The invention discloses a multi-degree-of-freedom whole-satellite automatic attitude adjusting method and system, and the method comprises the steps: building a supporting leg coordinate system and a pressing seat plane coordinate system; obtaining an initial pose relation between the supporting leg coordinate system and the pressing seat plane coordinate system; the coordinates of the pressing seat in the supporting leg coordinate system under the initial posture are obtained; the pose of the supporting leg under the current pose is obtained; obtaining the coordinates of the pressing seat in the supporting leg coordinate system under the current posture; the pose of the pressing seat in the target pose relative to the current pose is obtained; obtaining the coordinates of the pressing seat in the supporting leg coordinate system under the target posture; according to the coordinate of the pressing seat under the initial posture in the supporting leg coordinate system and the coordinate of the pressing seat under the target posture in the supporting leg coordinate system, obtaining a posture matrix of the initial posture and the target posture; and obtaining a target coordinate of the landing leg according to the pose matrix of the initial attitude and the target attitude and a preset landing leg coordinate under the initial attitude. The butt joint assembly efficiency and safety of the whole satellite and the solar wing are effectively improved.

    本发明公开了一种多自由度整星自动调姿方法及系统,其中,该方法包括:建立支腿坐标系和压紧座平面坐标系;得到支腿坐标系和压紧座平面坐标系之间的初始位姿关系;得到初始姿态下压紧座在支腿坐标系下的坐标;得到当前姿态下支腿的位姿;得到当前姿态下压紧座在支腿坐标系下的坐标;得到压紧座在目标姿态时相对当前姿态的位姿;得到目标姿态下压紧座在支腿坐标系下的坐标;根据初始姿态下压紧座在支腿坐标系下的坐标和目标姿态下压紧座在支腿坐标系下的坐标得到初始姿态和目标姿态的位姿矩阵;根据初始姿态和目标姿态的位姿矩阵和预设的初始姿态下的支腿坐标得到支腿的目标坐标。本发明有效提高了整星和太阳翼的对接装配效率和安全性。


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    Title :

    Multi-degree-of-freedom whole satellite automatic attitude adjusting method and system


    Additional title:

    一种多自由度整星自动调姿方法及系统


    Contributors:
    YU RONGRONG (author) / LI GUANG (author) / ZHANG YANGCHENG (author) / LI HAIYUE (author) / DONG LIGANG (author) / ZHANG JUNHUI (author) / WANG YAN (author) / QI YUAN (author)

    Publication date :

    2023-12-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS




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