Microminiature spacecraft system

Abstract

The invention relates to a microminiature spacecraft system. The microminiature spacecraft system comprises a storage tank, the storage tank is of a semi-surrounding structure, the storage tank comprises an inner wall and an outer wall, the inner wall forms an inner cavity communicated with an opening, and the inner wall and the outer wall are structurally matched to form an outer cavity for containing a propelling working medium; the electronic subsystem comprises a support assembly, a power supply assembly, a camera assembly and a flexible circuit body, the support assembly is arranged in the inner cavity, the power supply assembly and the camera assembly are fixed on the support assembly, and the flexible circuit body comprises a first circuit body, a second circuit body and a circuit connecting part; and the thruster is arranged on the outer wall, and the second circuit body is electrically connected with the thruster. The microminiature spacecraft system provided by the invention is compact in overall structure, light in weight and high in space utilization rate.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a micro-spacecraft system. Background Art

[0002] With the development of aerospace technology, micro-spacecraft have been widely used in fields such as environmental exploration, communication relay, and scientific experiments due to their advantages such as low cost, flexible deployment, and fast mission response. Currently, the structural design of traditional micro-spacecraft mostly adopts a separate layout, with the propulsion system, electronics system, power supply system and other components arranged independently and connected into a whole through mechanical connectors. This results in a large overall weight and volume envelope of the spacecraft, and low space utilization.

[0003] Furthermore, traditional electronics systems often rely on rigid circuit boards and cable connections, which not only increases system weight and assembly complexity, but also presents issues such as a high risk of cable failure and poor heat dissipation. Regarding propulsion systems, thruster layout and fluid pipeline design often suffer from uneven fluid supply and structural redundancy, impacting the spacecraft's attitude and orbit control accuracy and system reliability.

[0004] Furthermore, micro-spacecraft face multiple challenges in the space environment, including radiation, temperature fluctuations, and atomic oxygen corrosion. Existing protective designs struggle to achieve effective protection within lightweight constraints. Therefore, a structurally integrated, highly integrated, and highly reliable micro-spacecraft system is urgently needed to address these technical challenges. Summary of the Invention

[0005] In view of the above problems in the prior art, the present invention proposes a micro-spacecraft system with a compact overall structure, light weight and high space utilization.

[0006] Specifically, the present invention proposes a micro-spacecraft system, comprising:

[0007] A storage tank having a semi-enclosed structure and an opening formed at one end, the storage tank comprising an inner wall and an outer wall, the inner wall forming an inner cavity communicating with the opening, and the inner wall and the outer wall cooperating to form an outer cavity for accommodating a propellant;

[0008] an electronics subsystem comprising a bracket assembly, a power supply assembly, a camera assembly, and a flexible circuit body, wherein the bracket assembly is disposed within the inner cavity, the power supply assembly and the camera assembly are fixed to the bracket assembly, the flexible circuit body comprising a first circuit body, a second circuit body, and a circuit connection portion, the first circuit body wrapping around the bracket assembly and / or the power supply assembly and electrically connected to the power supply assembly and the camera assembly, the second circuit body being affixed to the surface of the outer wall, the circuit connection portion being used to electrically connect the first circuit body and the second circuit body, and the circuit connection portion being affixed to the edge of the opening;

[0009] A thruster is arranged on the outer wall, the second circuit body is electrically connected to the thruster, and the thruster is used to release the propulsion medium to adjust the attitude of the micro-spacecraft system.

[0010] According to one embodiment of the present invention, the bracket assembly includes an electronics support frame and a battery support frame that are structurally connected. The battery support frame is fixed to the bottom of the tank cavity. The battery support frame is used to carry the power supply assembly. The camera assembly is arranged on the electronics support frame.

[0011] The first circuit body is connected to the camera assembly.

[0012] According to one embodiment of the present invention, the camera assembly includes an optical camera and an infrared camera, and lenses of the optical camera and the infrared camera are arranged outside the opening of the storage tank.

[0013] According to one embodiment of the present invention, the flexible circuit body includes a control unit, a power management system, and a posture and navigation system;

[0014] The control unit includes a main control microcontroller and an image processing unit. The main control microcontroller is used to process the signals received by the attitude and navigation system. The image processing unit works in conjunction with the main control microcontroller and is used to process the image data acquired by the camera assembly.

[0015] The power management system supplies power to the entire system through the power supply assembly. The power management system includes a main power supply, a secondary power supply, and an auxiliary power supply. The main power supply is connected to the power supply assembly. The secondary power supply is used to convert the main power supply voltage into different levels of voltage. The auxiliary power supply is used for instantaneous power supply.

