A multi-point reconfigurable spacecraft visual sensing network and its configuration and use method

Abstract

A multi-point reconstructable spacecraft visual sensing network includes: a plurality of micro wireless cameras, a central processing unit, an image decoding and reconstruction module, and a visual measurement module; the plurality of micro wireless cameras are distributed on the spacecraft to form a visual sensing network; the micro wireless cameras obtain image information of visual telemetry targets; the central processing unit receives instructions from the spacecraft to control all micro wireless cameras, collects and stores image information of all imaging sensors, and sends the collected image information to the spacecraft, which is then transmitted to the ground by the spacecraft; the image decoding and reconstruction module receives images transmitted from the spacecraft, completes decoding and reconstruction of the received images, and outputs the data to the visual measurement module; the visual measurement module is arranged on the ground to perform three-dimensional surface reconstruction or posture measurement of visual telemetry targets. The present invention overcomes the shortcomings of existing visual telemetry systems and can be used for full coverage and high-precision visual telemetry of spacecraft.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft design and relates to a spacecraft visual sensor network. Background Art

[0002] As an important carrier for human space activities, the reliability and safety of spacecraft in orbit are important factors affecting the success or failure of the mission. During the implementation of a space mission, whether the spacecraft's operating status is stable, whether various indicators are normal, and the results of executing instructions are all top priorities for designers. For a long time, designers have used spacecraft telemetry technology to judge the health status of spacecraft and the results of instruction execution, that is, to monitor the changes in the voltage, current, temperature, etc. of the corresponding equipment, and judge whether it is normal by comparing with the expected results. In recent years, with the increasing complexity of the composition and mission forms of spacecraft, usually during in-orbit flight, there will be mechanism deployment, robotic arm movement, rendezvous and docking, cabin separation, transfer movement and other actions. Traditional telemetry methods have gradually exposed the shortcomings of limited information acquisition and inability to intuitively reflect the status of spacecraft, and it is increasingly difficult to meet the requirements of space missions.

[0003] Visual telemetry technology is a telemetry technology that uses images as information carriers. By configuring several cameras on the spacecraft, images are taken and transmitted during the mission. Ground personnel use images to judge the equipment status and support the mission. This technology has the advantages of large amount of information and intuitive data presentation. In addition to providing important support for command execution effect evaluation, spacecraft health status monitoring, fault diagnosis and troubleshooting, the acquired images can also be used for mission display and mission planning. Therefore, it is increasingly used in space missions. my country's Chang'e series of probes, Shenzhou spacecraft, NASA's Curiosity Mars rover, ESA's Sentinel satellite, Philae lander, etc. have successfully applied visual telemetry technology and achieved good results, solving problems that traditional telemetry methods cannot solve.

[0004] However, the current visual telemetry system is still in its early stages and has the following shortcomings:

[0005] (1) Imaging sensors are heavy. Currently, the weight of small imaging sensors used in spacecraft is mostly between 200g and 500g, which takes up a lot of resources. Each imaging sensor needs to be connected to power supply and communication cables. The weight of the cables is often close to or even exceeds the weight of the imaging sensor itself, making it difficult to deploy them at multiple locations.

[0006] (2) The management equipment has few hardware interfaces, the cable layout is highly constrained, the placement of imaging sensors is limited, and once the configuration is completed, it is difficult to change.

[0007] (3) The amount of image data is large, while the bandwidth of satellite-to-ground communication is limited, which restricts the number of measurement points of the visualization telemetry system.

[0008] (4) Currently, most methods are based on manual qualitative analysis of images or simple calculations based on pixel measurement, which does not make full use of image information. Summary of the invention

[0009] The technical problem to be solved by the present invention is: to overcome the shortcomings of the prior art, the present invention provides a multi-point reconfigurable spacecraft visual sensor network and its configuration and use method, solves the problems of heavy imaging sensors, many cables, large image data volume, few management equipment hardware interfaces, large cable layout restrictions and insufficient use of image information, can perform multi-point coverage and precise quantitative telemetry of visual telemetry targets of spacecraft, and can flexibly increase or decrease the number of imaging sensors and adjust the measurement point positions at any time according to needs to reconstruct the visual sensor network. Provide support for spacecraft action effect evaluation, health status monitoring, fault diagnosis and troubleshooting, mission display and mission planning.

