Deep Space Small Body Autonomous Optical Navigation Verification System

Abstract

The present invention provides a deep-space small-body autonomous optical navigation verification system. The deep-space small-body autonomous optical navigation verification system includes a small-body motion and environment module, a simulation and approach module, and a real-time simulator. Specifically: The small-body motion and environment module is configured to construct small-body motion parameters and environment, and simulate a real small-body target; The simulation and approach module is configured to construct the motion parameters of an optical payload for observing the small body, simulate a real satellite optical payload, collect the background image of the small-body motion and environment module, and the simulation and approach module is further configured to send the background image to the real-time simulator; And the real-time simulator is configured to control the motion of the simulation and approach module according to the background image, so that the small-body motion and environment module is always at the center of the field of view of the simulation and approach module.

Description

Technical Field

[0001] The present invention relates to the technical field of satellite navigation guidance and control, and particularly to a deep space small body autonomous optical navigation verification system. Background Art

[0002] Due to the large uncertainty of the small body orbit, with an error of up to hundreds of kilometers, and the overly long orbit determination observation time of deep space tracking and control stations, there is a great possibility that the small body will go out of the field of view of the navigation camera during the interval between two orbit determinations. Therefore, in order to achieve the goal of approaching a small body from a long distance, it is necessary to adopt a method combining optical autonomous navigation with orbit determination by deep space tracking and control stations. The orbit determination ability of deep space stations cannot be significantly improved in the short term, and strengthening the performance of optical payloads is the key to the success of the small body long-distance approach mission.

[0003] Strongly autonomous, high-precision and real-time autonomous optical navigation is an important technical link in deep space exploration missions. The approach stage of a small body is a crucial stage of small body exploration, and the navigation performance of the detector at this stage determines whether the detector can safely and accurately reach the target small body. Optical navigation is a commonly used navigation method in the approach stage. The detector obtains images of the small body through an on-board camera, and then determines the line-of-sight direction of the small body relative to the detector. Taking the line-of-sight direction as the observation quantity, combined with the dynamic equation of the detector relative to the small asteroid, the position and velocity of the detector relative to the small asteroid are estimated. However, during the process of approaching the small body, the movement trajectory of the detector relative to the small body is approximately a straight line, and this geometric configuration causes the performance of optical relative navigation to degrade and the accuracy to decrease.

[0004] In the long-distance approach stage of a small body exploration mission, the optical navigation target is generally the optical center of the target small body. The magnitude of the target small body is generally relatively low, and long-time exposure is required to form an image. During the exposure time, various reasons such as thermal shrinkage and expansion, mechanical vibration, and attitude deviation will cause the optical axis of the imaging system to be disturbed multiple times during the exposure time, and the imaging of the navigation target on the CCD plane will shift. The imaging will no longer be in a dot-like or spot-like distribution but will produce a drag, and the actual imaging is a trajectory, making it difficult to extract the characteristic information of the navigation target for precise navigation. Summary of the Invention

[0005] The purpose of the present invention is to provide a deep space small body autonomous optical navigation verification system and method to solve the problem of how to improve the performance of existing optical payloads for observing the long-distance approach of small bodies.

[0006] To solve the above technical problems, the present invention provides a deep space small body autonomous optical navigation verification system. The deep space small body autonomous optical navigation verification system includes a small body motion and environment module, a simulated approach module, and a real-time simulator, wherein:

[0007] The small celestial body motion and environment module is configured to construct the motion parameters and environment of the small celestial body and simulate a real small celestial body target;

[0008] The simulation and approximation module is configured to construct the motion parameters of the optical payload for observing the small celestial body, simulate a real satellite optical payload, collect the background image of the small celestial body motion and environment module, and the simulation and approximation module is further configured to send the background image to the real-time simulator; and

[0009] The real-time simulator is configured to control the motion of the simulation and approximation module according to the background image, so that the small celestial body motion and environment module is always at the center of the field of view of the simulation and approximation module.