[0016] The attitude and navigation system includes an IMU, a magnetometer, a GNSS module and a GPS antenna. The IMU is used to measure the linear acceleration and angular velocity of the system, the magnetometer is used to measure the strength and direction of the geomagnetic field, and the GNSS module and GPS antenna are used to receive satellite signals.

[0017] According to one embodiment of the present invention, the flexible circuit body further includes a communication module, a thruster electronic control interface, and an INA. The communication module is connected to a main control microcontroller, and the main control microcontroller controls the thruster movement through the thruster electronic control interface. The INA is used to monitor the current on the flexible circuit body.

[0018] The micro-spacecraft system further includes a communication antenna, which is disposed on the second circuit body. The communication module transmits and receives data to an external device via the communication antenna.

[0019] According to one embodiment of the present invention, a mounting position is provided on the outer wall for arranging the thruster, and an annular working fluid pipeline is provided on the inner side of the outer wall in the outer cavity. The annular working fluid pipeline is used to connect the outer cavity and the mounting position. The propulsion working fluid in the outer cavity passes through the annular working fluid pipeline and enters the thruster through the mounting position.

[0020] According to one embodiment of the present invention, a connecting working fluid pipeline is provided in the outer cavity, and the connecting working fluid pipeline is used to connect the interior of the outer cavity and the annular working fluid pipeline. An upstream self-locking valve is provided on the connecting working fluid pipeline, and the upstream self-locking valve is used to control the on-off of the connecting working fluid pipeline.

[0021] According to one embodiment of the present invention, four groups of the mounting positions are provided on the circumference of the outer wall, and each group of the mounting positions includes two mounting positions symmetrically arranged along the annular working fluid pipeline;

[0022] A thruster working fluid pipeline and a downstream working fluid manifold are provided in the outer cavity. The thruster working fluid pipeline is used to connect two of the installation positions in a group, and the downstream working fluid manifold is used to connect the annular working fluid pipeline and the thruster working fluid pipeline.

[0023] According to one embodiment of the present invention, a pressure sensor is provided on the outer wall for detecting the internal pressure of the outer cavity;

[0024] A filling valve is provided at the bottom of the outer wall, and the propelling medium is loaded into the outer cavity through the filling valve.

[0025] According to one embodiment of the present invention, the micro-spacecraft system further includes a head protection cover, which cooperates with the opening structure of the storage tank to form a closed cavity containing the inner cavity.

[0026] The present invention provides a micro-spacecraft system in which the storage tank is designed as a semi-enclosed structure, serving as both a structural component and a propulsion medium storage container, thereby greatly improving space utilization and reducing overall weight and volume. Flexible circuit bodies replace traditional rigid circuit boards and cables, further reducing weight and assembly complexity, and lowering the risk of failure.

[0027] It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are included to provide further explanation of the present invention and are incorporated into and constitute a part of this application. The accompanying drawings illustrate embodiments of the present invention and together with the description serve to explain the principle of the present invention.

[0029] In the attached figure:

[0030] Figure 1 A schematic structural diagram of a micro-spacecraft system according to an embodiment of the present invention is shown.

[0031] Figure 2 The figure shows an assembly diagram of a micro-spacecraft system according to an embodiment of the present invention.

[0032] Figure 3 A partial cross-sectional view of a micro-spacecraft system according to an embodiment of the present invention is shown.

[0033] Figure 4 A schematic structural diagram of an electronic subsystem according to an embodiment of the present invention is shown.

[0034] Figure 5 A schematic diagram illustrating the assembly of an electronic subsystem according to an embodiment of the present invention is shown.

[0035] Figure 6 A front view schematically shows a flexible circuit body in an unfolded and flattened state according to an embodiment of the present invention.

[0036] Figure 7 The figure shows a reverse side schematic diagram of a flexible circuit body in an unfolded and flattened state according to an embodiment of the present invention.

[0037] Figure 8 A cross-sectional view of a storage tank according to one embodiment of the present invention is shown.

[0038] Figure 9 A schematic structural diagram of a storage tank according to an embodiment of the present invention is shown.

[0039] Figure 10 yes Figure 9 A partial enlarged schematic diagram.