[0010] The technical solution adopted by the present invention is: a multi-point reconstructable spacecraft visual sensor network, including: a number of miniature wireless cameras, a central processing unit, an image decoding and reconstruction module and a visual measurement module;

[0011] The plurality of miniature wireless cameras are distributed on the spacecraft to form a visual sensing network, thereby achieving coverage of all visual telemetry targets of the spacecraft; the miniature wireless cameras serve as imaging sensors to obtain image information of the visual telemetry targets;

[0012] The central processing unit is installed on the spacecraft, receives instructions from the spacecraft to control all the miniature wireless cameras, collects and stores image information from all the miniature wireless cameras, and sends the collected image information to the spacecraft, which is then transmitted to the ground.

[0013] The image decoding and reconstruction module is arranged on the ground, receives images transmitted by the spacecraft, completes decoding and reconstruction of the received images, and outputs the data to the visual measurement module;

[0014] The visual measurement module is arranged on the ground, and performs three-dimensional surface reconstruction or posture measurement of the visual telemetry target according to the image sent by the image decoding and reconstruction module and the calibrated internal and external parameters of the camera.

[0015] Furthermore, the miniature wireless camera is self-charging and self-powered through body-mounted solar cells and lithium batteries, communicates with a central processing unit via WIFI to achieve command control and image data transmission, the communication rate with the central processing unit is 150Mbps, the field of view is 60°×60°, the imaging resolution is 1920×1080, the dynamic imaging frame rate is 10fps, and the image data can be bicubic down-sampled and JPEG2000 compressed and encoded, with a maximum compression ratio of 1024:1, and a single continuous working time of 1 hour.

[0016] Furthermore, the arrangement of the miniature wireless camera is as follows:

[0017] For targets that require three-dimensional surface reconstruction, two or more miniature wireless cameras are deployed to form a binocular or multi-eye vision system;

[0018] For targets that do not require three-dimensional surface measurement but only require posture measurement, a miniature wireless camera is deployed to form a monocular vision system.

[0019] Furthermore, the central processing unit includes a power supply and distribution circuit and a communication circuit, and the command control of all miniature wireless cameras includes switching between standby mode and shooting mode, and switching between dynamic / static shooting modes; the communication protocol between the central processing unit and the WeChat wireless camera is IEEE 802.11n, and the power supply and distribution circuit completes primary and secondary power conversion, providing +3.3V, +5V, and +12V secondary power supplies.

[0020] Furthermore, the central processing unit communicates with the spacecraft via the 1553B bus and sends the collected image information to the spacecraft via the LVDS bus.

[0021] Furthermore, the image decoding and reconstruction module is arranged to decode and reconstruct the image transmitted by the spacecraft, including:

[0022] First, the received image is decoded by JPEG2000, and then the image is super-resolution reconstructed to complete the entire decoding process.

[0023] Furthermore, the visual measurement module includes a camera calibration submodule, a coordinate conversion submodule, a feature point extraction submodule, a binocular three-dimensional measurement submodule and a monocular posture measurement submodule; the camera calibration submodule calibrates the internal and external parameters of the micro wireless camera, the coordinate conversion submodule completes the coordinate conversion between the camera coordinate system, the spacecraft coordinate system and the robotic arm coordinate system, the feature point extraction submodule extracts the feature points of the visualized telemetry target, the binocular three-dimensional measurement submodule completes the three-dimensional surface reconstruction of the visualized telemetry target, and the monocular posture measurement submodule completes the posture measurement of the visualized telemetry target.

