A method and device for monitoring space debris

Abstract

The present invention discloses a method and device for monitoring space debris, which belongs to the field of monitoring, tracking and control technology, and is used to solve the technical problem that the existing laser ablation system cannot accurately track and monitor space debris well, has hysteresis, and cannot quickly locate and accurately strike space debris, affecting the safe operation of spacecraft on orbit. The method includes: based on a preset time interval, laser scanning the target space area to obtain a preliminary reflectivity image; according to the difference of spectral bands in the preliminary reflectivity image, feature marking the spectral bands to obtain light spot characteristics; according to the light spot characteristics, a monitoring three-dimensional plane model is established; through the monitoring three-dimensional plane model, the position and posture of space debris in the target space area are estimated to obtain a space debris association map; according to the space debris association map, the center position is adjusted to achieve accurate tracking and striking of space debris.

Description

Technical Field

[0001] The present application relates to the field of monitoring, tracking and control, and in particular to a method and device for monitoring space debris. Background Art

[0002] In recent years, with the rapid increase in the number of space debris caused by spacecraft launches and collisions, it has gradually become the main factor affecting the safe operation of spacecraft in orbit, and effective solutions are urgently needed to remove space debris. The existing space-based laser ablation system can achieve all-round, on-orbit, and long-distance debris cleaning work, and is the most efficient and lowest-cost technical solution. Due to practical factors such as small debris size, complex motion orbit characteristics, and long laser action distance, the laser ablation system has extremely high requirements for control indicators.

[0003] Existing space-based laser ablation systems cannot control the accuracy of precise tracking of space debris well, and there is also a certain lag in tracking space debris, making it impossible to accurately strike targets. Also, due to the complexity of the space environment, space debris cannot be located well, affecting the safe operation of spacecraft in orbit. Summary of the invention

[0004] The embodiments of the present application provide a method and device for monitoring space debris in space, which are used to solve the following technical problems: the existing laser ablation system cannot accurately track and monitor space debris, has a lag, and cannot quickly locate and accurately strike space debris, affecting the safe operation of spacecraft in orbit.

[0005] The present application embodiment adopts the following technical solutions:

[0006] On the one hand, an embodiment of the present application provides a method for monitoring space debris in space, characterized in that the method includes: based on a preset time interval, performing laser scanning on a target space area to obtain a preliminary reflectivity image; wherein the target space area is a preset laser scanning coverage area; according to the differences in spectral bands in the preliminary reflectivity image, the spectral bands are characterized to obtain spot characteristics; wherein the spot characteristics include the coordinates of several spots and the corresponding blurred areas; based on the spot characteristics, a monitoring three-dimensional plane model is established; through the monitoring three-dimensional plane model, the position and posture of space debris in the target space area are estimated to obtain a space debris association map; according to the space debris association map, the center position is adjusted to achieve accurate tracking and strike of the space debris.

[0007] The embodiment of the present application obtains a preliminary reflectivity image by laser scanning the space area, and then marks the spectral bands according to the differences in the spectral bands in the reflectivity image, and then estimates the position of the space debris according to the established three-dimensional plane model, and then accurately tracks the space debris according to the space debris association map, and accurately strikes the tracked space debris. It is conducive to the cleaning of space debris in the space environment, and through the accurate tracking of space debris, the influence of hysteresis is reduced, and the space debris can be more accurately struck and processed, the space environment is cleaned up, and it is conducive to the safe operation of spacecraft.

[0008] In a feasible embodiment, before performing laser scanning on the target space area based on a preset time interval to obtain a preliminary reflectivity image, the method further includes: obtaining the preset time interval based on the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area; wherein the preset time interval is inversely proportional to the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area.

[0009] In a feasible implementation, based on a preset time interval, a laser scan is performed on the target space area to obtain a preliminary reflectivity image, which specifically includes: obtaining light and shadow contrast data according to the different reflectivities of the target space area and the space debris to the laser; dividing the light and shadow contrast data into several groups of spectral band data according to spectral band correlation coefficients; performing dimensionality reduction processing on each group of spectral band data, and performing weighted fusion of band indexes and local spectral band maximum fusion to obtain the preliminary reflectivity image.