[0040] The above drawings include the following reference numerals:

[0041] Micro-Spacecraft System 100

[0042] Storage Tanks 101

[0043] Electronics Subsystem 102

[0044] Thruster 103

[0045] Inner wall 104

[0046] Outer wall 105

[0047] Inner cavity 106

[0048] External cavity 107

[0049] Bracket assembly 108

[0050] Power supply assembly 109

[0051] Camera assembly 110

[0052] Flexible circuit body 111

[0053] First circuit body 112

[0054] Second circuit body 113 Circuit connection portion 114 Electronics support frame 115 Battery support frame 116 Optical Camera 117 Infrared camera 118 Main control microcontroller 119 Image processing unit 120 Main power supply 121 Secondary power supply 122 Auxiliary power supply 123 IMU 124 Magnetometer 125 GNSS Module 126 GPS Antenna 127 Communication module 128 Thruster electronic control interface 129 INA 130 Communication antenna 131 MOS tube 132 Camera interface 133 USB port 134 Magnetic charging port 135 Safety switch 136 Installation position 137 Annular working fluid pipeline 138 Connect working fluid pipeline 139 Upstream self-locking valve 140 Thruster working fluid pipeline 141 Downstream working fluid manifold 142

[0055] Pressure sensor 143

[0056] Filling valve 144

[0057] Head protection cover 145

[0058] Power interface 146

[0059] Pad 147 DETAILED DESCRIPTION

[0060] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0061] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, rather than all embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present application and its application or use. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0062] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0063] Unless otherwise specified, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. Technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, and therefore, once an item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0064] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0065] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is solely for the purpose of distinguishing the corresponding components. Unless otherwise stated, these terms have no special meaning and therefore should not be construed as limiting the scope of protection of this application. Furthermore, while the terms used in this application are selected from commonly known and commonly used terms, some terms mentioned in this specification may have been selected by the applicant at his or her discretion, and their detailed meanings are explained in the relevant sections of this description. Furthermore, this application should be understood not only by the actual terms used, but also by the meaning implied by each term.

[0066] Figure 1 A schematic structural diagram of a micro-spacecraft system according to an embodiment of the present invention is shown. Figure 2 The figure shows an assembly diagram of a micro-spacecraft system according to an embodiment of the present invention. Figure 3 A partial cross-sectional view of a micro-spacecraft system according to an embodiment of the present invention is shown. As shown in the figure, a micro-spacecraft system 100 mainly includes a tank 101 , an electronic subsystem 102 and a thruster 103 .

[0067] The storage tank 101 adopts a semi-enclosed structure design with an opening formed at one end. The storage tank 101 is composed of an inner wall 104 and an outer wall 105 to form a double cavity structure. The inner wall 104 encloses an inner cavity 106 connected to the opening, and the space between the inner wall 104 and the outer wall 105 constitutes an outer cavity 107 for accommodating the propellant. This integrated configuration of the storage tank 101 not only provides an exclusive accommodation space for the electronic subsystem 102, but also forms a physical barrier for the internal devices through its own physical structure. Since the inner cavity 106 is surrounded by the main body of the storage tank 101, high-energy particles and radiation in the external space will be significantly attenuated when penetrating the structure of the storage tank 101, thereby providing effective anti-radiation protection for the devices arranged in the inner cavity 106 and reducing the risk of device performance degradation or failure caused by radiation. At the same time, the cryogenic propulsion fluid stored in the outer cavity 107 of the storage tank 101 forms a close heat exchange interface with the inner wall 104. The heat generated by the power supply component arranged in the inner cavity 106 during operation can be transferred to the cryogenic working fluid through the wall surface of the inner wall 104. The phase change or heat conduction characteristics of the working fluid are used to achieve efficient heat dissipation, thereby preventing the electronic subsystem 102 from being affected by excessive temperature and affecting its operating stability. This design organically integrates structural support, radiation protection and thermal management functions, and realizes multiple performance optimizations in a compact space.