[0024] Configuration and use of a multi-point reconfigurable spacecraft visual sensor network, including:

[0025] According to the characteristics of the spacecraft's visual telemetry targets, miniature wireless cameras are configured to form a visual sensor network;

[0026] According to the field of view of the micro wireless camera and the size and motion range of the visual telemetry target, the installation position of each micro wireless camera is determined to cover the motion process of all visual telemetry targets of the spacecraft;

[0027] Configuring a central processing unit on a spacecraft and installing the central processing unit in a spacecraft cabin;

[0028] During the ground test, the camera calibration submodule of the visual measurement module is used to calibrate all the micro wireless cameras to obtain the internal and external parameters of the micro wireless cameras;

[0029] In the actual flight process, before the telemetry target moves, the ground sends a power-on command and a photo-taking command to the spacecraft, and the spacecraft sends the command to the central processing unit, which controls the micro wireless camera to turn on and record the target's movement process; during the shooting process, the micro wireless camera compresses and encodes the image and transmits the compressed and encoded image to the central processing unit through the WIFI network;

[0030] The central processing unit transmits the compressed image data to the spacecraft, which then transmits it to the image decoding and reconstruction module on the ground;

[0031] After receiving the image, the image decoding and reconstruction module decodes it, performs super-resolution reconstruction, obtains the required image, and transmits it to the visual measurement module;

[0032] The visual measurement module performs visual measurement based on the acquired images and the calibrated internal and external parameters of the camera, and reconstructs the three-dimensional surface shape or measures the posture of the visualized telemetry target.

[0033] Furthermore, according to the characteristics of the visual telemetry target of the spacecraft, a miniature wireless camera is configured to form a visual sensing network, including:

[0034] For targets that require three-dimensional surface reconstruction, two or more miniature wireless cameras are deployed to form a binocular or multi-eye vision system;

[0035] For targets that do not require three-dimensional surface measurement but only require posture measurement, a miniature wireless camera is deployed to form a monocular vision system.

[0036] Furthermore, the miniature wireless camera compresses and encodes the image using a 2x bicubic downsampling and JPEG2000 method.

[0037] The beneficial effects of the present invention compared with the prior art are as follows:

[0038] (1) The present invention proposes a multi-point reconstructable spacecraft visual sensor network, which uses a miniature wireless camera, a central processing unit, an image decoding and reconstruction module, and a visual measurement module to solve the problems of the current visual telemetry system, such as a small number of measurement points, insufficient distribution, difficulty in modifying the configuration once it is determined, insufficient use of image information, and poor amount of solution information and calculation accuracy.

[0039] (2) The miniature wireless camera of the present invention adopts a self-charging, self-powered, and wireless communication design to solve the problems of heavy imaging sensor weight, multiple cables, few management equipment hardware interfaces, and large cable layout restrictions. It can be deployed at multiple points and can flexibly reconstruct the visual sensor network as needed.

[0040] (3) The image decoding and reconstruction module of the present invention uses JPEG2000 decoding and super-resolution method to decode images, which can effectively eliminate compression artifacts.

[0041] (4) The visual measurement module of the present invention adopts camera calibration, coordinate transformation, feature point extraction, binocular three-dimensional measurement and monocular posture measurement methods to perform posture measurement and three-dimensional surface reconstruction of the visualized remote sensing target, which greatly improves the amount of information obtained and the calculation accuracy, thereby improving the utilization efficiency of image information. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The system diagram of the spacecraft visual sensor network with multi-point reconfiguration is shown;

[0043] Figure 2 The information flow diagram of the spacecraft visual sensor network with multi-point reconfiguration;

[0044] Figure 3 This is a diagram of the visual measurement module composition. DETAILED DESCRIPTION

[0045] The present invention will be further described below in conjunction with embodiments:

[0046] During the implementation of a space mission, whether the spacecraft's operating status is stable, whether various indicators are normal, and what the results of command execution are are all top priorities for designers. Visual telemetry technology, as a telemetry method with images as information carriers, uses several cameras on the spacecraft to take images and transmit them during the mission. Ground personnel use images to judge the equipment status and support the mission. It has the advantages of large amount of information and intuitive data presentation. It can effectively make up for the shortcomings of traditional telemetry methods in obtaining limited information and inability to intuitively reflect the status of spacecraft, especially the action status of mechanism deployment, robotic arm movement, rendezvous and docking, and cabin separation. However, the current visual telemetry system is limited by factors such as the large volume and weight of cameras and cables, and the huge amount of image data, resulting in a small number of measurement points and insufficient distribution. There are also few hardware interfaces for management equipment and complex cable layout. Once the configuration is determined, it is difficult to modify. At the same time, most of the data processing is based on manual qualitative analysis of images or simple calculations based on pixel point measurement. The use of image information is not sufficient, which greatly limits the development of visual telemetry technology. The present invention proposes a multi-point reconfigurable spacecraft visual sensing network, which overcomes the shortcomings of the existing visual telemetry system and can be used for full coverage and high-precision visual telemetry of spacecraft.

