Satellite attitude adjustment method and device

Abstract

The application provides a satellite attitude adjustment method and device, wherein the satellite attitude adjustment method comprises the following steps: determining a satellite base target coordinate and a first tool reference object coordinate in a target coordinate system according to a satellite base mark point of a target simulation wall; determining a satellite base current coordinate and a second tool reference object coordinate in a current coordinate system according to a current attitude of a target satellite; converting the satellite base target coordinate into a satellite base coordinate in the current coordinate system according to the first tool reference object coordinate and the second tool reference object coordinate; converting the satellite base coordinate in the current coordinate system and the satellite base current coordinate into a satellite attitude adjustment target coordinate and a satellite attitude adjustment current coordinate in a current attitude adjustment coordinate system; calculating a satellite attitude adjustment matrix according to the satellite attitude adjustment target coordinate and the satellite attitude adjustment current coordinate, and adjusting the satellite attitude adjustment current coordinate based on the satellite attitude adjustment matrix. The robustness of a satellite attitude adjustment system is significantly improved by the method.

Description

Technical Field

[0001] This application relates to the field of spacecraft manufacturing technology, and in particular to a satellite attitude adjustment method. This application also relates to a satellite attitude adjustment device, a computing device, a computer-readable storage medium, and a computer program product. Background Technology

[0002] In the aerospace manufacturing field, aerospace manufacturing technology is gradually transforming from a traditional model relying on human experience and manual operation to an advanced manufacturing model driven by digitalization and automated execution. Solar panels are critical energy components of spacecraft, and their alignment accuracy during ground assembly directly determines the reliability and success rate of on-orbit deployment. Even minute attitude deviations can be amplified in the launch mechanics environment, leading to serious consequences such as deployment mechanism jamming and connector damage, even affecting the success or failure of the entire satellite mission. Therefore, satellite attitude adjustment, as a core step in the pre-launch process of solar panel assembly, makes its attitude calibration accuracy a crucial factor.

[0003] Current satellite attitude adjustment technology suffers from problems such as insufficient versatility and robustness of digital control technology, decreased attitude adjustment accuracy due to wear of positioning pins, and reliance on high-cost measurement equipment. Therefore, how to improve the robustness, long-term accuracy maintenance capability, and cost reduction of satellite attitude adjustment system while meeting the requirements of satellite attitude adjustment accuracy has become an urgent technical problem for engineers to solve. Summary of the Invention

[0004] In view of this, embodiments of this application provide a satellite attitude adjustment method. This application also relates to a satellite attitude adjustment device, a computing device, a computer-readable storage medium, and a computer program product, to solve the aforementioned problems existing in the prior art.

[0005] According to a first aspect of the embodiments of this application, a satellite attitude adjustment method is provided, comprising: Determine the target coordinates of the satellite base and the first tooling reference object in the target coordinate system based on the satellite base markers of the target simulation wall; Determine the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite; The satellite base target coordinates are converted into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object. Convert the satellite base coordinates and current satellite base coordinates in the current coordinate system into the satellite attitude adjustment target coordinates and current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system; Calculate the satellite attitude adjustment matrix based on the target coordinates and the current coordinates of the satellite attitude adjustment, and adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

[0006] According to a second aspect of the embodiments of this application, a satellite attitude adjustment device is provided, comprising: The first determining module is configured to determine the satellite base target coordinates and the first tooling reference object coordinates in the target coordinate system based on the satellite base markers of the target simulation wall; The second determining module is configured to determine the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite. The first conversion module is configured to convert the satellite base target coordinates into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object; The second conversion module is configured to convert the satellite base coordinates and the current coordinates of the satellite base in the current coordinate system into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment in the current attitude adjustment coordinate system. The attitude adjustment module is configured to calculate a satellite attitude adjustment matrix based on the target coordinates of the satellite attitude adjustment and the current coordinates of the satellite attitude adjustment, and to adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

[0007] According to a third aspect of the embodiments of this application, a computing device is provided, comprising: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions, which, when executed by the processor, implement the steps of the above-described satellite attitude adjustment method.

[0008] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided that stores a computer program / instructions, which, when executed by a processor, implement the steps of the above-described satellite attitude adjustment method.

[0009] According to a fifth aspect of the embodiments of this application, a computer program product is provided, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described satellite attitude adjustment method.

[0010] The satellite attitude adjustment method provided in this application determines the target coordinates of the satellite base and the coordinates of the first tooling reference object in the target coordinate system based on the satellite base markers of the target simulation wall; determines the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite; converts the target coordinates of the satellite base into the satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the second tooling reference object; converts the satellite base coordinates and the current coordinates of the satellite base in the current coordinate system into the satellite attitude adjustment target coordinates and the current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system; calculates the satellite attitude adjustment matrix based on the satellite attitude adjustment target coordinates and the current satellite attitude adjustment coordinates; and adjusts the current satellite attitude adjustment coordinates based on the satellite attitude adjustment matrix.

[0011] The method provided in this application employs a pre-calibration approach independent of the satellite docking structure and attitude adjustment center, solving the problems caused by changes in product model or docking interface type in traditional methods, and significantly improving the robustness of the satellite attitude adjustment system. The use of a binocular vision non-contact measurement scheme fundamentally avoids the accuracy attenuation problem caused by mechanical wear of traditional positioning pins. Through a multi-target point fitting algorithm and iterative compensation mechanism, the influence of reliance on measurement personnel experience and mechanical positioning accuracy is addressed, achieving long-term, stable satellite attitude fine-tuning. Attached Figure Description

[0012] Figure 1 This is a flowchart of a satellite attitude adjustment method provided in an embodiment of this application; Figure 2 This is a flowchart illustrating a satellite attitude adjustment method applied to a target satellite attitude adjustment scenario, provided by an embodiment of this application. Figure 3 This is a schematic diagram of the structure of a satellite attitude adjustment device provided in one embodiment of this application; Figure 4 This is a structural block diagram of a computing device provided in one embodiment of this application. Detailed Implementation

[0013] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0014] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the scope of one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and in the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this application refers to and includes any or all possible combinations of one or more associated listed items.

[0015] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0016] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0017] Solar panels are critical energy components of spacecraft, and their alignment accuracy during ground assembly directly determines the reliability of on-orbit deployment and the success rate of locking. Even minute attitude deviations can be amplified in the launch mechanics environment, leading to serious consequences such as deployment mechanism jamming and connector damage, and even affecting the success or failure of the entire satellite mission. Satellite attitude adjustment, as a core step in the pre-launch process of solar wingsuit deployment, aims to precisely calibrate the spatial relative attitude between the satellite and the target (simulated wall attitude).

[0018] Satellite attitude adjustment technology mainly includes three core components: attitude adjustment mechanism, measurement technology, and control technology.