[0068] The electronics subsystem 102, as the core functional module, is mainly composed of a bracket assembly 108, a power assembly 109, a camera assembly 110 and a flexible circuit body 111. Among them, the bracket assembly 108 provides a stable installation base for the power assembly 109 and the camera assembly 110, so that the two can be arranged in an orderly manner in a limited space. The flexible circuit body 111 achieves full-area electrical connection through a segmented design. The flexible circuit body 111 includes a first circuit body 112, a second circuit body 113 and a circuit connection part 114. The first circuit body 112 covers the bracket assembly 108 and / or the power assembly 109 in a wrapping manner, and forms an electrical connection with the power assembly 109 and the camera assembly 110. The second circuit body 113 is tightly attached to the surface of the outer wall 105 of the storage tank 101, and the circuit connection part 114 attached to the edge of the opening is used to seamlessly connect the first circuit body 112 and the second circuit body 113, which not only ensures the continuity of the circuit but also adapts to the spatial transition requirements of the structure. The flexible circuit body 111, with its light and thin physical properties, significantly reduces the weight and volume of traditional electronic systems, allowing it to easily fit into the limited space of the inner cavity 106 of the storage tank 101, providing key support for the compactness of the overall structure. Relying on the flexible nature of the flexible circuit body 111 itself, the traditional double-headed connector and cable can be replaced by a curling design. This design not only allows the circuit to be freely extended to the interface of each device, achieving seamless connection and integrated integration of the entire electronic subsystem 102, but also fundamentally simplifies the assembly process, eliminating the need for complex cable arrangements and interface welding, and reducing the risk of errors caused by manual operation. It is easy to understand that the reduction in cables directly reduces the probability of failures caused by cable aging, poor contact and other problems, significantly improving the reliability of the system in long-term operation, and enabling the electronic subsystem 102 to function more stably in harsh space environments. It should be noted that the flexible circuit body 111 preferably uses polyimide (film) as the base material, and its thickness can be controlled at 25-125μm. It can not only withstand extreme temperatures of -269°C to 300°C, but also has good radiation resistance and mechanical strength. It is not easy to crack after folding or curling, and is fully adapted to the spacecraft's tolerance requirements for the space environment.

[0069] The thruster 103 is mounted directly on the outer wall 105 of the tank 101 and receives control signals via the second circuit body 113. The core function of the thruster 103 is to generate a reaction force by releasing the propellant in the outer chamber 107, thereby achieving precise adjustment of the attitude of the micro-spacecraft system 100. This layout shortens the control chain and ensures that the thrust output better meets the mechanical requirements of attitude control.

[0070] Figure 4 A schematic structural diagram of an electronic subsystem according to an embodiment of the present invention is shown. Figure 5The figure shows an assembly diagram of the electronic subsystem of an embodiment of the present invention. As shown in the figure, in some examples, the bracket assembly 108 is firmly connected by the electronic support frame 115 and the battery support frame 116 through structural coordination. The two together constitute the load-bearing frame of the electronic subsystem 102. Among them, the battery support frame 116 serves as the basic load-bearing structure and is fixed to the bottom of the inner cavity 106 of the storage tank 101. Its main function is to provide a dedicated carrying space for the power supply assembly 109. Through a preset limiting structure, it ensures that the power supply assembly 109 remains stable during spacecraft attitude adjustment or vibration environment. The electronic support frame 115 forms a hierarchical assembly relationship with the battery support frame 116, and the camera assembly 110 is precisely positioned and installed thereon. This layout fully utilizes the longitudinal space of the inner cavity 106 and reserves a field of view channel for the camera assembly 110 toward the storage tank 101, ensuring that the detection function of the camera assembly 110 is not affected by structural obstruction. The first circuit body 112 of the flexible circuit body 111 not only forms an electrical connection with the power supply assembly 109 but also establishes a signal path with the camera assembly 110. This allows detection data from the camera assembly 110 to be efficiently transmitted to the system's core control unit via the flexible circuit body 111, achieving a coordinated integration of structural support and functional transmission. In this example, the battery assembly 109 consists of two lithium batteries. While meeting the system's power requirements, the lithium battery's compact size effectively fits within the reserved space of the bracket assembly 108.

[0071] In some examples, camera assembly 110 includes an optical camera 117 and an infrared camera 118, with their lenses positioned outside the opening of tank 101. The optical camera 117 and infrared camera 118 provide multispectral detection capabilities. The optical camera 117 captures detailed information within the visible light range, while the infrared camera 118 focuses on sensing the thermal radiation signatures of objects. Working together, the two cameras enrich the spacecraft's detection capabilities. To ensure the detection field of view is not obstructed by the structure of tank 101, the lenses of both cameras extend beyond the opening of tank 101.

[0072] Figure 6 A front view schematically shows a flexible circuit body in an unfolded and flattened state according to an embodiment of the present invention. Figure 7 A schematic diagram of the back side of a flexible circuit body in an unfolded and flattened state according to one embodiment of the present invention is shown. As shown in the figure, in some examples, the flexible circuit body 111 integrates a control unit, a power management system, and an attitude and navigation system. The coordinated operation of these units and systems enables the control of the core functions of the spacecraft.

[0073] The control unit consists of a main control microcontroller 119 and an image processing unit 120. The main control microcontroller 119 is responsible for the core signal processing task, parsing the various data transmitted by the attitude and navigation system. The image processing unit 120, in conjunction with the main control microcontroller 119, processes the optical and infrared image information captured by the camera assembly 110.