[0047] like Figures 1 to 3 As shown, a multi-point reconstructable spacecraft visual sensor network includes: a set of miniature wireless cameras, a central processing unit, an image decoding and reconstruction module and a visual measurement module.

[0048] The miniature wireless camera is installed on the spacecraft and is an imaging sensor of the spacecraft visual sensor network that can be reconstructed at multiple points to obtain image information of the visual telemetry target. The miniature wireless camera includes a lens, a CMOS sensor circuit, a WIFI module, an onboard WIFI antenna, an image compression module, a solar cell, a lithium battery, and a charging and discharging circuit. It has a rigid structure and a single unit weight of 50g. There is no cable connection with the spacecraft. It is self-charging and self-powered through the body-mounted solar cell and a 750mAh lithium battery. It communicates with the central processing unit through WIFI to complete command control and image data transmission. The communication rate is 150Mbps. The field of view of the miniature wireless camera is 60°×60°, the imaging resolution is 1920×1080, the dynamic imaging frame rate is 10fps, and the image data can be bicubic downsampled and JPEG2000 compressed and encoded. The maximum compression ratio is 1024:1, and the single continuous working time is 1 hour. The arrangement of the miniature wireless camera is closely related to the visual telemetry target. Generally, for targets that require accurate three-dimensional surface reconstruction, such as solar wings, two / multiple miniature wireless cameras are arranged to form a binocular / multi-eye vision system. For targets that do not require accurate three-dimensional surface measurement but only require posture measurement, such as robotic arms and separation mechanisms, one miniature wireless camera is arranged to form a monocular vision system. Multiple miniature wireless cameras form a visual sensor network on the spacecraft to complete the coverage of all visual telemetry targets of the spacecraft. Because the miniature wireless camera of the present invention has the characteristics of light weight, wireless communication, self-charging, self-powered, and no cable connection, it can not only be arranged at multiple points on the spacecraft, but also is not restricted by the number of electrical connectors and cable layout of the management equipment. The number, position, and layout of the cameras can be flexibly adjusted. During the design process, if the task requirements and target characteristics change, the reconstruction of the visual sensor network can be quickly completed by increasing or decreasing the number of cameras, changing the camera position, and adjusting the camera layout.

[0049] like Figure 2 As shown, the central processing unit is installed on the spacecraft, and is composed of a power supply and distribution circuit and a communication circuit. It completes the command control of all imaging sensors, including the switching between standby mode and shooting mode, the switching between dynamic / static shooting mode, and completes the image information collection and storage of all imaging sensors. It communicates with the imaging sensor via WIFI, and the communication protocol is IEEE 802.11n. The power supply and distribution circuit completes the primary and secondary power conversion and provides +3.3V, +5V, and +12V secondary power. The central processing unit communicates with the spacecraft via the 1553B bus, receives the instructions of the spacecraft, sends the collected image information to the spacecraft via the LVDS bus, and is transmitted to the ground by the spacecraft. The central processing unit can control 8 imaging sensors at the same time, and a total of 48 imaging sensors can be controlled, which fully meets the needs of visual telemetry of the spacecraft, and the control quantity can be flexibly adjusted through software.

[0050] The image decoding and reconstruction module is arranged on the ground, receives images transmitted by the spacecraft, completes decoding and reconstruction of the received images, first performs JPEG2000 decoding on the received images, then performs super-resolution reconstruction on the images to complete the entire decoding process, and outputs them to the visual measurement module.

[0051] like Figure 3 As shown, the visual measurement module is arranged on the ground, and includes a camera calibration submodule, a coordinate conversion submodule, a feature point extraction submodule, a binocular 3D measurement submodule, and a monocular pose measurement submodule. The camera calibration submodule calibrates the internal and external parameters of the miniature wireless camera, the coordinate conversion submodule completes the coordinate conversion between the camera coordinate system, the spacecraft coordinate system, and the robotic arm coordinate system, the feature point extraction submodule extracts the feature points of the visual telemetry target, the binocular 3D measurement submodule completes the 3D surface reconstruction of the visual telemetry target, and the monocular pose measurement submodule completes the pose measurement of the visual telemetry target.