[0010] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the small celestial body motion and environment module includes a parallel light source, a scaled-down model of the small celestial body, a single-axis turntable and a star background curtain, where:

[0011] The scaled-down model of the small celestial body is placed on the single-axis turntable;

[0012] The parallel light source irradiates on the scaled-down model of the small celestial body to simulate the incident sunlight at different angles on the surface of the small celestial body;

[0013] The star background curtain is used to simulate the deep space background environment, and the star background curtain is hung on the side of the scaled-down model of the small celestial body facing away from the parallel light source.

[0014] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the small celestial body motion and environment module further includes a second guide rail, the second guide rail has a first slideway and a second slideway, the first slideway and the second slideway are connected by a cross bar, the cross bar can slide along the first slideway and the second slideway, the parallel light source is installed on the cross bar, the parallel light source can translate along the cross bar, the parallel light source can also pitch and swing on the cross bar, and the parallel light source simulates the incident angle of sunlight with four degrees of freedom.

[0015] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the simulation and approximation module includes a robotic arm, a navigation camera, a first guide rail, a guide rail control cabinet and a robotic arm control cabinet, where:

[0016] One end of the first guide rail is the robotic arm and the navigation camera, the navigation camera is installed on the robotic arm, the robotic arm slides along the first guide rail, and the other end of the first guide rail places the single-axis turntable;

[0017] The first guide rail drives the body of the robotic arm to approach the scaled-down model of the small celestial body at a constant speed. The navigation camera samples the scaled-down model of the small celestial body in real time. At regular time intervals, a background image is formed. The navigation camera preprocesses the collected background image through the backend algorithm of the navigation camera, and then transmits the background image to the real-time simulator.

[0018] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the deep space small celestial body autonomous optical navigation verification system further includes an upper / lower computer, where:

[0019] After processing the background image, the real-time simulator calculates the pose of the navigation camera relative to the scaled-down model of the small celestial body in the inertial coordinate system, and sends a trajectory correction instruction to the upper / lower computer according to the pose. The upper / lower computer sends the trajectory correction instruction to the guide rail control cabinet and the robotic arm control cabinet;

[0020] The guide rail control cabinet and the robotic arm control cabinet adjust the speed of the first guide rail according to the trajectory correction instruction;

[0021] The guide rail control cabinet and the robotic arm control cabinet adjust the pose of the robotic arm according to the trajectory correction instruction to correct the pose of the navigation camera, so as to keep the scaled-down model of the small celestial body always at the center of the field of view of the navigation camera, thus completing a ground demonstration verification process of approaching a deep space small celestial body from a long distance.

[0022] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the real-time simulator calculates the conductivity of the next movement of the navigation camera through the background image, sends the conductivity to the upper / lower computer, and the upper / lower computer calculates the flight vehicle movement instruction according to the conductivity and sends the flight vehicle movement instruction to the guide rail control cabinet and the robotic arm control cabinet;

[0023] The transcoding software of the guide rail control cabinet and the robotic arm control cabinet decouples the first guide rail speed coupled in the flight vehicle movement instruction to form a robotic arm movement instruction, and sends the robotic arm movement instruction to the robotic arm to drive the robotic arm to move and adjust the navigation camera at the end of the robotic arm to always keep the scaled-down model of the small celestial body at the center of the field of view.

[0024] Optionally, in the deep space small celestial body autonomous optical navigation verification system, the guide rail control cabinet and the robotic arm control cabinet include a guide rail control module and a robotic arm control module. The guide rail control module controls the movement of the first guide rail, and the robotic arm control module controls the movement of the robotic arm;

[0025] The robotic arm simulates the pose of a six-degree-of-freedom aircraft, and the first guide rail simulates the one-degree-of-freedom approaching motion of the aircraft pointing to the small celestial body. The length of the first guide rail is 16 meters.

[0026] Optionally, in the deep-space small celestial body autonomous optical navigation verification system, adjust the guidance time interval of the real-time simulator, and / or the magnitude of the small celestial body scaled model, and / or the uniform approaching speed of the first guide rail, and / or the motion state of the second navigation, and conduct multiple ground demonstration verification processes of the deep-space small celestial body's long-distance approach to test the performance of the navigation camera.