[0074] The power management system is the core of energy supply control, relying on power supply assembly 109 to provide energy for the entire system. The primary power supply 121 connects to the power supply assembly 109 via power interface 146. The secondary power supply 122 is responsible for converting the voltage output by the primary power supply 121 into different levels to meet the power supply needs of each module. The auxiliary power supply 123 provides supplemental power during transient high power consumption scenarios, ensuring the stability and continuity of the system's energy supply.

[0075] The attitude and navigation system provides the spacecraft with motion and position information and includes an IMU 124, a magnetometer 125, a GNSS module 126, and a GPS antenna 127. The IMU 124 captures the system's linear acceleration and angular velocity, reflecting changes in motion in real time. The magnetometer 125 senses the strength and direction of the Earth's magnetic field, providing a heading reference. The GNSS module 126 and GPS antenna 127 work together to receive satellite signals to determine the spatial position of the micro-spacecraft system 100.

[0076] In some examples, the flexible circuit body 111 further integrates a communication module 128, a thruster electronic control interface 129, and an INA 130 (current detection amplifier) ​​to improve the system's control, interaction, and safety monitoring capabilities. The communication module 128 is directly connected to the main control microcontroller 119 and serves as the hub for information exchange. It uses a communication antenna 131 provided on the second circuit body 113 to achieve two-way data transmission with external devices (such as a ground station), ensuring smooth command reception and mission data return. The thruster electronic control interface 129 is the control link between the main control microcontroller 119 and the thruster 103, providing a transmission channel for the attitude adjustment commands output by the main control microcontroller 119, enabling precise control of the thruster 103's movement. The INA 130 monitors the current changes on the flexible circuit body 111 in real time, providing data support for system energy consumption analysis and fault diagnosis, and ensuring the safety of circuit operation.

[0077] Preferably, the flexible circuit body 111 also integrates a MOS transistor 132, a camera interface 133, a USB interface 134, a magnetic charging port 135, and a safety switch 136, further enhancing the system's adaptability and reliability. The MOS transistor 132, acting as a power switch, cooperates with the power management system to precisely switch power to each module, optimizing energy consumption. The camera interface 133 is used to establish a signal connection between the flexible circuit body 111 and the camera assembly 110, ensuring efficient transmission of image data to the image processing unit 120. The USB interface 134 provides a physical channel for ground debugging, program updates, and data downloads, simplifying ground operations and maintenance. The magnetic charging port 135 utilizes a contactless design, facilitating rapid charging of spacecraft on the ground or in orbit. The safety switch 136 forms a linked protection mechanism with the INA 130, automatically disconnecting the circuit when an abnormal current is detected, preventing overcurrent damage to components. The integration of multiple components enables the flexible circuit body 111 to achieve a functional closed loop in a compact space, adapting to the demanding requirements of micro-spacecraft. Preferably, a soldering pad 147 is further provided on the first circuit body 112 as a metal connection point on the flexible circuit body 111 for soldering components and fixing to the electronic support frame 115 to ensure mechanical stability.

[0078] Figure 8 A cross-sectional view of a storage tank according to one embodiment of the present invention is shown. Figure 9 A schematic structural diagram of a storage tank according to an embodiment of the present invention is shown. Figure 10 yes Figure 9 A partially enlarged schematic diagram. As shown in the figure, in some examples, a mounting position 137 is provided on the outer wall 105, which serves as a fixed interface for the thruster 103, allowing the thruster 103 to be stably assembled outside the tank 101. Its position layout is compatible with the spacecraft's attitude adjustment requirements. An annular working fluid pipeline 138 is provided within the outer cavity 107, near the inner side of the outer wall 105. The core function of this annular working fluid pipeline 138 is to establish a communication channel between the outer cavity 107 and the mounting position 137. When the propulsion system is started, the propulsion working fluid stored in the outer cavity 107 can flow along the annular working fluid pipeline 138 and accurately enter the thruster 103 through the mounting position 137, providing a stable working fluid supply for the thruster 103 to eject the propellant working fluid and generate power. The advantage of the annular working fluid pipeline 138 is that even if a small blockage or leakage occurs in a certain area (extreme operating conditions), the working fluid can still flow to the target thruster 103 in the other direction through the annular loop, reducing the risk of thruster 103 failure due to single point failure. Furthermore, the annular structure of the annular working fluid pipeline 138 allows for more uniform stress distribution, reducing the probability of fracture due to stress concentration. This design provides a more regular working fluid delivery path, enabling even distribution to each thruster 103, ensuring consistent thrust output and, in turn, improving the accuracy of spacecraft attitude control.