[0019] In terms of the attitude adjustment mechanism, its main function is to execute attitude adjustment parameters (translation and rotation) to adjust the pose of the target object. Currently, parallel mechanisms are commonly used as attitude adjustment mechanisms. This mechanism supports the platform through multiple independent branches, forming a closed kinematic chain, which has advantages such as high structural rigidity, strong load-bearing capacity, and high motion accuracy. Its attitude adjustment process achieves six-degree-of-freedom pose adjustment through multi-axis linkage, making it suitable for the high-precision attitude adjustment requirements of large components.

[0020] In terms of measurement technology, high-precision measurement equipment such as laser trackers are currently mainly used. Although such equipment has high single-point measurement accuracy, it also has problems such as high equipment cost, complex measurement process, and need for manual intervention. In the process of solar wing suit satellite, frequent measurement and adjustment lead to a large workload and limited efficiency.

[0021] In terms of control technology, it mainly coordinates measurement technology and attitude adjustment mechanism, responsible for solving the driving quantities of attitude measurement data. The current method of calibration via satellite interface and attitude adjustment center focuses on calibrating the spatial transformation relationship between the satellite base center and the attitude adjustment center. By measuring the current satellite attitude and the base center coordinates at the known target satellite attitude, combined with the calibrated spatial transformation relationship, the current attitude and target attitude of the attitude adjustment platform's attitude adjustment center are calculated, and then the driving quantities that the attitude adjustment mechanism should execute are determined.

[0022] Current attitude adjustment technologies for satellites still face the following challenges in engineering applications, which urgently need to be addressed: 1. Insufficient versatility and robustness of digital control technology. Existing control technology relies on calibration parameters between specific satellite models, tooling, and attitude adjustment platforms. When the satellite model or interface components change, the calibration parameters become invalid, resulting in poor robustness and requiring tedious recalibration work, which seriously affects attitude adjustment efficiency.

[0023] 2. Wear on the positioning pin leads to decreased attitude adjustment accuracy. Currently, positioning pins are commonly used to achieve relative attitude between the satellite and the attitude adjustment platform to ensure the validity of calibration parameters. After long-term use, wear and clearance inevitably occur between the pin and the pin hole, resulting in reduced positioning accuracy, invalidation of calibration parameters, and decreased attitude adjustment precision.

[0024] 3. Reliance on high-cost observation equipment. The current attitude adjustment process heavily relies on high-precision measurement equipment such as laser trackers, which have high purchase and maintenance costs and require professional operators. In production sites with multiple tasks running concurrently and multiple workstations collaborating, the shortage of equipment and technical personnel restricts the production pace and increases operating costs.

[0025] Based on this, this application provides a satellite attitude adjustment method. This application also relates to a satellite attitude adjustment device, a computing device, a computer-readable storage medium, and a computer program product, which will be described in detail in the following embodiments.

[0026] Figure 1 A flowchart of a satellite attitude adjustment method according to an embodiment of this application is shown, which specifically includes the following steps: Step 102: Determine the target coordinates of the satellite base and the first tooling reference object in the target coordinate system based on the satellite base markers of the target simulation wall.

[0027] The satellite attitude adjustment method provided in this application is a digital attitude adjustment method for satellites, which aims to accurately calibrate the spatial relative attitude between the satellite shape and the target pose (target simulated wall).

[0028] During satellite operation, an attitude control system is required to achieve three-degree-of-freedom attitude stability and precise pointing in pitch, roll, and yaw to ensure the normal operation of payloads such as antennas, cameras, and solar panels. During the ground development phase, since the satellite body is not yet fully integrated or direct testing conditions are not available, a simulated wall fixture is typically used as the installation benchmark for the satellite cabin and payloads. The target simulated wall is used to simulate the satellite's structural interfaces, mounting surface accuracy, and mechanical boundary conditions, enabling the pre-assembly, deployment testing, and performance debugging of large payloads.

[0029] The satellite target pose is derived from a finely tuned simulation wall, which can be understood as a simulation wall that has been finely tuned to achieve the target pose. In the method provided in this application, the satellite base coordinates in the target coordinate system can be calculated using satellite base markers on the target simulation wall. Simultaneously, the coordinates of the first tooling reference can be calculated using a reference tooling reference.

[0030] In one specific embodiment provided in this application, the satellite base target coordinates and the first tooling reference object coordinates in the target coordinate system are determined based on the satellite base marker points of the target simulation wall, including S1022-S1026: S1022. Acquire a first image including a target simulation wall and a reference tooling, wherein the target simulation wall is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base.

[0031] In the methods provided in this application, a binocular vision acquisition device is used as the measurement device for satellite attitude adjustment as an example for explanation. In practical applications, a multi-view vision system (such as a tri- or more cameras) can be used to replace the binocular vision acquisition device. The multi-view vision system improves measurement redundancy and system reliability by increasing the number of viewing angles. When the viewing angle of a certain camera is blocked, the system can still complete the measurement task through the remaining cameras.

[0032] Binocular vision acquisition equipment, also known as binocular measurement equipment, is a type of measuring instrument based on binocular vision technology. It mimics the principle of human binocular parallax by using two cameras with identical parameters to acquire target images from different angles. Then, it uses algorithms to calculate the image parallax to obtain the target's three-dimensional spatial information. It has advantages such as low cost and simple structure.

[0033] The binocular measurement device, as the core data acquisition tool in this method, adopts a working principle based on stereo vision. The device consists of two precisely calibrated high-resolution industrial cameras. It synchronously acquires images of the target object and uses triangulation to calculate the three-dimensional spatial coordinates of the target points.

[0034] In one specific embodiment provided in this application, the binocular vision acquisition device is equipped with two 25-megapixel industrial cameras with a field of view of 40°×50°×65°; at a standard working distance of 3-4 meters, its measurement expanded uncertainty is 0.020 mm, ensuring high accuracy of coordinate acquisition.

[0035] A reference tooling can be understood as a reference fixture. Reference tooling is a specialized auxiliary device used in various stages of industrial production to provide precise reference standards. It is applicable to multiple technical fields, and its core function is to ensure the accuracy and efficiency of production, measurement, and assembly. It can provide precise positioning to ensure machining and assembly accuracy; stable support to reduce workpiece deformation and loss; and simplified processes to improve production and measurement efficiency.

[0036] The method provided in this application employs a binocular measurement device for data acquisition. Traditional binocular vision systems consist of two horizontally arranged or angled imaging units, achieving 3D measurement and target localization through the principle of parallax. However, in practical applications, they have inherent limitations in their field of view. Specifically, the binocular system can only complete 3D reconstruction within the overlapping area of ​​the common field of view of the two imaging units. Targets outside the overlapping area cannot acquire effective parallax information, resulting in a significantly smaller measurable spatial range compared to the monocular field of view.