[0052] The configuration and use method of a multi-point reconfigurable spacecraft visual sensor network includes the following steps:

[0053] (1) According to the characteristics of the spacecraft's visual telemetry targets, a miniature wireless camera is deployed to form a visual sensor network;

[0054] (2) Determine the installation position of each micro wireless camera based on the field of view of the micro wireless camera and the size and motion range of the visualized telemetry target, and cover the motion process of all visualized telemetry targets of the spacecraft;

[0055] (3) configuring a central processing unit on a spacecraft and installing the central processing unit in a spacecraft cabin;

[0056] (4) During the ground test, all miniature wireless cameras are calibrated using the camera calibration submodule of the visual measurement module to obtain the internal and external parameters of the miniature wireless cameras;

[0057] (5) During the actual flight, before the telemetry target moves, the ground sends a power-on command and a photo-taking command to the spacecraft, and the spacecraft sends the command to the central processing unit, which controls the micro wireless camera to turn on and record the target's movement process; during the shooting process, the micro wireless camera uses 2x bicubic downsampling and JPEG2000 to compress and encode the image, and transmits the compressed and encoded image to the central processing unit through the WIFI network;

[0058] (6) The central processing unit transmits the compressed image data to the spacecraft, which then transmits it to the image decoding and reconstruction module on the ground;

[0059] (7) After receiving the image, the image decoding and reconstruction module decodes it, performs super-resolution reconstruction, obtains the required image, and transmits it to the visual measurement module;

[0060] (8) The visual measurement module performs visual measurement based on the acquired images and the calibrated internal and external parameters of the camera, and reconstructs the three-dimensional surface shape or measures the posture of the visualized telemetry target.

[0061] The weight of the miniature wireless camera used in the present invention is only 1 / 4 of that of the traditional small imaging sensor, and no cables are used, which further saves system resources. Under the same resource conditions, the measurement point coverage of the present invention is more than 8 times higher than that of the existing visual telemetry system.

[0062] The miniature wireless camera used in the present invention can be self-charged and self-powered, adopts wireless communication, can be flexibly configured on demand, is not restricted by the number of electrical connectors, cable layout, etc., and can quickly complete the reconstruction of the visual sensor network;

[0063] The present invention uses bicubic downsampling combined with JPEG2000 for compression, which can achieve a compression ratio of 1024:1, which is more than 6 times higher than that of the existing visual telemetry system. At the same compression ratio, no block effect and compression artifacts will be generated. The quality of the compressed image is higher than that of the existing visual telemetry system, solving the problem of huge image data volume.

[0064] In addition to manual subjective interpretation, the present invention can also perform posture measurement and three-dimensional surface reconstruction of the visualized telemetry target based on the image. Compared with the simple size calculation based on pixel point measurement of the existing visualized telemetry system, the amount of information obtained and the calculation accuracy are greatly improved, thereby improving the utilization efficiency of image information.

[0065] Embodiment 1:

[0066] The spacecraft consists of an orbiter and a lander. The orbiter and lander separate in the lunar orbit. The lander lands on the lunar surface to carry out lunar sample collection and packaging tasks, and the orbiter performs communication relay in the lunar orbit. The targets that require visual telemetry include: orbiter solar wing deployment, directional antenna deployment, orbiter and lander separation, lunar surface drilling and surface sampling, sample primary packaging, and sample sealing packaging.

[0067] The first step is to configure miniature wireless cameras according to the characteristics of the visual telemetry targets of the spacecraft. Binocular measurements are performed on the solar wing deployment process, drilling sampling process, surface sampling robot arm sampling process, sample primary packaging process, and sample sealing packaging process; monocular measurements are performed on the directional antenna deployment process and the orbiter and lander separation process. A total of 16 miniature wireless cameras are configured to form a wireless visual sensor network.

[0068] In the second step, based on the camera's 60°×60° field of view and taking into account the target size and range of motion, the camera is installed at nine locations near the spacecraft's left and right solar wings, directional antennas, the separation surface of the two devices, the drilling mechanism mounting surface, the surface retrieval mechanism mounting surface, the sample primary packaging container, and the sample sealed packaging container to ensure that the movement process of the telemetry target is covered.