[0027] Optionally, in the deep-space small celestial body autonomous optical navigation verification system, the deep-space small celestial body autonomous optical navigation verification system further includes a position calibration module and a client module, where:

[0028] The position calibration module obtains the background image from the navigation camera, obtains the speed of the first guide rail and the pose of the robotic arm from the guide rail control cabinet and the robotic arm control cabinet, and obtains the small celestial body motion parameters and environmental parameters from the small celestial body motion and environment module. According to the background image, the speed of the first guide rail, the pose of the robotic arm, and the small celestial body motion parameters and environmental parameters, calculate the real-time pose and the guidance trajectory, and output the real trajectory to the client module according to the real-time pose and the guidance trajectory;

[0029] The real-time simulator outputs a nominal trajectory to the client module through the pre-processed background image, the speed of the first guide rail, and the pose of the robotic arm;

[0030] The client module compares the real trajectory with the nominal trajectory to test the performance of the navigation camera.

[0031] In the deep-space small celestial body autonomous optical navigation verification system provided by the present invention, the small celestial body motion and environment module is used to construct the small celestial body motion parameters and environment, simulating a real small celestial body target. The simulation approaching module constructs the motion parameters of the optical payload for observing the small celestial body, simulating a real satellite optical payload, and collects the background image of the small celestial body motion and environment module. The real-time simulator controls the motion of the simulation approaching module according to the background image, so that the small celestial body motion and environment module is always at the center of the field of view of the simulation approaching module, realizing a ground demonstration verification scheme for the long-distance approach of deep-space small celestial bodies, enabling the smooth development of ground tests, and further can be used to verify relevant feature extraction algorithms, or for simulating and studying the optical navigation feature imaging of small celestial bodies.

[0032] The present invention aims to test the long-distance recognition ability of an optical payload under different background star charts and different simulated minor planet magnitudes, and simulate the process of a minor planet approaching from a long distance. The present invention also aims to propose a high-precision optical navigation method for a minor planet approaching from a long distance, which can improve the relative orbit geometric configuration of a detector with respect to a minor planet, and increase the navigation error convergence speed and navigation accuracy, so as to provide a technical reference for future minor planet exploration projects. Brief Description of the Drawings

[0033] Figure 1 is a schematic diagram of the hardware structure of a deep space minor planet autonomous optical navigation verification system according to an embodiment of the present invention;

[0034] Figure 2 is a schematic diagram of a minor planet motion and environment module according to an embodiment of the present invention;

[0035] Figure 3 is a schematic diagram of the implementation process of ground verification for a deep space minor planet approaching from a long distance according to an embodiment of the present invention;

[0036] As shown in the figure: 10 - asteroid simulator; 11 - parallel light source; 12 - scaled-down minor planet model; 13 - single-axis turntable; 14 - star background curtain; 15 - baffle; 20 - second guide rail; 21 - first slideway; 22 - second slideway; 23 - cross bar; 30 - motion simulation system; 31 - robotic arm; 32 - navigation camera; 33 - first guide rail; 34 - guide rail control cabinet and robotic arm control cabinet; 40 - real-time simulator; 50 - upper / lower computer; 60 - position calibration module; 70 - user terminal module. Detailed Embodiments

[0037] The following further elaborates in detail on the deep space minor planet autonomous optical navigation verification system and method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. According to the following description and the claims, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the objectives of the embodiments of the present invention.

[0038] The core idea of the present invention is to provide a deep space minor planet autonomous optical navigation verification system and method to solve the problem of how to improve the performance of an optical payload for observing a minor planet approaching from a long distance.

[0039] To implement the above idea, the present invention provides a deep space small body autonomous optical navigation verification system. The deep space small body autonomous optical navigation verification system includes a small body motion and environment module, a simulation approximation module, and a real-time simulator. Specifically: The small body motion and environment module is configured to construct the motion parameters and environment of the small body, simulating a real small body target; The simulation approximation module is configured to construct the motion parameters of the optical payload for observing the small body, simulating a real satellite optical payload, and collect the background image of the small body motion and environment module. Moreover, the simulation approximation module is further configured to send the background image to the real-time simulator; And the real-time simulator is configured to control the motion of the simulation approximation module according to the background image, so that the small body motion and environment module is always at the center of the field of view of the simulation approximation module.