[0010] The embodiment of the present application processes the acquired image according to the difference in reflectivity of the space area background and space debris to the laser, thereby obtaining a preliminary reflectivity image. The space area background and space debris can be better distinguished, and similar reflectivities can be divided into several groups according to the difference in reflectivity, which is conducive to further identification of the image content. Finally, after data preprocessing and weighted fusion of band indexes, the light and shadow data is further optimized to obtain a preliminary reflectivity image.

[0011] In a feasible implementation, according to the different spectral bands in the preliminary reflectance image, the spectral bands are feature-marked to obtain the light spot characteristics, which specifically includes: constructing a three-dimensional space plane map according to the scope of the target space area; based on the three-dimensional space plane map, overlaying and fusing it with the preliminary reflectance image to obtain a three-dimensional plane fusion map; wherein the three-dimensional plane fusion map includes the position coordinates of each spectral band and the corresponding blurred area size in the three-dimensional plane fusion map; based on the three-dimensional plane fusion map, different spectral bands are feature-marked to obtain the light spot characteristics.

[0012] In a feasible implementation, a monitoring three-dimensional plane model is established according to the light spot features, specifically including: based on the coordinates of each of the light spot features and the corresponding blurred area, image segmentation is performed on the rectangular range that accommodates the smallest blurred area to obtain a light spot segmentation image; the light spot segmentation image is segmented into foreground and background to obtain the actual light spot image area; the monitoring three-dimensional plane model is established according to the coordinates of each of the light spot features, the light spot segmentation image and the actual light spot image area.

[0013] In a feasible implementation, the posture of space debris in the target space area is estimated through the monitoring three-dimensional plane model to obtain a space debris association map, which specifically includes: obtaining the posture coordinates and actual area of ​​each actual light spot image in the target space area according to the monitoring three-dimensional plane model; wherein each actual light spot image is each space debris image; combining the posture coordinates and the actual area to obtain a level state map of each actual light spot image; dividing the level through the level state map of each actual light spot image to obtain the space debris association map; wherein the level state map includes: a high-level state map, a medium-level state map and a low-level state map.

[0014] The embodiment of the present application constructs a monitoring three-dimensional plane model, combines the posture coordinates and the actual area, obtains a level state diagram of each actual spot image, and finally obtains a space debris association diagram through level division. The level state diagram of each space debris and the corresponding position information of each space debris can be clearly reflected in the diagram, which is conducive to the accurate identification and acquisition of space debris in the space area, and provides a conditional basis for accurate tracking of the laser ablation system.

[0015] In a feasible implementation manner, before adjusting the center position according to the space debris position map to achieve accurate tracking of the space debris, the method also includes: eliminating jitter in the sliding mode control through a new sliding mode controlled voice coil motor fast reflector, specifically including: obtaining an error-related adaptive equation based on the first state error in the state error vector and the classical sliding mode equation; obtaining a new jitter-free reaching law equation based on the disturbance estimator equation, the exponential reaching law and the error-related adaptive equation; obtaining a new sliding mode control equation based on the error-related adaptive equation, the new jitter-free reaching law equation and the classical sliding mode surface; optimizing and improving the voice coil motor fast reflector through the new sliding mode control equation to obtain the new sliding mode controlled voice coil motor fast reflector, so as to perform smooth laser tracking processing on the target space area.

[0016] The embodiment of the present application improves the sliding mode control in the voice coil motor fast reflector, eliminates the high-frequency sliding mode chattering caused by the variable structure function in the controller signal of the classic sliding mode control technology, improves the control accuracy and stability of the system, and makes the sliding mode chattering in the laser scanning system approach zero through a new non-chattering convergence law algorithm with disturbance estimation, and makes the control system stable in the quasi-sliding mode domain of the third-order infinitesimal width. The optimized and improved sliding mode controller in the voice coil motor fast reflector has extremely strong robustness to nonlinear disturbances and model parameter perturbations.

[0017] In a feasible implementation, before obtaining the new jitter-free reaching law equation according to the disturbance estimator equation, the exponential reaching law and the error-related adaptive equation, the method further includes: obtaining the disturbance estimator equation according to the sliding mode coefficient matrix and the third-order disturbance estimation compensation error.