[0069] The third step was that it was found during the design process that only two cameras on the spacecraft structure could not complete the visual telemetry of the sampling process of the table-taking manipulator due to partial obstruction of the field of view. In addition, there was an increased demand for measuring the surface shape changes of the directional antenna during the deployment process. At this time, only two cameras were needed to be added to the manipulator to make up for the obstructed field of view. Adding a camera near the directional antenna to form a binocular vision system with the original camera can complete the reconstruction of the sensor network without considering engineering issues such as whether the hardware interface of the management equipment is sufficient, whether cables can be added, and whether the cables can be tied to the manipulator.

[0070] The fourth step is to configure the central processing unit on the spacecraft. The central processing unit is installed in the spacecraft cabin.

[0071] The fifth step is to calibrate 19 miniature wireless cameras during ground testing using the camera calibration submodule of the visual measurement module to obtain the internal and external parameters of the cameras.

[0072] The sixth step is that during the actual flight, before the telemetry target moves, the ground sends power-on commands and photo-taking commands to the spacecraft. The spacecraft sends the commands to the central processing unit, which controls the micro wireless camera to turn on and record the target's movement process. During the shooting process, the micro wireless camera uses 2x bicubic downsampling and JPEG2000 to compress and encode the image, and transmits the compressed and encoded image to the central processing unit via the WIFI network.

[0073] In the seventh step, the central processing unit transmits the compressed image data to the spacecraft, which then transmits it to the image decoding and reconstruction module on the ground.

[0074] In the eighth step, after receiving the image, the image decoding and reconstruction module first performs JPEG2000 decoding, then performs super-resolution reconstruction to obtain the required image and transmit it to the visual measurement module.

[0075] In the ninth step, the visual measurement module performs visual measurement based on the acquired images and the calibrated internal and external parameters of the camera. For the separation process of the orbiter and the lander, the feature point extraction submodule is used to extract feature points, and the monocular pose measurement submodule is used to measure the position and pose of the target. Among them, for the separation process of the orbiter and the lander, the coordinate conversion submodule is also used to convert the pose information from the camera coordinate system to the spacecraft coordinate system. For the solar wing deployment process, the directional antenna deployment process, the drilling sampling process, the table sampling robot arm sampling process, the sample primary packaging process and the sample sealing packaging process, the binocular three-dimensional measurement submodule is used to measure the three-dimensional information of the target. Among them, for the table sampling robot arm sampling process, the primary packaging process and the sealing packaging process, the coordinate conversion submodule is also used to convert the three-dimensional information from the camera coordinate system to the robot arm coordinate system.

[0076] At this point, the entire process from configuration to use of the multi-point reconfigurable spacecraft visual sensing network has been completed.

[0077] Parts of the present invention that are not described in detail belong to the well-known technology for those skilled in the art.

Claims

1. A multi-point reconfigurable spacecraft visual sensor network, characterized in that: include: Several miniature wireless cameras, central processing units, image decoding and reconstruction modules, and visual measurement modules; The plurality of miniature wireless cameras are distributed on the spacecraft to form a visual sensor network, thereby achieving coverage of all visual telemetry targets of the spacecraft; the miniature wireless cameras serve as imaging sensors to obtain image information of visual telemetry targets; the miniature wireless cameras are self-charging and self-powered through body-mounted solar cells and lithium batteries, and communicate with the central processing unit through WIFI to achieve command control and image data transmission. The communication rate with the central processing unit is 150Mbps, the field of view is 60°×60°, the imaging resolution is 1920×1080, the dynamic imaging frame rate is 10fps, and the image data can be bicubic down-sampled and JPEG2000 compressed and encoded, with a maximum compression ratio of 1024:1, and a single continuous working time of 1 hour; The central processing unit is installed on the spacecraft, receives instructions from the spacecraft to control all the miniature wireless cameras, collects and stores image information from all the miniature wireless cameras, and sends the collected image information to the spacecraft, which is then transmitted to the ground. The image decoding and reconstruction module is arranged on the ground, receives images transmitted by the spacecraft, completes decoding and reconstruction of the received images, and outputs the data to the visual measurement module; The image decoding and reconstruction module is arranged to decode and reconstruct the image transmitted by the spacecraft, including: First, the received image is decoded by JPEG2000, and then the image is super-resolution reconstructed to complete the entire decoding process; The visual measurement module is arranged on the ground, and performs three-dimensional surface reconstruction or posture measurement of the visualized telemetry target according to the image sent by the image decoding and reconstruction module and the calibrated internal and external parameters of the camera; the visual measurement module includes a camera calibration submodule, a coordinate conversion submodule, a feature point extraction submodule, a binocular three-dimensional measurement submodule and a monocular posture measurement submodule; the camera calibration submodule calibrates the internal and external parameters of the miniature wireless camera, the coordinate conversion submodule completes the coordinate conversion between the camera coordinate system, the spacecraft coordinate system and the mechanical arm coordinate system, the feature point extraction submodule extracts the feature points of the visualized telemetry target, the binocular three-dimensional measurement submodule completes the three-dimensional surface reconstruction of the visualized telemetry target, and the monocular posture measurement submodule completes the posture measurement of the visualized telemetry target.