[0040] This embodiment provides a deep space small body autonomous optical navigation verification system. As Figures 1 to 3 shown, the deep space small body autonomous optical navigation verification system includes a small body motion and environment module (i.e., the asteroid simulator 10), a simulation approximation module (i.e., the motion simulation system 30), and a real-time simulator 40. Specifically: The small body motion and environment module 10 is configured to construct the motion parameters and environment of the small body, simulating a real small body target; The simulation approximation module 30 is configured to construct the motion parameters of the optical payload for observing the small body, simulating a real satellite optical payload, and collect the background image of the small body motion and environment module 10. Moreover, the simulation approximation module is further configured to send the background image to the real-time simulator 40; And the real-time simulator 40 is configured to control the motion of the simulation approximation module 30 according to the background image, so that the small body motion and environment module 10 is always at the center of the field of view of the simulation approximation module 30.

[0041] Specifically, as Figure 2 shown, in the deep space small body autonomous optical navigation verification system, the small body motion and environment module includes a parallel light source 11, a small body scaled model 12, a single-axis turntable 13, and a star background curtain 14. Specifically: The small body scaled model 12 is placed on the single-axis turntable 13; The single-axis turntable 13 is placed on a vibration isolation floor. The parallel light source 11 irradiates the small body scaled model 12, used to simulate the incident sunlight at different angles on the small body surface; The star background curtain 14 is used to simulate the deep space background environment, and the star background curtain 14 is hung on the side of the small body scaled model 12 facing away from the parallel light source 11.

[0042] Furthermore, in the deep space small body autonomous optical navigation verification system, as Figure 1As shown, the small celestial body motion and environment module further includes a second guide rail 20, the second guide rail 20 has a first slideway 21 and a second slideway 22, the first slideway 21 and the second slideway 22 are connected by a cross bar 23, the cross bar 23 can slide along the first slideway 21 and the second slideway 22, the parallel light source 11 is installed on the cross bar 23, the parallel light source 11 can translate along the cross bar 23, the parallel light source 11 can also pitch and swing on the cross bar 23, and the parallel light source 11 simulates the incident angle of sunlight with four degrees of freedom.

[0043] As Figure 1 shown, in the deep space small celestial body autonomous optical navigation verification system, the simulation approximation module includes a robotic arm 31, a navigation camera 32, a first guide rail 33, a guide rail control cabinet and a robotic arm control cabinet 34, wherein: one end of the first guide rail 33 is a slideway for carrying the robotic arm 31 and the navigation camera 32, the navigation camera 32 is installed at the end of the robotic arm 31, and the robotic arm 31 can slide along the first guide rail 33, as Figure 2 shown, the other end of the first guide rail 33 places the single-axis turntable 13, and is arranged opposite to the star background curtain 14 on both sides of the single-axis turntable 14. There is a baffle 15 between the end of the first guide rail 33 and the single-axis turntable 13 to prevent the robotic arm 31 from hitting the single-axis turntable 13 during movement; the first guide rail 33 drives the body of the robotic arm 31 to approach the small celestial body scaled model 12 at a constant speed, the navigation camera 32 performs real-time sampling on the small celestial body scaled model 12, and forms a background image at a certain time interval. The navigation camera 32 preprocesses the collected background image through the algorithm at the back end of the navigation camera 32, and then transmits the background image to the real-time simulator 40.

