optionally, the structures of all the momentum wheel brackets are the same.

[0019] Optionally, the step of obtaining each momentum wheel bracket according to the second installation angle includes:

[0020] Obtain the bottom surface of the momentum wheel bracket in the coordinate system where the rectangular bottom surface is located, obtain the plane that 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 obtain the angular momentum direction reference line perpendicular to the momentum wheel installation surface;

[0021] Correspondingly, the step of setting the angular momentum directions of the momentum wheels to be parallel to the respective side edges of the pyramid configuration installation reference one by one includes:

[0022] Set each angular momentum direction reference line to be parallel to the respective side edges of the pyramid configuration installation reference one by one.

[0023] Another aspect of the present application provides a device for positioning a pyramid configuration momentum wheel group, including:

[0024] A pyramid configuration installation reference acquisition module, configured to acquire a pyramid configuration installation reference according to the first installation angle and the second installation angle of the momentum wheel;

[0025] A coordinate system coincidence module, configured to coincide the coordinate system where the rectangular bottom surface of the pyramid configuration installation reference is located with the coordinate system where the momentum wheel group installation surface on the spacecraft is located;

[0026] An angular momentum positioning module, configured to set the angular momentum directions of the respective momentum wheels to be parallel to the respective side edges of the pyramid configuration installation reference one by one.

[0027] A third aspect of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the pyramid configuration momentum wheel group positioning method provided by the present application is implemented.

[0028] A fourth aspect of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the pyramid configuration momentum wheel group positioning method provided by the present application is implemented.

[0029] A fifth aspect of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, the pyramid configuration momentum wheel group positioning method provided by the present application is implemented.

[0030] The technical solution provided by the present application can achieve at least one of the following beneficial effects:

[0031] In the pyramid configuration momentum wheel group positioning method, device, equipment, medium, and program product provided by the present application, a pyramid configuration installation reference is introduced during 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 directions of the respective momentum wheels, the positioning of the angular momentum directions of the respective momentum wheels is achieved, thereby reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group.

[0032] The additional technical features and their advantages of the present application will be more clearly described in the following description content, or can be understood through the specific practice of the present application. Description of the Drawings

[0033] In order to more clearly illustrate the technical solutions of the specific embodiments of the present application, the drawings required for the description of the specific embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0034] Figure 1Schematic flowchart of a positioning method for a pyramid configuration momentum wheel set provided by an embodiment of the present application;

[0035] Figure 2 Schematic diagram of the principle of a pyramid configuration provided by an embodiment of the present application;

[0036] Figure 3 Schematic diagram of the relationship between the angular momentum directions of each momentum wheel and the first installation angle in a pyramid configuration momentum wheel set provided by an embodiment of the present application;

[0037] Figure 4 Schematic diagram of the relationship between the angular momentum directions of each momentum wheel and the second installation angle in a pyramid configuration momentum wheel set provided by an embodiment of the present application;

[0038] Figure 5 Schematic diagram of the momentum wheel bracket obtained by using a positioning method for a pyramid configuration momentum wheel set provided by the present application;

[0039] Figure 6 Schematic diagram of the momentum wheel assembly obtained by using a positioning method for a pyramid configuration momentum wheel set provided by the present application;

[0040] Figure 7 Schematic diagram of the pyramid configuration installation reference obtained by using a positioning method for a pyramid configuration momentum wheel set provided by the present application;

[0041] Figure 8 Schematic diagram of the coincidence of the coordinate system of the rectangular bottom surface of the pyramid configuration installation reference obtained by using a positioning method for a pyramid configuration momentum wheel set provided by the present application and the coordinate system of the momentum wheel set installation surface on the spacecraft;

[0042] Figure 9 Schematic diagram of a positional relationship of each momentum wheel assembly after positioning by using a positioning method for a pyramid configuration momentum wheel set provided by the present application;

[0043] Figure 10 Schematic diagram of another positional relationship of each momentum wheel assembly after positioning by using a positioning method for a pyramid configuration momentum wheel set provided by the present application;

[0044] Figure 11 Schematic diagram of a structural implementation of a positioning device for a pyramid configuration momentum wheel set provided by an embodiment of the present application. Detailed implementation manners

[0045] The technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the protection scope of the present application.