[0018] In a feasible implementation, according to the space debris association diagram, the center position is adjusted to achieve precise strikes on the space debris, specifically including: performing level identification on the level state diagram of each spot image in the space debris association diagram; adjusting the high-level state diagram to the center position of the space debris association diagram; and implementing a tracking control strategy for the center position to achieve precise tracking and strikes on the space debris.

[0019] On the other hand, an embodiment of the present application also provides a space debris monitoring device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor so that the at least one processor can execute a space debris monitoring method described in any of the above embodiments.

[0020] The embodiments of the present application provide a method and device for monitoring space debris, which is beneficial to the cleaning and identification of space junk in the space environment. By accurately tracking space debris, the influence of hysteresis is reduced, and space debris can be more accurately attacked and processed, thereby cleaning the space environment and facilitating the safe operation of spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0022] Figure 1 A flow chart of a method for monitoring space debris in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a space debris monitoring device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0025] The present application embodiment provides a method for monitoring space debris. Figure 1 As shown, the space debris monitoring method specifically includes steps S101-S105:

[0026] S101. Based on a preset time interval, laser scanning is performed on a target space area to obtain a preliminary reflectivity image.

[0027] Specifically, the preset time interval is obtained according to the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area. The preset time interval is inversely proportional to the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area. The preset laser scanning coverage area is a certain space area fixedly set based on the scanning device.

[0028] Furthermore, according to the different reflectivity of the target space area and the space debris to the laser, the light and shadow contrast data are obtained. According to the spectral band correlation coefficient, the light and shadow contrast data are divided into several groups of spectral band data. Each group of spectral band data is subjected to dimensionality reduction processing, and the weighted fusion of the band index and the local spectral band maximum fusion are performed to obtain a preliminary reflectivity image.

[0029] As a feasible implementation method, the acquired light and shadow contrast data is preprocessed for dimensionality reduction through segmented pyramid fusion. According to the different light spot bands caused by different reflectivities in the light and shadow contrast data, the M light spot bands are divided into N groups of spectral band data according to the correlation coefficients between them. Then, Laplace pyramid transform is performed to decompose the spectral bands into different spatial frequency bands. Then, the lower band index in the spectral band is weighted fused, and the higher band index is fused using the maximum value in its local spectral band, so that the correlation coefficient of the results of different band groups after dimensionality reduction is small, and the problem of image blur caused by direct weighted fusion is avoided, and finally a preliminary reflectivity image after preprocessing can be obtained.

[0030] In one embodiment, the target space area is acquired by presetting the laser scanning coverage area, and after an all-round scan of the target space area, it is possible to more comprehensively identify and judge the difference in reflectivity between space debris and the space background, monitor based on the reflectivity of the space debris, and obtain a preliminary reflectivity image of the space debris based on the target space area, which is conducive to the identification and judgment of light and shadow in the space area.

[0031] S102 , according to the difference of spectral bands in the preliminary reflectance image, feature marking is performed on the spectral bands to obtain light spot features.

[0032] Specifically, a three-dimensional space plane map is constructed according to the scope of the target space area. Based on the three-dimensional space plane map, it is overlaid and fused with the preliminary reflectivity image to obtain a three-dimensional plane fusion map. Among them, the three-dimensional plane fusion map includes the position coordinates of each spectral band and the corresponding blurred area size in the three-dimensional plane fusion map. According to the three-dimensional plane fusion map, different spectral bands are marked with features to obtain the spot features.

[0033] As a feasible implementation method, firstly, according to the laser point cloud data of the target space area scanned by laser, a three-dimensional plane map of the point cloud data of the target space area is obtained through three-dimensional coordinates and laser reflection intensity information, and then overlapped and fused with the preliminary reflectivity image obtained above to obtain a three-dimensional plane fusion map of the light spots with different reflectivity. The three-dimensional plane fusion map can reflect the position coordinates of the light spots corresponding to each spectral band, and the size of the fuzzy area of ​​the area where each corresponding spectral band is located. Then, each different spectral band is marked with features to obtain the light spot features of all spectral bands in the target space area.

[0034] S103: Establish a monitoring three-dimensional plane model according to the light spot characteristics.