[0037] To address the limitations of the limited field of view in binocular systems, a reference fixture was used instead of traditional fixed ground points. This reference fixture consists of four 1.5-inch target ball mounts, an L-shaped adapter frame, an optical breadboard, and an aluminum alloy support plate. The target ball mounts are compatible with the spherical reflector of the laser tracker and the photogrammetric target ball, enabling both laser tracker calibration and binocular vision measurements.

[0038] Meanwhile, to reduce perspective distortion and improve image quality during measurement with the binocular measuring equipment, the target ball mounts are all fixed on L-shaped adapter frames to ensure that the optical axis of the binocular tracker is approximately perpendicular to the plane of the photogrammetric target ball. The adapter frame and the optical breadboard are connected by screws, and the optical breadboard is fixed to the aluminum alloy support plate by screws.

[0039] During the image capture process, a binocular measurement device is used to capture a first image including a target simulation wall and a reference fixture. The target simulation wall is mounted on a satellite measurement base, which includes satellite base markers and the satellite base itself. The first image displays the satellite base markers and the satellite base.

[0040] S1024. Determine the target coordinates of the satellite base in the target coordinate system based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the calibration marker coordinates.

[0041] Wherein, the pixel coordinates of the satellite base marker in the first image are the pixel coordinates of the satellite base marker in the first image; the satellite base calibration coordinates are the coordinates of the satellite base determined during the pre-calibration process of the satellite base, and the calibration marker coordinates are the coordinates determined during the pre-calibration process of the satellite base marker on the satellite base.

[0042] After obtaining the first image, the target coordinates of the satellite base in the target coordinate system can be determined based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the coordinates of the calibration markers.

[0043] To enable binocular vision to measure the center coordinates of the satellite base with sufficient accuracy, the satellite base was adjusted in the method provided in this application. The number of satellite bases was increased from three to four, and four satellite base markers were arranged around each satellite base. A transformation relationship between the satellite base markers and the satellite base itself was established through joint calibration using a laser tracker and photogrammetry. By measuring the coordinates of the base markers and combining them with the pre-calibrated transformation relationship, the target coordinates of the satellite base can be calculated using a least-squares fitting algorithm.

[0044] The specific steps for joint calibration of the satellite base are as follows: I. Base Center Coordinate Acquisition. A laser tracker was used to measure the coordinates of the base in its coordinate system. Coordinates of the center holes of the four satellite bases The coordinates of the center of the base are the calibration coordinates of the satellite base. Simultaneously, the coordinates of the grounding points distributed around the satellite base are measured.

[0045] II. Acquisition of coordinates of base surface markers, simultaneously using photogrammetry in their coordinate system. Coordinates of the 16 base markers Simultaneously, it measures the landmark points distributed around it.

[0046] III. Using the coordinates of the common ground point measured by the two sets of equipment, solve for the coordinate system. To coordinate system Transformation matrix This allows the coordinates of the marker points to be unified into a single coordinate system. Next, obtain the coordinates of the calibration marker point. ,in, .

[0047] In the method provided in the embodiments of this specification, the number of satellite base markers is at least three; Determining the satellite base target coordinates in the target coordinate system based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the calibration marker coordinates includes: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and the corresponding first pixel coordinates in the first image; Calculate the first transformation matrix based on the coordinates of each first pixel and the coordinates of each calibration marker point; The target coordinates of the satellite base in the target coordinate system are determined based on the first transformation matrix and the satellite base calibration coordinates.

[0048] Specifically, in practical applications, the number of satellite base markers is at least three, and these three satellite base markers are not collinear. In a specific embodiment provided in this application, as described in the satellite base calibration process, the number of satellite base markers is 16. The first pixel coordinates of each satellite base marker in the first image are... .

[0049] Based on the steps described above, the coordinates of the pre-calibrated calibration markers... By using least squares fitting, the solution from the calibration coordinate system is obtained. to the target coordinate system First transformation matrix Specifically, the first transformation matrix .

[0050] After determining the first transformation matrix, the coordinates in the target coordinate system can be calculated based on the first transformation matrix and the satellite base calibration coordinates. Satellite base target coordinates Specifically, the coordinates of the satellite base target. .

[0051] S1026. Determine the coordinates of the first tooling reference object in the target coordinate system based on the pixel coordinates of the reference tooling reference object in the first image.

[0052] In the method provided in the embodiments of this specification, the coordinates of each measuring tool target ball seat of the reference tool in the first image can be simultaneously measured using a binocular measuring device, that is, the coordinates in the target coordinate system can be determined. The coordinates of the first tooling reference object .

[0053] Step 104: Determine the current coordinates of the satellite base and the second tooling reference object in the current coordinate system based on the current attitude of the target satellite.

[0054] In this step, the attitude adjustment platform carrying the target satellite is moved to the solar wingsuit satellite mounting position, and the current coordinates of the satellite base in the current coordinate system are measured using a binocular measurement device. During this process, a reference is also made through a reference tool, that is, the coordinates of the second reference tool of the reference tool are obtained synchronously.

[0055] In one specific embodiment provided in this application, the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system are determined based on the current attitude of the target satellite, including S1042-S1046: S1042. Acquire a second image including a target satellite and a reference fixture, wherein the target satellite is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base.

[0056] Specifically, a second image including the target satellite and a reference tool is still acquired using a binocular measurement device. The target satellite is mounted on a satellite measurement base, which includes satellite base markers and a satellite base.

[0057] S1044. Determine the current coordinates of the satellite base in the current coordinate system based on the pixel coordinates of the satellite base marker point in the second image, the satellite base calibration coordinates, and the calibration marker point coordinates.

[0058] The current coordinates of the satellite base in the current coordinate system are further determined based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the calibration marker coordinates.

[0059] In the specific embodiments provided in this application, the number of satellite base markers is at least three; The current coordinates of the satellite base in the current coordinate system are determined based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the calibration marker coordinates, including: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and their corresponding second pixel coordinates in the second image; Calculate the second transformation matrix based on the coordinates of each second pixel and the coordinates of each calibration marker point; The current coordinates of the satellite base in the current coordinate system are determined based on the second transformation matrix and the satellite base calibration coordinates.

[0060] Continuing with the previous example, taking a scenario where there are 16 satellite base markers, the second pixel coordinates of each satellite base marker in the second image are used as an example. Coordinates of the calibration markers corresponding to the satellite base markers The solution from the calibration coordinate system is obtained by the least squares fitting iterative method. To the current coordinate system The second transformation matrix , where the second transformation matrix .

[0061] After determining the second transformation matrix, the coordinates in the current coordinate system can be calculated based on the second transformation matrix and the satellite base calibration coordinates. Current coordinates of the satellite base Specifically, the current coordinates of the satellite base. .