[0046] In the description of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is 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 should not be construed as a limitation to the present application. In addition, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0047] In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0048] In order to solve the problem that the angular momentum direction of each momentum wheel in the pyramid configuration forms a certain angle with the X-axis, Y-axis, and Z-axis of the satellite, which brings certain difficulties to the positioning of each momentum wheel on the spacecraft, the embodiments of the present application respectively provide a positioning method, device, equipment, medium, and program product for the pyramid configuration momentum wheel group, which can achieve the purpose of reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group.

[0049] Specifically, it will be described in detail through the following embodiments.

[0050] As Figure 1 shown, one aspect of the present application provides a positioning method for a pyramid configuration momentum wheel group, including:

[0051] Step 100: Obtain a pyramid configuration installation reference C1 according to the first installation angle β1 and the second installation angle β2 of the momentum wheel A;

[0052] Step 200: 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 group installation surface C2 on the spacecraft is located; Specifically, as Figure 8As shown, in a 3D design software, a pyramid configuration installation reference C1 is imported into a spacecraft (such as a satellite) model;

[0053] Step 300: Set the angular momentum directions of each of the momentum wheels A to be parallel to the respective side edges of the pyramid configuration installation reference C1 one by one;

[0054] Wherein, the included angle between the diagonal of the rectangular base and one side of the rectangular base is the first installation angle β1, and the included angle between each side edge and the rectangular base is the second installation angle β2.

[0055] 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 moment of 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 angle β1 and the second installation angle β2 of the other several momentum wheels A can be obtained indirectly.

[0056] In the embodiment of the present application, the pyramid configuration installation reference C1 is a complete quadrangular pyramid or a quadrangular pyramid with a part of the top removed. The side surfaces of the complete quadrangular pyramid are triangles, and the side surfaces of the quadrangular pyramid with the top removed are trapezoids. This structure makes the pyramid configuration installation reference C1 have stability and symmetry. As Figure 2 shown, the specific shape of the pyramid configuration installation reference C1 is determined by two included angles: one is the angle that determines the specific shape of the rectangle formed by the rectangular base, and the other is the angle between the side edge and the rectangular base. Make the included angle between the diagonal of the rectangular base and one side of the rectangular base be the first installation angle β1 of the momentum wheel A, and make the included angle between each side edge and the rectangular base be the second installation angle β2 of the momentum wheel A, then the specific shape of the pyramid configuration installation reference C1 can be determined.

[0057] In an embodiment of the present application, as Figure 3 and Figure 4 shown, the first installation angle β1 of each momentum wheel A (the angular momenta of the four momentum wheels A are respectively represented by RWA#1, RWA#2, RWA#3, and RWA#4) is 70°, and the second installation angle β2 is 30°. According to this first installation angle β1 and the second installation angle β2, the pyramid configuration installation reference C1 as shown in Figure 7 is obtained. The four side edges of the pyramid configuration installation reference C1 are respectively represented by C11, C12, C13, and C14.

[0058] The pyramid configuration momentum wheel group positioning method provided by this application introduces the pyramid configuration installation reference C1 during the positioning process of each momentum wheel A in the momentum wheel group. 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 directions of each momentum wheel A, the positioning of the angular momentum directions of each momentum wheel A is achieved, 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 moment of inertia of the satellite, and the satellite's attitude maneuvering requirements, only the pyramid configuration installation reference C1 needs to be drawn according to the newly determined first installation angle β1 and the second installation angle β2, and then each momentum wheel A can be assisted in positioning according to this pyramid configuration installation reference C1, thereby achieving the purpose of quickly positioning the angular momentum directions of each momentum wheel A after the design modification of the pyramid configuration momentum wheel group and improving the production efficiency.

[0059] In order to further reduce the positioning difficulty of the pyramid configuration momentum wheel group and improve the installation efficiency of the pyramid configuration momentum wheel group, in the pyramid configuration momentum wheel group positioning method provided by this application, before step 300, it further includes:

[0060] Step 400: Set each momentum wheel A in the momentum wheel group at a preset position on the momentum wheel group installation surface C2.