[0079] In some examples, a connecting fluid line 139 is provided within the outer chamber 107. This line serves as a pathway between the interior of the outer chamber 107 and the annular fluid line 138, assuming the function of transiting the propulsion fluid and ensuring that the propulsion fluid within the outer chamber 107 can be smoothly introduced into the annular fluid line 138. To achieve precise control over the delivery of the working fluid, an upstream self-locking valve 140 is installed on the connecting fluid line 139. Its core function is to control the on / off state of the connecting fluid line 139. When the thruster 103 is required to operate, the upstream self-locking valve 140 opens, allowing the propulsion fluid to enter the annular fluid line 138 along the connecting fluid line 139. When propulsion is not required, the upstream self-locking valve 140 closes, blocking the flow of the working fluid and avoiding unnecessary fluid consumption.

[0080] In some examples, four groups of mounting positions 137 are distributed circumferentially around the outer wall 105. Each group of mounting positions 137 includes two mounting positions 137 symmetrically arranged along the annular working fluid pipeline 138. This symmetrical layout can make the torque generated by the thrusters 103 more balanced, helping to improve the stability of the spacecraft's attitude adjustment. The thruster working fluid pipeline 141 and the downstream working fluid manifold 142 provided in the outer cavity 107 further improve the working fluid delivery path. Among them, the thruster working fluid pipeline 141 is used to connect the two mounting positions 137 in the same group, ensuring that the working fluid can be accurately delivered to the thrusters 103 at the corresponding positions. The downstream working fluid manifold 142 is responsible for connecting the annular working fluid pipeline 138 with the thruster working fluid pipeline 141, and rationally distributing the propulsion working fluid delivered from the annular working fluid pipeline 138 to each thruster working fluid pipeline 141. Through this design, the propulsion fluid originates from the annular fluid pipeline 138, is diverted through the downstream fluid manifold 142 to different thruster fluid pipelines 141, and then enters the thrusters 103 through the mounting position 137, forming an efficient and orderly fluid supply system. This system, in conjunction with the upstream connecting fluid pipeline 139 and self-locking valve 140, ensures that the thrusters 103 operate stably and on demand. Preferably, the thrusters 103 are mounted obliquely on the outer wall 105. This structure facilitates force decomposition. Oblique thrust can be decomposed into force components along different coordinate axes. A single thruster 103 can simultaneously participate in multi-axis attitude adjustments such as pitch, yaw, and roll, reducing the total number of thrusters 103 required, thereby reducing system weight and space usage, and meeting the lightweight requirements of micro-spacecraft. The oblique layout can compensate for insufficient torque in a single direction through force combination. If a thruster 103 fails, the other oblique thrusters 103 can maintain control through force allocation, enhancing system reliability. In addition, the component force of the oblique thrust can specifically offset the interference torque of different axis systems. Combined with the symmetrical layout, the adjustment torque is more balanced, reducing the force coupling during multi-axis control and improving the attitude control accuracy.

[0081] In some examples, a pressure sensor 143 is installed on the outer wall 105 to monitor the pressure state inside the outer cavity 107 in real time and provide key parameter support for the operation of the propulsion system. By continuously sensing pressure changes, it is possible to determine the remaining amount of the propulsion fluid and assist in evaluating the system's endurance, and to promptly detect abnormal pressure fluctuations, providing a basis for fault warnings (such as leaks). The pressure sensor 143 cooperates with components such as the upstream self-locking valve 140 to ensure the safety and controllability of the fluid delivery. A filling valve 144 is provided at the bottom of the outer wall 105 as a dedicated interface for injecting the propulsion fluid into the outer cavity 107. During ground debugging or mission preparation, the propulsion fluid can be accurately loaded into the outer cavity 107 through the filling valve 144 to complete storage preparation.

[0082] In some examples, the micro-spacecraft system 100 further includes a head protection cover 145, which cooperates with the opening structure of the tank 101 to form a sealed cavity containing the inner cavity 106, enclosing the core components of the electronic subsystem 102. The head protection cover 145 is made of high-strength material. These material properties enable it to form a stable protective structure with the tank 101, effectively blocking the influence of the external space environment. This not only reduces the temperature fluctuations in the inner cavity 106 caused by drastic changes in the external temperature, providing a stable operating temperature field for the electronic devices, but also protects the internal components from damage caused by space radiation and reduces the risk of structural aging caused by atomic oxygen corrosion, providing basic protection for the long-term reliable operation of the entire system. Furthermore, an optical window is specially provided on the head protection cover 145, which corresponds to the lens position of the camera assembly 110. It does not hinder the camera assembly 110 from observing external targets, but also provides necessary physical protection for the lens, ensuring that the camera assembly 110 can efficiently obtain optical and thermal data of external targets. After these original information is transmitted to the image processing unit 120 through the flexible circuit body 111, it provides a reliable basis for subsequent analysis and processing.