[0062] S1046. Determine the coordinates of the second tooling reference object in the current coordinate system based on the pixel coordinates of the reference tooling reference object in the second image.

[0063] In the method provided in the embodiments of this specification, the coordinates of each measuring tool target ball seat of the reference tool in the second image can be simultaneously measured using a binocular measuring device, that is, the coordinates in the current coordinate system can be determined. The second tooling reference coordinates .

[0064] Step 106: Convert the satellite base target coordinates into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object.

[0065] In steps 102 and 104 above, the coordinates of the first tooling reference object in the target coordinate system and the coordinates of the second tooling reference object in the current coordinate system are calculated, respectively. Based on the coordinates of the first and second tooling reference objects, the transformation relationship between the target coordinate system and the current coordinate system can be solved, and the corresponding satellite base coordinates in the current coordinate system can be further solved. This transforms the target coordinates of the satellite base in the target coordinate system to the current coordinate system, facilitating subsequent adjustments to the current coordinates of the satellite base based on these target coordinates.

[0066] Specifically, converting the satellite base target coordinates into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object includes: Calculate the coordinate system transformation matrix between the target coordinate system and the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object; The target coordinates of the satellite base are converted into satellite base coordinates in the current coordinate system according to the coordinate system transformation matrix.

[0067] In the above steps, the coordinates of the first tooling reference object in the target coordinate system are calculated. And the coordinates of the second tooling reference object in the current coordinate system. Then, based on both, the coordinate transformation matrix between the target coordinate system and the current coordinate system can be calculated. Specifically, the coordinate system transformation matrix is ​​calculated as follows: .

[0068] After determining the coordinate system transformation matrix It can convert the satellite base target coordinates in the target coordinate system to the satellite base coordinates in the current coordinate system. Specifically, satellite base coordinates .

[0069] Step 108: Convert the satellite base coordinates and current satellite base coordinates in the current coordinate system into the satellite attitude adjustment target coordinates and current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system.

[0070] After converting the satellite base target coordinates in the target coordinate system to the satellite base coordinates in the current coordinate system, the satellite attitude cannot be adjusted directly at this time. This is because the current coordinate system is still the coordinate system corresponding to the binocular measurement device. If the satellite is to be adjusted, it needs to be processed in the current attitude adjustment coordinate system. Therefore, it is also necessary to convert the satellite base coordinates and the current satellite base coordinates in the current coordinate system to the satellite attitude adjustment target coordinates and the current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system.

[0071] In one specific embodiment provided in this application, converting the satellite base coordinates and current satellite base coordinates in the current coordinate system into the satellite attitude adjustment target coordinates and current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system includes: The current attitude adjustment target ball coordinate system is determined based on the target ball coordinates on the attitude adjustment platform, and the preset calibration target ball attitude adjustment transformation matrix is ​​obtained. The preset calibration target ball attitude adjustment transformation matrix is ​​the transformation matrix between the attitude adjustment target ball coordinate system and the attitude adjustment coordinate system. The current attitude adjustment coordinate system is determined based on the current attitude adjustment target ball coordinate system and the preset calibration target ball attitude adjustment transformation matrix. Based on the current attitude adjustment coordinate system, the satellite base coordinates and the current coordinates of the satellite base are converted into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment.

[0072] In this embodiment, it is necessary to first create the current attitude adjustment coordinate system. In the method provided in this application, the coordinates of the target ball on the attitude adjustment platform are measured. The current attitude adjustment coordinate system is determined based on the preset calibration target ball attitude adjustment transformation matrix. Then, the satellite base coordinates and the current satellite base coordinates are converted into the satellite attitude adjustment target coordinates and the current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system.

[0073] In one specific embodiment provided in this application, the preset calibration target ball attitude adjustment transformation matrix is ​​further explained. The preset calibration target ball attitude adjustment transformation matrix is ​​determined through the following steps: Acquire a calibration image of the attitude adjustment platform, wherein the attitude adjustment platform includes multiple target ball seats and platform feature objects; The calibration and attitude adjustment coordinate system is determined based on the platform's characteristic objects, and the calibration and attitude adjustment target ball coordinate system is determined based on multiple target ball seats; The preset calibration target ball attitude adjustment transformation matrix is ​​determined based on the calibration attitude adjustment coordinate system and the calibration attitude adjustment target ball seat coordinate system.

[0074] The calibration of the attitude adjustment platform's attitude center is performed after mechanical assembly and debugging, but before the outer casing is installed. A laser tracker is used to establish the coordinate relationship between the attitude center and the target ball mounts. To ensure the stability and measurability of the calibration, before calibration, six target ball mounts are fixed to a sturdy location with minimal vibration on the platform's main steel frame structure using high-strength industrial adhesive. The target ball mounts are symmetrically arranged on both sides of the attitude adjustment platform, with three on each side, to meet different site or satellite mounting requirements. In practical applications, only one side's target ball mounts are needed. The arrangement of the target ball mounts is designed to ensure that, after the platform casing is installed, the coordinates of three or more target ball mounts can still be measured simultaneously in any direction. The core of the attitude adjustment platform calibration lies in establishing the transformation relationship between the coordinate system of the attitude center and the target ball mount coordinate system. The specific steps are as follows: I. Establishing the Attitude Adjustment Center Coordinate System. The determination of the attitude adjustment center is closely related to the structural configuration, driving method, and control strategy of the attitude adjustment platform. For the parallel attitude adjustment mechanism involved in this application, a laser tracker is used to measure the coordinates of the reference features (such as positioning pin holes) on the platform mechanism, and the attitude adjustment coordinate system is constructed in combination with the specific kinematic model of the platform. .

[0075] II. Establishing the Relationship Between the Calibration Target Ball Holder Coordinate System and the Attitude Adjustment Coordinate System. The center coordinates of each target ball holder (6 target ball holders, located on both sides of the attitude adjustment platform) on the attitude adjustment platform are measured using a laser tracker. Two calibration target ball holder coordinate systems are then established based on the target ball holder coordinates. and This allows us to solve for the preset calibration target ball attitude transformation matrix between the calibration target ball coordinate system and the calibration attitude adjustment coordinate system. Specifically, the attitude adjustment coordinate system... Coordinate system with the calibration target ball seat The preset calibration target ball attitude conversion matrix between them is: Attitude Coordinate System Coordinate system with the calibration target ball seat The preset calibration target ball attitude conversion matrix between them is: .

[0076] It should be noted that due to the large size of the attitude adjustment platform, two calibration target ball bearing coordinate systems are used for calibration to improve processing efficiency in subsequent processing. During subsequent processing, one of these calibration target ball bearing coordinate systems can be selected based on the actual processing requirements.

[0077] In this method, the target ball coordinates on the attitude adjustment platform are used. Establish the current coordinate system of the attitude adjustment target ball. , recorded as Combined with the preset calibration target ball attitude adjustment transformation matrix The current attitude adjustment coordinate system can be solved. , recorded as ,in, .