[0061] In order to further reduce the positioning difficulty of the pyramid configuration momentum wheel group and improve the installation efficiency of the pyramid configuration momentum wheel group, as Figure 5 and Figure 6 shown, in the pyramid configuration momentum wheel group positioning method provided by this application, step 400 includes:

[0062] Step 410: Set each momentum wheel assembly B at a preset position on the momentum wheel group installation surface C2;

[0063] wherein, the momentum wheel assembly B includes a momentum wheel bracket Z1 and a momentum wheel A installed on the momentum wheel bracket Z1.

[0064] In order to further reduce the positioning difficulty of the pyramid configuration momentum wheel group and improve the installation efficiency of the pyramid configuration momentum wheel group, in the pyramid configuration momentum wheel group positioning method provided by this application, before the step 400, it further includes:

[0065] Step 500: Obtain each momentum wheel bracket Z1 according to the second installation angle β2, and install each momentum wheel A on each momentum wheel bracket Z1 one by one.

[0066] Optionally, each of the momentum wheel brackets Z1 has the same structure. In this way, the types of the momentum wheel brackets Z1 can be reduced, the design workload and complexity can be decreased, and the momentum wheel brackets Z1 can be designed quickly and accurately using standard design and installation steps, with high installation accuracy and convenient adjustment of the installation position of the momentum wheel A on the satellite.

[0067] In order to further reduce the positioning difficulty of 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 this application, the step 500 includes:

[0068] Step 510: Obtain the bottom surface of the momentum wheel bracket Z1 in the coordinate system where the rectangular bottom surface is located, obtain the plane that 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 obtain the angular momentum direction reference line R1 perpendicular to the momentum wheel installation surface Z11;

[0069] Correspondingly, the step 300 includes:

[0070] Step 310: Set each of the angular momentum direction reference lines R1 to be parallel to each side edge of the pyramid configuration installation reference C1 one by one.

[0071] 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, and then it is convenient to set the angular momentum direction reference line R1 to be parallel to the corresponding side edge to position the angular momentum direction of the momentum wheel A. As Figure 9 and Figure 10 are two embodiments in which the momentum wheel set is positioned by using the pyramid configuration momentum wheel set positioning method provided in this application.

[0072] The pyramid configuration momentum wheel set positioning method provided in this application is preferably applied to three-dimensional drawing software.

[0073] As Figure 11 shown, from the software level, another aspect of this application provides a pyramid configuration momentum wheel set positioning device, and the pyramid configuration momentum wheel set positioning device specifically includes the following:

[0074] A pyramid configuration installation reference C1 acquisition module 10, configured to acquire the pyramid configuration installation reference C1 according to the first installation angle β1 and the second installation angle β2 of the momentum wheel A;

[0075] A coordinate system coincidence module 20, configured 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 set installation surface C2 on the spacecraft is located;

[0076] The angular momentum positioning module 30 is configured to set the angular momentum directions of the momentum wheels A in one-to-one correspondence with the side edges of the pyramid configuration mounting reference C1 in parallel.

[0077] The embodiment of the pyramid configuration momentum wheel set positioning device provided in this application can specifically be used to execute the processing flow of the embodiment of the pyramid configuration momentum wheel set positioning method in the above embodiment. Its functions will not be elaborated here, and reference can be made to the detailed description of the embodiment of the pyramid configuration momentum wheel set positioning method above.

[0078] The part of the pyramid configuration momentum wheel set positioning device for momentum wheel set positioning can be completed in the server or the client device. Specifically, it can be selected according to the processing capacity of the client device and the limitations of the user usage scenario, etc. This application does not make any limitations in this regard. If all operations are completed in the client device, the client device may further include a processor for specific processing of the satellite momentum wheel bracket Z1 design.

[0079] The above-mentioned client device may have a communication module (i.e., communication unit), which 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. In other implementation scenarios, it may also include a server on an intermediate platform, such as a server on a third-party server platform having a communication link with the task scheduling center server. The server may include a single computer device, or a server cluster composed of multiple servers, or a server structure of a distributed device.

[0080] Any suitable network protocol can be used for communication between the above-mentioned server and the client device side, including network protocols not yet developed on the filing date of this application. The network protocol may, for example, include TCP / IP protocol, UDP / IP protocol, HTTP protocol, HTTPS protocol, etc. Of course, the network protocol may also, for example, include RPC protocol (Remote Procedure Call Protocol) and REST protocol (Representational State Transfer) used on top of the above protocols, etc.