[0035] Specifically, based on the coordinates of each light spot feature and the corresponding blurred area, the rectangular range with the smallest blurred area is segmented to obtain a light spot segmentation image. The light spot segmentation image is segmented into foreground and background to obtain the actual light spot image area. According to the coordinates of each light spot feature, the light spot segmentation image and the actual light spot image area, a monitoring three-dimensional plane model is established.

[0036] As a feasible implementation method, the blurred area of ​​each spot feature is first identified, and then the smallest rectangular range that can be accommodated by the blurred area is segmented to obtain a segmented image. Then, the foreground area and the background area in the spot segmentation image are segmented according to the edge information, and the size of the actual spot area of ​​the foreground is extracted to obtain the actual spot image area. This method can accurately extract the actual spot image area.

[0037] Finally, a monitoring three-dimensional plane model is established through the coordinates of each spot feature, the spot segmentation image and the actual spot image area.

[0038] S104. By monitoring the three-dimensional plane model, the position and posture of the space debris in the target space area are estimated to obtain a space debris association map.

[0039] Specifically, according to the monitoring three-dimensional plane model, the pose coordinates and actual area of ​​each actual spot image in the target space area are obtained. Each actual spot image is a space debris image. The pose coordinates and the actual area are combined to obtain a level state diagram of each actual spot image. Through the level state diagram of each actual spot image, the level is divided to obtain a space debris association diagram. The level state diagram includes: a high-level state diagram, a medium-level state diagram, and a low-level state diagram.

[0040] In one embodiment, according to the monitoring three-dimensional plane model, the posture coordinates and actual area of ​​each actual spot image are combined, and finally a space debris association diagram is obtained, wherein each actual spot image is a simplified state of the space debris image. According to the posture coordinates and actual area of ​​each actual spot image, the specific posture, spatial position and area of ​​the space debris can be better reflected. Then, according to the above characteristics, the level of each space debris to be processed is determined, that is, the level state diagram. According to the level state, the priority is determined, and the garbage in the target space area is processed one by one in an orderly manner. In the case of priority, the garbage with a high degree of danger is processed first to prevent certain safety problems from being caused during the in-orbit operation of the spacecraft, which affects the normal use of the spacecraft.

[0041] S105. According to the space debris correlation map, the center position is adjusted to achieve accurate tracking and attack on the space debris.

[0042] Specifically, the chattering in the sliding mode control is eliminated by the fast mirror of the voice coil motor with the novel sliding mode control. According to ε(k)-2ε(k-1)+ε(k-2)=O(T 3 ) and C e =[C e(1) ,C e(2) ,...,C e(n-1) ,1], we get ω(k)=C e (ε(k)-2ε(k-1)+ε(k-2)). Among them, O(T 3 ) is the third-order disturbance estimation compensation error, T is the system sampling error, C e is the sliding mode coefficient matrix in the classical sliding mode equation, ε(k) is the intermediate quantity of the disturbance estimation compensation error, and ω(k) is the disturbance estimator equation.

[0043] Further, according to The error-related adaptive equation η(k) is obtained. Where e1(k) is the first state error in the state error vector, s(k) is the classical sliding mode equation, and s(k) = C e e(k)=C e (x(k)-R n (k)), e(k) represents the deviation matrix between the ideal state and the actual state, x(k) is the system sliding surface, and δ, μ, α, and γ are system parameters.

[0044] Moreover, according to s(k+1)=(1-λT)s(k)-κT·η(k)·sgn[s(k)]+ω(k), a new chattering-free reaching law equation s(k+1) is obtained, where s(k) is the sliding mode function, κT·η(k) is the coefficient of the variable structure function, T is the sampling time of the discrete system, sgn[·] represents the variable structure function, and (1-λT)·s(k)-κT·sgn[s(k)] represents the exponential reaching law.

[0045] Further, according to The new sliding mode control equation u(k) is obtained. k , B k are the parameters of the chattering-free reaching law.

[0046] The voice coil motor fast reflector is optimized and improved through the new sliding mode control equation u(k), and a new sliding mode controlled voice coil motor fast reflector is obtained to perform smooth laser tracking processing on the target space area.