[0078] Since the system does not rely on the calibration relationship between the satellite base center and the attitude adjustment center, it cannot solve the attitude adjustment platform's pose when the target satellite is in the target attitude. To solve this problem, it is necessary to adjust the satellite base coordinates. and current coordinates of the satellite base Unified transformation to the current attitude adjustment coordinate system Next, determine the satellite base coordinates. Corresponding satellite attitude adjustment target coordinates Determine the current coordinates of the satellite base. The corresponding satellite attitude adjustment current coordinates .

[0079] Specifically, the coordinates of the satellite attitude adjustment target Satellite attitude adjustment current coordinates .

[0080] Step 110: Calculate the satellite attitude adjustment matrix based on the target coordinates of the satellite attitude adjustment and the current coordinates of the satellite attitude adjustment, and adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

[0081] After determining the coordinates of the satellite attitude adjustment target and the current coordinates of satellite attitude adjustment In this case, the satellite attitude adjustment matrix can be calculated based on these two coordinates, and the current attitude of the target satellite can be adjusted according to the satellite attitude adjustment matrix, that is, the current coordinates of the satellite attitude adjustment can be adjusted.

[0082] Specifically, the coordinates of the satellite attitude adjustment target Current coordinates of satellite attitude adjustment Least squares fitting is performed to calculate the satellite attitude adjustment matrix required for the target satellite to move from its current pose to its target pose. Specifically, the satellite attitude adjustment matrix is ​​calculated as follows: Since the connection between the target satellite and the attitude adjustment platform is rigid, the satellite attitude adjustment matrix... This is equivalent to the amount of change required for the attitude adjustment platform to move to the target pose. Based on this satellite attitude adjustment matrix, attitude adjustment processing for the target satellite can be performed.

[0083] In another specific embodiment provided in this application, adjusting the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix includes: Decompose the satellite attitude adjustment matrix to obtain the satellite attitude adjustment rotation parameters and satellite attitude adjustment movement parameters; The current coordinates of the satellite attitude adjustment are adjusted according to the satellite attitude adjustment rotation parameters and the satellite attitude adjustment movement parameters.

[0084] In practical applications, the main function of attitude adjustment for a target satellite is to execute attitude adjustment parameters, specifically translation and rotation parameters. This is achieved after obtaining the satellite attitude adjustment matrix. In this case, the satellite attitude adjustment matrix can be further decomposed into satellite attitude adjustment movement parameters (x, y, z) and satellite attitude adjustment rotation parameters (α, β, γ). The current coordinates of the satellite attitude adjustment are then adjusted based on these satellite attitude adjustment rotation parameters and the satellite attitude adjustment movement parameters.

[0085] It should be noted that, given the execution error of the attitude adjustment platform, a single adjustment is insufficient to meet the accuracy requirements. Therefore, the method provided in this application employs a closed-loop iterative adjustment strategy, that is, the above-mentioned execution operations are gradually adjusted through iterative loop operations, i.e., after completing the first satellite attitude adjustment matrix... After subsequent attitude adjustment, the above steps are repeated to solve for multiple satellite attitude adjustment matrices. , j For iteration rounds, the target satellite is determined to have reached the target pose when the Euclidean distance error between the satellite pose and the base center of the target pose is less than a preset error threshold, and the calculated translation execution amount is less than a preset translation threshold and the rotation execution amount is less than a preset rotation threshold.

[0086] In practical applications, the preset error threshold can be 0.3 mm, the preset translation threshold can be 0.1 mm, and the preset rotation threshold can be 0.1°.

[0087] To verify the feasibility of the method provided in this application, technicians designed a comparative experiment based on a laser tracker. First, the center of the base on the target simulation wall was measured using the laser tracker, and the coordinates of the target ball seat of the measuring fixture were simultaneously acquired to establish a reference value for the target pose of the target satellite.

[0088] Subsequently, the target satellite's attitude was adjusted according to the method provided in the embodiments of this application. After the attitude adjustment was completed, a laser tracker was used to measure the center of the satellite's base, and the measurement results were unified to the reference coordinate system to evaluate the actual attitude adjustment accuracy of this method. The test results are shown in Table 1 below: Table 1

[0089] Analysis of the experimental results shows that: The method provided in this application successfully completed the satellite's attitude adjustment without relying on the calibration between the satellite docking results and the attitude adjustment platform, fundamentally solving the problem that traditional methods require recalibration due to changes in product model or docking interface type.

[0090] The method provided in this application uses only a binocular tracker as the measurement means throughout the entire process. The final attitude adjustment accuracy, verified by a laser tracker, is better than 0.3 mm, which fully meets the accuracy requirements for satellite attitude adjustment. At the same time, compared with the satellite attitude adjustment method using a laser tracker, this method reduces the purchase and maintenance costs of measurement equipment, as well as the experience requirements of the measurement personnel.

[0091] The method provided in this application constructs a general-purpose satellite attitude adjustment technology system based on binocular vision. Its innovation lies not only in the breakthrough of individual technologies, but also in the systematic integration of binocular vision measurement, measurement fixtures, attitude adjustment center calibration and multi-target point fitting algorithms, which jointly overcomes the three major problems of "poor model versatility", "reduced satellite positioning accuracy due to mechanical wear" and "strong equipment dependence".

[0092] Secondly, during the calibration of the attitude adjustment platform, a fixed control relationship is established between the attitude adjustment center and the measurable target ball seat by fixing the target ball seat on the platform before it is obscured by the outer shell, thus realizing a directly measurable and convertible attitude adjustment center. During the measurement of the base center, a multi-target point fitting method is used, employing high-precision calibration data and a least-squares fitting algorithm to calculate the base center coordinates, thereby compensating for the base center coordinates in binocular vision.

[0093] Furthermore, the method provided in this application employs a pre-calibration approach independent of the satellite docking structure and attitude adjustment center, resolving issues arising from changes in product models or docking interface types in traditional methods, and significantly improving the robustness of the satellite attitude adjustment system. The use of a binocular vision non-contact measurement scheme fundamentally avoids the accuracy degradation problem caused by mechanical wear of traditional positioning pins. Through a multi-target point fitting algorithm and iterative compensation mechanism, the influence of reliance on measurement personnel experience and mechanical positioning accuracy is addressed, achieving long-term, stable satellite attitude fine-tuning.

[0094] Meanwhile, this method, based on the synchronous and multi-target measurement capabilities of binocular vision, achieves simultaneous acquisition and calculation, avoiding the inefficiency caused by step-by-step calculation, repeated retesting, and attitude adjustment in traditional methods. Practical application shows that the single attitude adjustment cycle is shortened by approximately 50%, significantly improving attitude adjustment efficiency. The measurement process does not require operators to have extensive measurement experience, nor does it require manually holding a laser tracker to reflect the target ball, effectively avoiding the influence of subjective human factors on measurement accuracy. This frees operators from cumbersome measurement procedures, significantly reducing labor costs and operational difficulty.