[0081] As can be seen from the above description, the pyramid configuration momentum wheel group positioning device provided by the embodiments of the present application can introduce a pyramid configuration installation reference during the positioning of each momentum wheel in the momentum wheel group, and by determining the positional relationship between the pyramid configuration installation reference and the installation surface of the momentum wheel group on the spacecraft, and determining the positional relationship between the pyramid configuration installation reference and the angular momentum directions of each momentum wheel, the positioning of the angular momentum directions of each momentum wheel is achieved, thereby reducing the difficulty of positioning the pyramid configuration momentum wheel group and improving the installation efficiency of the pyramid configuration momentum wheel group.

[0082] The embodiments of the present application also provide an electronic device, which may include a processor, a memory, a receiver, and a transmitter. The processor is used to execute the pyramid configuration momentum wheel group positioning method mentioned in the above embodiments. The processor and the memory may be connected through a bus or other means. Taking the connection through the bus as an example. The receiver can be connected to the processor and the memory in a wired or wireless manner.

[0083] The processor may be a central processing unit (CPU). The processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. chips, or combinations of the above types of chips.

[0084] The memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the pyramid configuration momentum wheel group positioning method in the embodiments of the present application. The processor executes various functional applications and data processing of the processor by running the non-transitory software programs, instructions, and modules stored in the memory, that is, implementing the pyramid configuration momentum wheel group positioning method in the above method embodiments.

[0085] The memory may include a program storage area and a data storage area. The program storage area may store an operating system and application programs required for at least one function. The data storage area may store data created by the processor and the like. In addition, the memory may include high-speed random access memory and may also include non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor through a network. Examples of the above networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0086] The one or more modules are stored in the memory and, when executed by the processor, implement the pyramid configuration momentum wheel group positioning method in the embodiments.

[0087] In some embodiments of the present application, a user device may include a processor, a memory, and a transceiver unit. The transceiver unit may include a receiver and a transmitter. The processor, the memory, the receiver, and the 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 transmit and receive signals.

[0088] As an implementation manner, the functions of the receiver and the transmitter in the present application may be implemented by considering a transceiver circuit or a dedicated chip for transceiver. The processor may be implemented by considering a dedicated processing chip, a processing circuit, or a general-purpose chip.

[0089] As another implementation manner, it may be considered to use a general-purpose computer to implement the server provided in the embodiments of the present application. That is, program codes for implementing the functions of the processor, the receiver, and the transmitter are stored in the memory, and the general-purpose processor implements the functions of the processor, the receiver, and the transmitter by executing the codes in the memory.

[0090] The embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the foregoing pyramid configuration momentum wheel group positioning method are implemented. The computer-readable storage medium may 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 well-known in the technical field.

[0091] The embodiments of the present application further provide a computer program product, including a computer program. When the computer program is executed by a processor, the steps of the foregoing pyramid configuration momentum wheel group positioning method are implemented.

[0092] Those of ordinary skill in the art should understand that the various exemplary components, systems, and methods described in connection with the embodiments disclosed herein can be implemented in hardware, software, or a combination of both. Specifically, whether to implement in hardware or software depends on the specific application and design constraints of the technical solution. A professional technician can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed 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 functional card, and so on. 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 through a data signal carried in a carrier wave over a transmission medium or a communication link.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them; although this application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and 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 this 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 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 angles between each of the side edges and the rectangular bottom surface are the second installation angles; 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: Arrange each momentum wheel in the momentum wheel set at a preset position on the momentum wheel set mounting surface; 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 mounted on the momentum wheel bracket; 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: Acquire each of the momentum wheel brackets according to the second installation angle, and install each of the momentum wheels on each of the momentum wheel brackets in a one-to-one correspondence; The momentum wheel brackets have the same structure; 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.

2. A pyramid-shaped momentum wheel positioning device, characterized in that: The positioning device is used to perform the pyramid configuration momentum wheel group positioning method according to claim 1, and the positioning device comprises: 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.

3. 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 claimed in claim 1 is implemented.

4. 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 claimed in claim 1 is implemented.

5. A 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 claimed in claim 1 is implemented.

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