[0083] In some examples, the propulsion fluid can be selected from liquid ammonia, liquid nitrogen, or liquid oxygen to adapt to the propulsion requirements of micro-spacecraft. Among them, liquid ammonia is the preferred option and is highly compatible with the system design. First, its molecular weight is small and its volatility is strong. It can quickly flash into gas in a vacuum environment and generate stable thrust through the thruster 103. It is well compatible with the uniform distribution design of the annular working fluid pipeline 138. Secondly, its chemical properties are stable and it is not easy to react with structural materials such as the storage tank 101 and the pipeline, which can ensure the long-term reliable operation of the system. Thirdly, its storage density is high, and it can store sufficient working fluid in the limited space of the outer cavity 107 to meet the attitude and orbit control requirements during the mission cycle.

[0084] In some examples, the attitude control process of a micro-spacecraft is accomplished by various systems working together:

[0085] In the attitude and navigation system, the IMU 124 collects the linear acceleration and angular velocity of the spacecraft in real time, the magnetometer 125 senses the geomagnetic field information, and the GNSS module 126 combines with the GPS antenna 127 to obtain position data. This information is aggregated to the main control microcontroller 119 of the flexible circuit body 111;

[0086] The main control microcontroller 119 processes the received attitude data, compares it with the preset target attitude, calculates the required adjustment amount, and then sends a control instruction to the corresponding thruster 103 through the thruster electronic control interface 129. At the same time, the pressure sensor 143 monitors the pressure of the external cavity 107, and the data is fed back to the main control microcontroller 119 for dynamic adjustment of the operating parameters of the thruster 103.

[0087] Upon receiving the command, the upstream self-locking valve 140 opens, and the propulsion fluid passes through the connecting fluid pipeline 139, the annular fluid pipeline 138, the downstream fluid manifold 142, and the thruster fluid pipeline 141, and enters the designated thruster 103 through the installation position 137; the thruster 103 releases the fluid to generate a reaction force, forming an adjustment torque, so that the spacecraft attitude gradually approaches the target state, completing an attitude control cycle; during this process, the INA 130 monitors the circuit current to ensure stable operation of the system.

[0088] Compared with the existing technology, the micro-spacecraft system provided by the present invention has a compact overall structure and, with a total spacecraft weight of no more than 1kg, it has the functions of navigation and communication, detection and imaging, orbit change maneuvers, and data processing. It has the following beneficial effects:

[0089] Structural integration: By designing the tank as a semi-enclosed structure, which serves as both a structural component and a propulsion medium storage container, space utilization is greatly improved, and the overall weight and volume of the spacecraft are reduced;

[0090] Highly integrated electronic subsystem: Flexible circuits are used to achieve high integration of electronic components. The first and second circuit bodies are seamlessly connected through circuit connectors, replacing traditional rigid circuit boards and cables, reducing weight and assembly complexity, and lowering the risk of failure.

[0091] High-efficiency propulsion system: The annular working fluid pipeline achieves uniform distribution of the propulsion fluid, and the four symmetrically arranged thrusters improve attitude and orbit control accuracy;

[0092] Strong environmental adaptability: The design of the head protection cover effectively reduces the impact of the space environment on the intracavity electronic system, including temperature fluctuations, radiation damage and atomic oxygen corrosion.

[0093] Complete functions: It integrates multiple functions such as navigation, communication, satellite computing, detection imaging, attitude control, etc., and achieves high-performance mission capabilities under the constraints of miniaturization.

[0094] High reliability: Multiple monitoring mechanisms such as INA current monitoring and pressure sensor pressure monitoring, combined with redundant design, improve the reliability and safety of the system.

[0095] It will be apparent to those skilled in the art that various modifications and variations may be made to the above exemplary embodiments of the present invention without departing from the spirit and scope of the present invention. Therefore, it is intended that the present invention cover modifications and variations of the present invention that fall within the scope of the appended claims and their equivalent technical solutions.