2. A multi-point reconfigurable spacecraft visual sensor network according to claim 1, characterized in that: The arrangement of the miniature wireless camera is as follows: For targets that require three-dimensional surface reconstruction, two or more miniature wireless cameras are deployed to form a binocular or multi-eye vision system; For targets that do not require three-dimensional surface measurement but only require posture measurement, a miniature wireless camera is deployed to form a monocular vision system.

3. The multi-point reconfigurable spacecraft visual sensor network according to claim 1, characterized in that: The central processing unit includes a power supply and distribution circuit and a communication circuit. The command control of all miniature wireless cameras includes switching between standby mode and shooting mode, and switching between dynamic / static shooting modes. The communication protocol between the central processing unit and the WeChat wireless camera is IEEE802.11n, and the power supply and distribution circuit completes the primary and secondary power conversion, providing +3.3V, +5V, and +12V secondary power supplies.

4. The multi-point reconfigurable spacecraft visual sensor network according to claim 3, characterized in that: The central processing unit communicates with the spacecraft via the 1553B bus and sends the collected image information to the spacecraft via the LVDS bus.

5. The method for using a multi-point reconfigurable spacecraft visual sensor network according to claim 1, characterized in that: include: According to the characteristics of the spacecraft's visual telemetry targets, miniature wireless cameras are configured to form a visual sensor network; According to the field of view of the micro wireless camera and the size and motion range of the visual telemetry target, the installation position of each micro wireless camera is determined to cover the motion process of all visual telemetry targets of the spacecraft; Configuring a central processing unit on a spacecraft and installing the central processing unit in a spacecraft cabin; During the ground test, the camera calibration submodule of the visual measurement module is used to calibrate all the micro wireless cameras to obtain the internal and external parameters of the micro wireless cameras; In the actual flight process, before the telemetry target moves, the ground sends a power-on command and a photo-taking command to the spacecraft, and the spacecraft sends the command to the central processing unit, which controls the micro wireless camera to turn on and record the target's movement process; during the shooting process, the micro wireless camera compresses and encodes the image and transmits the compressed and encoded image to the central processing unit through the WIFI network; The central processing unit transmits the compressed image data to the spacecraft, which then transmits it to the image decoding and reconstruction module on the ground; After receiving the image, the image decoding and reconstruction module decodes it, performs super-resolution reconstruction, obtains the required image, and transmits it to the visual measurement module; The visual measurement module performs visual measurement based on the acquired images and the calibrated internal and external parameters of the camera, and reconstructs the three-dimensional surface shape or measures the posture of the visualized telemetry target.

6. The method for using the multi-point reconfigurable spacecraft visual sensor network according to claim 5, characterized in that: According to the characteristics of the visual telemetry target of the spacecraft, a miniature wireless camera is configured to form a visual sensing network, including: For targets that require three-dimensional surface reconstruction, two or more miniature wireless cameras are deployed to form a binocular or multi-eye vision system; For targets that do not require three-dimensional surface measurement but only require posture measurement, a miniature wireless camera is deployed to form a monocular vision system.

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