[0095] The following is in conjunction with the appendix Figure 2 Taking the application of the satellite attitude adjustment method provided in this application in a target satellite attitude adjustment scenario as an example, the satellite attitude adjustment method will be further explained. Among them, Figure 2 This application provides a flowchart illustrating a satellite attitude adjustment method applied to a target satellite attitude adjustment scenario, which includes the following steps: Step 202: Acquire a first image including a target simulation wall and a reference tooling, wherein the target simulation wall is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base.

[0096] Step 204: Determine the target coordinates of the satellite base in the target coordinate system based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the calibration marker coordinates.

[0097] Step 206: Determine the coordinates of the first tooling reference object in the target coordinate system based on the pixel coordinates of the reference tooling reference object in the first image.

[0098] Step 208: Acquire a second image including the target satellite and a reference fixture, wherein the target satellite is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base.

[0099] Step 210: Determine the current coordinates of the satellite base in the current coordinate system based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the calibration marker coordinates.

[0100] Step 212: Determine the coordinates of the second tooling reference object in the current coordinate system based on the pixel coordinates of the reference tooling reference object in the second image.

[0101] Step 214: Calculate the coordinate transformation matrix between the target coordinate system and the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object.

[0102] Step 216: Convert the target coordinates of the satellite base to satellite base coordinates in the current coordinate system according to the coordinate system transformation matrix.

[0103] Step 218: Determine the current target ball coordinate system based on the target ball coordinates on the attitude adjustment platform, and obtain the preset calibration target ball attitude adjustment transformation matrix.

[0104] Step 220: Determine the current attitude adjustment coordinate system based on the current attitude adjustment target ball coordinate system and the preset calibration target ball attitude adjustment transformation matrix.

[0105] Step 222: Convert the satellite base coordinates and the current coordinates of the satellite base into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment according to the current attitude adjustment coordinate system.

[0106] Step 224: Calculate the satellite attitude adjustment matrix based on the target coordinates of the satellite attitude adjustment and the current coordinates of the satellite attitude adjustment.

[0107] Step 226: Decompose the satellite attitude adjustment matrix to obtain the satellite attitude adjustment rotation parameters and satellite attitude adjustment movement parameters; adjust the current coordinates of the satellite attitude adjustment according to the satellite attitude adjustment rotation parameters and the satellite attitude adjustment movement parameters.

[0108] Step 228: Calculate the coordinate system transformation matrix between the target coordinate system and the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object.

[0109] Step 230: Convert the target coordinates of the satellite base to satellite base coordinates in the current coordinate system according to the coordinate system transformation matrix.

[0110] The method provided in this application successfully completed the satellite's attitude adjustment without relying on the calibration between the satellite docking results and the attitude adjustment platform, fundamentally solving the problem that traditional methods require recalibration due to changes in product model or docking interface type.

[0111] The method provided in this application uses only a binocular tracker as the measurement means throughout the entire process. The final attitude adjustment accuracy, verified by a laser tracker, is better than 0.3 mm, which fully meets the accuracy requirements for satellite attitude adjustment. At the same time, compared with the satellite attitude adjustment method using a laser tracker, this method reduces the purchase and maintenance costs of measurement equipment, as well as the experience requirements of the measurement personnel.

[0112] The method provided in this application constructs a general-purpose satellite attitude adjustment technology system based on binocular vision. Its innovation lies not only in the breakthrough of individual technologies, but also in the systematic integration of binocular vision measurement, measurement fixtures, attitude adjustment center calibration and multi-target point fitting algorithms, which jointly overcomes the three major problems of "poor model versatility", "reduced satellite positioning accuracy due to mechanical wear" and "strong equipment dependence".

[0113] Corresponding to the above method embodiments, this application also provides embodiments of a satellite attitude adjustment device. Figure 3 A schematic diagram of a satellite attitude adjustment device according to an embodiment of this application is shown. Figure 3 As shown, the device includes: The first determining module 302 is configured to determine the satellite base target coordinates and the first tooling reference object coordinates in the target coordinate system based on the satellite base markers of the target simulation wall; The second determining module 304 is configured to determine the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite. The first conversion module 306 is configured to convert the satellite base target coordinates into satellite base coordinates in the current coordinate system based on the first tooling reference coordinates and the second tooling reference coordinates; The second conversion module 308 is configured to convert the satellite base coordinates and the current coordinates of the satellite base in the current coordinate system into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment in the current attitude adjustment coordinate system. The attitude adjustment module 310 is configured to calculate a satellite attitude adjustment matrix based on the target coordinates of the satellite attitude adjustment and the current coordinates of the satellite attitude adjustment, and adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

[0114] Optionally, the first determining module 302 is further configured to: Acquire a first image including a target simulation wall and a reference tooling, wherein the target simulation wall is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base; The target coordinates of the satellite base in the target coordinate system are determined based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the coordinates of the calibration markers. The coordinates of the first tooling reference object in the target coordinate system are determined based on the pixel coordinates of the reference tooling reference object in the first image.

[0115] Optionally, the number of satellite base markers is at least three; The first determining module 302 is further configured to: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and the corresponding first pixel coordinates in the first image; Calculate the first transformation matrix based on the coordinates of each first pixel and the coordinates of each calibration marker point; The target coordinates of the satellite base in the target coordinate system are determined based on the first transformation matrix and the satellite base calibration coordinates.

[0116] Optionally, the second determining module 304 is further configured to: Acquire a second image including a target satellite and a reference fixture, wherein the target satellite is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base; The current coordinates of the satellite base in the current coordinate system are determined based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the coordinates of the calibration markers. The coordinates of the second tooling reference object in the current coordinate system are determined based on the pixel coordinates of the reference tooling reference object in the second image.

[0117] Optionally, the number of satellite base markers is at least three; The second determining module 304 is further configured to: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and their corresponding second pixel coordinates in the second image; Calculate the second transformation matrix based on the coordinates of each second pixel and the coordinates of each calibration marker point; The current coordinates of the satellite base in the current coordinate system are determined based on the second transformation matrix and the satellite base calibration coordinates.

[0118] Optionally, the first conversion module 306 is further configured to: Calculate the coordinate system transformation matrix between the target coordinate system and the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object; The target coordinates of the satellite base are converted into satellite base coordinates in the current coordinate system according to the coordinate system transformation matrix.