Claims

1. A micro-spacecraft system, comprising: A storage tank having a semi-enclosed structure and an opening formed at one end, the storage tank comprising an inner wall and an outer wall, the inner wall forming an inner cavity communicating with the opening, and the inner wall and the outer wall cooperating to form an outer cavity for accommodating a propellant; an electronics subsystem comprising a bracket assembly, a power supply assembly, a camera assembly, and a flexible circuit body, wherein the bracket assembly is disposed within the inner cavity, the power supply assembly and the camera assembly are fixed to the bracket assembly, the flexible circuit body comprising a first circuit body, a second circuit body, and a circuit connection portion, the first circuit body wrapping around the bracket assembly and / or the power supply assembly and electrically connected to the power supply assembly and the camera assembly, the second circuit body being affixed to the surface of the outer wall, the circuit connection portion being used to electrically connect the first circuit body and the second circuit body, and the circuit connection portion being affixed to the edge of the opening; A thruster is arranged on the outer wall, the second circuit body is electrically connected to the thruster, and the thruster is used to release the propulsion medium to adjust the attitude of the micro-spacecraft system.

2. The micro-spacecraft system according to claim 1, characterized in that: The bracket assembly includes an electronics support frame and a battery support frame that are structurally connected. The battery support frame is fixed to the bottom of the tank cavity. The battery support frame is used to carry the power supply assembly. The camera assembly is arranged on the electronics support frame. The first circuit body is connected to the camera assembly.

3. The micro-spacecraft system according to claim 2, characterized in that: The camera assembly includes an optical camera and an infrared camera, and lenses of the optical camera and the infrared camera are arranged outside the opening of the storage tank.

4. The micro-spacecraft system according to claim 1, wherein: The flexible circuit body includes a control unit, a power management system, and a posture and navigation system; The control unit includes a main control microcontroller and an image processing unit. The main control microcontroller is used to process the signals received by the attitude and navigation system. The image processing unit works in conjunction with the main control microcontroller and is used to process the image data acquired by the camera assembly. The power management system supplies power to the entire system through the power supply assembly. The power management system includes a main power supply, a secondary power supply, and an auxiliary power supply. The main power supply is connected to the power supply assembly. The secondary power supply is used to convert the main power supply voltage into different levels of voltage. The auxiliary power supply is used for instantaneous power supply. The attitude and navigation system includes an IMU, a magnetometer, a GNSS module and a GPS antenna. The IMU is used to measure the linear acceleration and angular velocity of the system, the magnetometer is used to measure the strength and direction of the geomagnetic field, and the GNSS module and GPS antenna are used to receive satellite signals.

5. The micro-spacecraft system according to claim 4, characterized in that: The flexible circuit body further includes a communication module, a thruster electric control interface and an INA. The communication module is connected to a main control microcontroller. The main control microcontroller controls the thruster movement through the thruster electric control interface. The INA is used to monitor the current on the flexible circuit body. The micro-spacecraft system further includes a communication antenna, which is disposed on the second circuit body. The communication module transmits and receives data to an external device via the communication antenna.

6. The micro-spacecraft system according to claim 1, characterized in that: A mounting position is provided on the outer wall for arranging the thruster, and an annular working fluid pipeline is provided on the inner side of the outer wall in the outer cavity. The annular working fluid pipeline is used to connect the outer cavity and the mounting position. The propulsion working fluid in the outer cavity passes through the annular working fluid pipeline and enters the thruster through the mounting position.

7. The micro-spacecraft system according to claim 6, characterized in that: A connecting working fluid pipeline is provided in the outer cavity, and the connecting working fluid pipeline is used to connect the interior of the outer cavity and the annular working fluid pipeline. An upstream self-locking valve is provided on the connecting working fluid pipeline, and the upstream self-locking valve is used to control the on-off of the connecting working fluid pipeline.

8. The micro-spacecraft system according to claim 6, characterized in that: Four groups of the mounting positions are provided on the circumference of the outer wall, and each group of the mounting positions includes two mounting positions symmetrically arranged along the annular working fluid pipeline; A thruster working fluid pipeline and a downstream working fluid manifold are provided in the outer cavity. The thruster working fluid pipeline is used to connect two of the installation positions in a group, and the downstream working fluid manifold is used to connect the annular working fluid pipeline and the thruster working fluid pipeline.

9. The micro-spacecraft system according to claim 1, characterized in that: A pressure sensor is provided on the outer wall for detecting the internal pressure of the outer cavity; A filling valve is provided at the bottom of the outer wall, and the propelling medium is loaded into the outer cavity through the filling valve.

10. The micro-spacecraft system according to claim 1, characterized in that: The micro-spacecraft system further comprises a head protection cover, which cooperates with the opening structure of the storage tank to form a closed cavity containing the inner cavity.

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