[0047] Furthermore, the level state diagram of each spot image in the space debris association diagram is level identified. The high-level state diagram is adjusted to the center position of the space debris association diagram. The voice coil fast reflector is controlled by a new sliding mode control strategy to track the center position, so as to achieve accurate tracking and attack of space debris.

[0048] As a feasible implementation method, the laser ablation system adopts coarse and fine two-level tracking control technology. The coarse tracking control subsystem uses a servo turntable as an actuator, with large torque and wide field of view. It can realize the capture, aiming and tracking of non-cooperative targets. It is the primary link for actively isolating external attitude disturbances and realizing target positioning control. The new sliding mode controlled voice coil motor fast reflector is the fine tracking control subsystem. The voice coil fast reflector is used as the actuator. It has high control accuracy and good dynamic performance. It can effectively improve the alignment accuracy of the laser visual axis and is the key link to determine the alignment accuracy between the laser ablation system and space debris. During the execution of the laser ablation system, the coarse tracking control system first performs a scanning motion in the target space area, and then the laser ablation system executes the coarse tracking strategy to adjust the hierarchical state diagram of space debris to the center of the space debris association diagram. Once the coarse tracking is stable, the laser ablation system immediately executes the new sliding mode control fine tracking control strategy, and controls the voice coil fast reflector through the new sliding mode control to achieve precise strikes on space debris.

[0049] In one embodiment, after level identification of the high-level state diagram, the medium-level state diagram, and the low-level state diagram in the space debris association diagram, the high-level state diagram is adjusted first, and the high-level state diagram is moved to the center of the space debris association diagram to facilitate the rapid and accurate tracking of the voice coil fast reflector by the new sliding mode control, and then the space debris is accurately tracked and struck according to the tracking control strategy to eliminate space debris. After that, the above operations are performed on the level state diagrams of each level in the space debris association diagram in turn according to the level order until all the level state diagrams of all the spot images in the target space area are cleared to achieve the processing of space debris and protect the safe operation of the spacecraft in orbit.

[0050] In addition, the present application also provides a space debris monitoring device, such as Figure 2 As shown, the space debris monitoring device 200 specifically includes:

[0051] At least one processor 201. And a memory 202 in communication with the at least one processor 201; wherein the memory 202 stores instructions executable by the at least one processor 201, so that the at least one processor 201 can execute:

[0052] Based on a preset time interval, a laser scan is performed on the target space area to obtain a preliminary reflectivity image; wherein the target space area is a preset laser scanning coverage area;

[0053] According to the difference of spectral bands in the preliminary reflectance image, the spectral bands are marked with features to obtain the light spot features; wherein the light spot features include the coordinates of several light spots and the corresponding blurred areas;

[0054] According to the characteristics of the light spot, a three-dimensional plane model for monitoring is established;

[0055] By monitoring the three-dimensional plane model, the position and posture of space debris in the target space area are estimated to obtain a space debris association map;

[0056] According to the space debris correlation map, the center position is adjusted to achieve accurate tracking and strike of space debris.

[0057] The present application proposes a method and device for monitoring space debris, which is beneficial to the cleaning and identification of space junk in the space environment, and reduces the influence of lag by accurately tracking space debris, and can perform all-round, on-orbit, and long-distance debris cleaning work, achieving the highest efficiency and the lowest cost, and can also more accurately strike and deal with space debris, clean up the space environment, and is beneficial to the safe operation of spacecraft.

[0058] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0059] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0060] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the embodiments of the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for monitoring space debris, characterized in that: The method comprises: Based on a preset time interval, a laser scan is performed on a target space area to obtain a preliminary reflectivity image; wherein the target space area is a preset laser scanning coverage area; According to the difference of the spectral bands in the preliminary reflectivity image, the spectral bands are marked with features to obtain light spot features; wherein the light spot features include the coordinates of several light spots and the corresponding blurred areas; According to the light spot characteristics, a monitoring three-dimensional plane model is established; By using the monitoring three-dimensional plane model, the position and posture of the space debris in the target space area are estimated to obtain a space debris association map; According to the space debris association map, the center position is adjusted to achieve accurate tracking and attack on the space debris.