[0119] Optionally, the second conversion module 308 is further configured to: The current attitude adjustment target ball coordinate system is determined based on the target ball coordinates on the attitude adjustment platform, and the preset calibration target ball attitude adjustment transformation matrix is ​​obtained. The preset calibration target ball attitude adjustment transformation matrix is ​​the transformation matrix between the attitude adjustment target ball coordinate system and the attitude adjustment coordinate system. The current attitude adjustment coordinate system is determined based on the current attitude adjustment target ball coordinate system and the preset calibration target ball attitude adjustment transformation matrix. Based on the current attitude adjustment coordinate system, the satellite base coordinates and the current coordinates of the satellite base are converted into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment.

[0120] Optionally, the device further includes a calibration module configured to: Acquire a calibration image of the attitude adjustment platform, wherein the attitude adjustment platform includes multiple target ball seats and platform feature objects; The calibration and attitude adjustment coordinate system is determined based on the platform's characteristic objects, and the calibration and attitude adjustment target ball coordinate system is determined based on multiple target ball seats; The preset calibration target ball attitude adjustment transformation matrix is ​​determined based on the calibration attitude adjustment coordinate system and the calibration attitude adjustment target ball seat coordinate system.

[0121] Optionally, the attitude adjustment module 310 is further configured to: Decompose the satellite attitude adjustment matrix to obtain the satellite attitude adjustment rotation parameters and satellite attitude adjustment movement parameters; The current coordinates of the satellite attitude adjustment are adjusted according to the satellite attitude adjustment rotation parameters and the satellite attitude adjustment movement parameters.

[0122] The device provided in this application constructs a general-purpose satellite attitude adjustment technology system based on binocular vision. Its innovation lies not only in the breakthrough of individual technologies, but also in the systematic integration of binocular vision measurement, measurement fixtures, attitude adjustment center calibration and multi-target point fitting algorithms, which jointly overcomes the three major problems of "poor model versatility", "reduction of satellite positioning accuracy due to mechanical wear" and "strong equipment dependence".

[0123] Secondly, during the calibration of the attitude adjustment platform, a fixed control relationship is established between the attitude adjustment center and the measurable target ball seat by fixing the target ball seat on the platform before it is obscured by the outer shell, thus realizing a directly measurable and convertible attitude adjustment center. During the measurement of the base center, a multi-target point fitting method is used, employing high-precision calibration data and a least-squares fitting algorithm to calculate the base center coordinates, thereby compensating for the base center coordinates in binocular vision.

[0124] Furthermore, the device provided in this application employs a pre-calibration method independent of the satellite docking structure and attitude adjustment center, solving the problems caused by changes in product models or docking interface types in traditional methods, and significantly improving the robustness of the satellite attitude adjustment system. The use of a binocular vision non-contact measurement scheme fundamentally avoids the accuracy attenuation problem caused by mechanical wear of traditional positioning pins. Through a multi-target point fitting algorithm and iterative compensation mechanism, the influence of reliance on measurement personnel experience and mechanical positioning accuracy is addressed, achieving long-term, stable satellite attitude fine-tuning.

[0125] Meanwhile, based on the synchronous and multi-target measurement capabilities of binocular vision, this device achieves simultaneous data acquisition and calculation, avoiding the inefficiency caused by step-by-step calculation, repeated measurements, and attitude adjustment in traditional methods. Practical applications show that the single attitude adjustment cycle is shortened by approximately 50%, significantly improving attitude adjustment efficiency. The measurement process does not require operators to have extensive measurement experience, nor does it require manual hand-held laser tracker to reflect the target ball, effectively avoiding the influence of subjective human factors on measurement accuracy. This frees operators from cumbersome measurement procedures, significantly reducing labor costs and operational difficulty.

[0126] The above is a schematic scheme of a satellite attitude adjustment device according to this embodiment. It should be noted that the technical solution of this satellite attitude adjustment device and the technical solution of the satellite attitude adjustment method described above belong to the same concept. For details not described in detail in the technical solution of the satellite attitude adjustment device, please refer to the description of the technical solution of the satellite attitude adjustment method described above.

[0127] Figure 4 A structural block diagram of a computing device 400 according to an embodiment of this application is shown. The components of the computing device 400 include, but are not limited to, a memory 410 and a processor 420. The processor 420 is connected to the memory 410 via a bus 430, and a database 450 is used to store data.

[0128] The computing device 400 also includes an access device 440, which enables the computing device 400 to communicate via one or more networks 460. Examples of these networks include Public Switched Telephone Network (PSTN), Local Area Network (LAN), Wide Area Network (WAN), Personal Area Network (PAN), or combinations of communication networks such as the Internet. The access device 440 may include one or more of any type of wired or wireless network interface (e.g., a network interface card (NIC)), such as an IEEE 802.11 Wireless Local Area Network (WLAN) wireless interface, a Wi-MAX (Worldwide Interoperability for Microwave Access) interface, an Ethernet interface, a Universal Serial Bus (USB) interface, a cellular network interface, a Bluetooth interface, a Near Field Communication (NFC) interface, and so on.

[0129] In one embodiment of this application, the aforementioned components of the computing device 400 and Figure 4 Other components, not shown, can also be connected to each other, for example, via a bus. It should be understood that... Figure 4 The block diagram of the computing device shown is for illustrative purposes only and is not intended to limit the scope of this application. Those skilled in the art can add or replace other components as needed.

[0130] The computing device 400 can be any type of stationary or mobile computing device, including mobile computers or mobile computing devices (e.g., tablet computers, personal digital assistants, laptop computers, notebook computers, netbooks, etc.), mobile phones (e.g., smartphones), wearable computing devices (e.g., smartwatches, smart glasses, etc.) or other types of mobile devices, or stationary computing devices such as desktop computers or personal computers (PCs). The computing device 400 can also be a mobile or stationary server.

[0131] The processor 420 is used to execute the following computer program / instruction, which, when executed by the processor, implements the steps of the above-described satellite attitude adjustment method.

[0132] The above is a schematic representation of a computing device according to this embodiment. It should be noted that the technical solution of this computing device and the technical solution of the satellite attitude adjustment method described above belong to the same concept. Details not described in detail in the technical solution of the computing device can be found in the description of the technical solution of the satellite attitude adjustment method described above.

[0133] An embodiment of this specification also provides a computer-readable storage medium storing a computer program / instructions that, when executed by a processor, implement the steps of the above-described satellite attitude adjustment method.

[0134] The above is an illustrative scheme of a computer-readable storage medium according to this embodiment. It should be noted that the technical solution of this storage medium belongs to the same concept as the technical solution of the satellite attitude adjustment method described above. Details not described in detail in the technical solution of the storage medium can be found in the description of the technical solution of the satellite attitude adjustment method described above.

[0135] An embodiment of this specification also provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described satellite attitude adjustment method.

[0136] The above is an illustrative scheme of a computer program product according to this embodiment. It should be noted that the technical solution of this computer program product and the technical solution of the satellite attitude adjustment method described above belong to the same concept. For details not described in detail in the technical solution of the computer program product, please refer to the description of the technical solution of the satellite attitude adjustment method described above.

[0137] The foregoing has described specific embodiments of this application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired results. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0138] The computer instructions include computer program code, which may be in the form of source code, object code, executable file, or certain intermediate forms. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium may be appropriately added or removed according to the requirements of patent practice. For example, in some regions, according to patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0139] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0140] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0141] The preferred embodiments disclosed above are merely illustrative of this application. The optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this application. These embodiments are selected and specifically described in this application to better explain the principles and practical applications of this application, thereby enabling those skilled in the art to better understand and utilize this application. This application is limited only by the claims and their full scope and equivalents.

Claims

1. A satellite attitude adjustment method, characterized in that, include: Determine the target coordinates of the satellite base and the first tooling reference object in the target coordinate system based on the satellite base markers of the target simulation wall; Determine the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite; The satellite base target coordinates are converted into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object. Convert the satellite base coordinates and current satellite base coordinates in the current coordinate system into the satellite attitude adjustment target coordinates and current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system; Calculate the satellite attitude adjustment matrix based on the target coordinates and the current coordinates of the satellite attitude adjustment, and adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

2. The method as described in claim 1, characterized in that, Based on the satellite base markers of the target simulation wall, determine the target coordinates of the satellite base and the first tooling reference object in the target coordinate system, including: Acquire a first image including a target simulation wall and a reference tooling, wherein the target simulation wall is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base; The target coordinates of the satellite base in the target coordinate system are determined based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the coordinates of the calibration markers. The coordinates of the first tooling reference object in the target coordinate system are determined based on the pixel coordinates of the reference tooling reference object in the first image.

3. The method as described in claim 2, characterized in that, The number of satellite base markers must be at least three; Determining the satellite base target coordinates in the target coordinate system based on the pixel coordinates of the satellite base markers in the first image, the satellite base calibration coordinates, and the calibration marker coordinates includes: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and the corresponding first pixel coordinates in the first image; Calculate the first transformation matrix based on the coordinates of each first pixel and the coordinates of each calibration marker point; The target coordinates of the satellite base in the target coordinate system are determined based on the first transformation matrix and the satellite base calibration coordinates.

4. The method as described in claim 1, characterized in that, Determine the current coordinates of the satellite base and the second tooling reference object in the current coordinate system based on the current attitude of the target satellite, including: Acquire a second image including a target satellite and a reference fixture, wherein the target satellite is mounted on a satellite measurement base, and the satellite measurement base includes satellite base markers and a satellite base; The current coordinates of the satellite base in the current coordinate system are determined based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the coordinates of the calibration markers. The coordinates of the second tooling reference object in the current coordinate system are determined based on the pixel coordinates of the reference tooling reference object in the second image.

5. The method as described in claim 4, characterized in that, The number of satellite base markers must be at least three; The current coordinates of the satellite base in the current coordinate system are determined based on the pixel coordinates of the satellite base markers in the second image, the satellite base calibration coordinates, and the calibration marker coordinates, including: Obtain the coordinates of the calibration markers corresponding to each satellite base marker and their corresponding second pixel coordinates in the second image; Calculate the second transformation matrix based on the coordinates of each second pixel and the coordinates of each calibration marker point; The current coordinates of the satellite base in the current coordinate system are determined based on the second transformation matrix and the satellite base calibration coordinates.

6. The method as described in claim 1, characterized in that, Converting the satellite base target coordinates to satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object includes: Calculate the coordinate system transformation matrix between the target coordinate system and the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object; The target coordinates of the satellite base are converted into satellite base coordinates in the current coordinate system according to the coordinate system transformation matrix.

7. The method as described in claim 1, characterized in that, Converting the satellite base coordinates and current satellite base coordinates in the current coordinate system to the satellite attitude adjustment target coordinates and current satellite attitude adjustment coordinates in the current attitude adjustment coordinate system includes: The current attitude adjustment target ball coordinate system is determined based on the target ball coordinates on the attitude adjustment platform, and the preset calibration target ball attitude adjustment transformation matrix is ​​obtained. The preset calibration target ball attitude adjustment transformation matrix is ​​the transformation matrix between the attitude adjustment target ball coordinate system and the attitude adjustment coordinate system. The current attitude adjustment coordinate system is determined based on the current attitude adjustment target ball coordinate system and the preset calibration target ball attitude adjustment transformation matrix. Based on the current attitude adjustment coordinate system, the satellite base coordinates and the current coordinates of the satellite base are converted into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment.

8. The method as described in claim 7, characterized in that, The preset calibration target ball attitude conversion matrix is ​​determined through the following steps: Acquire a calibration image of the attitude adjustment platform, wherein the attitude adjustment platform includes multiple target ball seats and platform feature objects; The calibration and attitude adjustment coordinate system is determined based on the platform's characteristic objects, and the calibration and attitude adjustment target ball coordinate system is determined based on multiple target ball seats; The preset calibration target ball attitude adjustment transformation matrix is ​​determined based on the calibration attitude adjustment coordinate system and the calibration attitude adjustment target ball seat coordinate system.

9. The method as described in claim 1, characterized in that, Adjusting the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix includes: Decompose the satellite attitude adjustment matrix to obtain the satellite attitude adjustment rotation parameters and satellite attitude adjustment movement parameters; The current coordinates of the satellite attitude adjustment are adjusted according to the satellite attitude adjustment rotation parameters and the satellite attitude adjustment movement parameters.

10. A satellite attitude adjustment device, characterized in that, include: The first determining module is configured to determine the satellite base target coordinates and the first tooling reference object coordinates in the target coordinate system based on the satellite base markers of the target simulation wall; The second determining module is configured to determine the current coordinates of the satellite base and the coordinates of the second tooling reference object in the current coordinate system based on the current attitude of the target satellite. The first conversion module is configured to convert the satellite base target coordinates into satellite base coordinates in the current coordinate system based on the coordinates of the first tooling reference object and the coordinates of the second tooling reference object; The second conversion module is configured to convert the satellite base coordinates and the current coordinates of the satellite base in the current coordinate system into the satellite attitude adjustment target coordinates and the current coordinates of the satellite attitude adjustment in the current attitude adjustment coordinate system. The attitude adjustment module is configured to calculate a satellite attitude adjustment matrix based on the target coordinates of the satellite attitude adjustment and the current coordinates of the satellite attitude adjustment, and to adjust the current coordinates of the satellite attitude adjustment based on the satellite attitude adjustment matrix.

11. A computing device, characterized in that, include: Memory and processor; The memory is used to store computer programs / instructions, and the processor is used to execute the computer programs / instructions, which, when executed by the processor, implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium storing a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 9.

13. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method according to any one of claims 1 to 9.

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