2. A method for monitoring space debris according to claim 1, characterized in that: Before performing laser scanning on the target space area based on a preset time interval to obtain a preliminary reflectivity image, the method further includes: The preset time interval is obtained according to the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area; wherein the preset time interval is inversely proportional to the speed of the space debris in the target space area and the area of ​​the preset laser scanning coverage area.

3. A method for monitoring space debris according to claim 1, characterized in that: Based on the preset time interval, the target space area is laser scanned to obtain a preliminary reflectivity image, which includes: According to the different reflectivity of the target space area and the space debris to the laser, light and shadow comparison data are obtained; According to the spectral band correlation coefficient, the light and shadow contrast data is divided into a plurality of groups of spectral band data; Each set of spectral band data is subjected to dimensionality reduction processing, and weighted fusion of band indexes and fusion of local spectral band maximum values ​​are performed to obtain the preliminary reflectance image.

4. A method for monitoring space debris according to claim 1, characterized in that: According to the difference of the spectral bands in the preliminary reflectivity image, the spectral bands are marked with features to obtain the light spot features, which specifically includes: Constructing a three-dimensional space map according to the scope of the target space area; According to the space three-dimensional plane map, the preliminary reflectivity image is overlaid and fused to obtain a three-dimensional plane fusion map; wherein the three-dimensional plane fusion map includes the position coordinates of each spectral band and the corresponding fuzzy area size in the three-dimensional plane fusion map; According to the three-dimensional plane fusion image, feature marking is performed on different spectral bands to obtain the light spot features.

5. A method for monitoring space debris according to claim 1, characterized in that: According to the light spot characteristics, a monitoring three-dimensional plane model is established, which specifically includes: Based on the coordinates of each of the light spot features and the corresponding blurred area, image segmentation is performed on a rectangular range that contains the smallest blurred area to obtain a light spot segmentation image; Segment the spot segmentation image into foreground and background to obtain the actual spot image area; The monitoring three-dimensional plane model is established according to the coordinates of each of the light spot features, the light spot segmentation image and the actual light spot image area.

6. A method for monitoring space debris according to claim 1, characterized in that: By monitoring the three-dimensional plane model, the position and posture of the space debris in the target space area are estimated to obtain a space debris association map, which specifically includes: According to the monitoring three-dimensional plane model, the position coordinates and the actual area of ​​each actual light spot image in the target space area are obtained; wherein each actual light spot image is each space debris image; Combining the posture coordinates and the actual area to obtain a level state diagram of each actual spot image; The spatial debris association diagram is obtained by performing level division through the level state diagram of each actual spot image; wherein the level state diagram includes: a high-level state diagram, a medium-level state diagram and a low-level state diagram.

7. A method for monitoring space debris according to claim 1, characterized in that: Before adjusting the center position according to the space debris position map to achieve accurate tracking of the space debris, the method further includes: Eliminate chattering in sliding mode control through a new sliding mode controlled voice coil motor fast mirror, including: According to the first state error in the state error vector and the classical sliding mode equation, the error-related adaptive equation is obtained; According to the disturbance estimator equation, the exponential reaching law and the error-related adaptive equation, a new chattering-free reaching law equation is obtained; According to the error-related adaptive equation, the novel non-chattering reaching law equation and the classical sliding surface, a novel sliding mode control equation is obtained; The voice coil motor fast reflector is optimized and improved by the novel sliding mode control equation to obtain the novel sliding mode controlled voice coil motor fast reflector, so as to perform smooth laser tracking processing on the target space area.

8. A method for monitoring space debris according to claim 7, characterized in that: Before obtaining the novel chattering-free reaching law equation according to the disturbance estimator equation, the exponential reaching law and the error-related adaptive equation, the method further includes: The disturbance estimator equation is obtained according to the sliding mode coefficient matrix and the third-order disturbance estimation compensation error.

9. A method for monitoring space debris according to claim 1, characterized in that: According to the space debris association map, the center position is adjusted to achieve precise strikes on the space debris, specifically including: Performing level recognition on a level state diagram of each spot image in the space debris association diagram; Adjusting the high-level state diagram to the center position of the space debris association diagram; A tracking control strategy is implemented on the center position to achieve accurate tracking and attack of the space debris.

10. A space debris monitoring device, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, so that the at least one processor can execute a space debris monitoring method according to any one of claims 1-9.

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