[0044] In an embodiment of the present invention, in the deep space small celestial body autonomous optical navigation verification system, as Figure 3As shown in the figure, the deep space small body autonomous optical navigation verification system further includes an upper / lower computer 50, where: after processing the background image, the real-time simulator 40 calculates the pose of the navigation camera 32 relative to the small body scaled model 12 in the inertial coordinate system, and sends a trajectory correction instruction to the upper / lower computer 50 according to the pose. The upper / lower computer 50 sends the trajectory correction instruction to the guide rail control cabinet and the robotic arm control cabinet 34; the guide rail control cabinet and the robotic arm control cabinet 34 adjust the speed of the first guide rail 33 according to the trajectory correction instruction; the guide rail control cabinet and the robotic arm control cabinet 34 adjust the pose of the robotic arm 31 according to the trajectory correction instruction to correct the pose of the navigation camera 32, so as to keep the small body scaled model 12 always at the center of the field of view of the navigation camera 32, thus completing a ground demonstration verification process of approaching a deep space small body from a long distance.

[0045] Further, in the deep space small body autonomous optical navigation verification system, the real-time simulator 40 calculates the conductivity of the next movement of the navigation camera 32 through the background image, sends the conductivity to the upper / lower computer 50, and the upper / lower computer 50 calculates the flight vehicle movement instruction according to the conductivity and sends the flight vehicle movement instruction to the guide rail control cabinet and the robotic arm 31 control cabinet 34; the transcoding software of the guide rail control cabinet and the robotic arm 31 control cabinet 34 decouples the speed of the first guide rail 33 coupled in the flight vehicle movement instruction to form a robotic arm movement instruction, and sends the robotic arm movement instruction to the robotic arm 31 to drive the robotic arm 31 to move and adjust the navigation camera 32 at the end of the robotic arm 31 to always keep the small body scaled model 12 at the center of the field of view.

[0046] In addition, in the deep space small body autonomous optical navigation verification system, the guide rail control cabinet and the robotic arm control cabinet 34 include a guide rail control module and a robotic arm control module. The guide rail control module controls the movement of the first guide rail 33, and the robotic arm control module controls the movement of the robotic arm 31; the robotic arm 31 simulates the six-degree-of-freedom pose of the flight vehicle, and the first guide rail 33 simulates the one-degree-of-freedom approaching movement of the flight vehicle pointing to the small body. The length of the first guide rail 33 is 16 meters.

[0047] In an embodiment of the present invention, in the deep space small body autonomous optical navigation verification system, by adjusting the guidance time interval of the real-time simulator 40, and / or the magnitude of the small body scaled model 12, and / or the uniform approaching speed of the first guide rail 33, and / or the movement state of the second navigation, multiple ground demonstration verification processes of approaching a deep space small body from a long distance are carried out to test the performance of the navigation camera 32.

[0048] AsFigure 3 As shown in Figure 3 , in the deep space small body autonomous optical navigation verification system, the system further includes a position calibration module 60 and a client module 70, where: the position calibration module 60 obtains the background image from the navigation camera 32, obtains the speed of the first guide rail 33 and the pose of the robotic arm 31 from the guide rail control cabinet and the robotic arm control cabinet 34, and obtains the small body motion parameters and environmental parameters from the small body motion and environment module 10, and calculates the real-time pose and guidance trajectory according to the background image, the speed of the first guide rail 33, the pose of the robotic arm 31, and the small body motion parameters and environmental parameters, and outputs the real trajectory to the client module 70 according to the real-time pose and guidance trajectory; the real-time simulator 40 outputs the nominal trajectory to the client module 70 through the pre-processed background image, the speed of the first guide rail 33, and the pose of the robotic arm 31; the client module 70 compares the real trajectory with the nominal trajectory to test the performance of the navigation camera 32.

[0049] In summary, the above embodiments have described in detail different configurations of the deep space small body autonomous optical navigation verification system. Of course, the present invention includes but is not limited to the configurations listed in the above embodiments. Any content transformed on the basis of the configurations provided in the above embodiments belongs to the scope protected by the present invention. Those skilled in the art can draw inferences from one instance to another based on the content of the above embodiments.

[0050] In the deep space small body autonomous optical navigation verification system provided by the present invention, the small body motion and environment module is used to construct the small body motion parameters and environment to simulate a real small body target, the simulation approximation module constructs the motion parameters of the optical payload for observing the small body to simulate a real satellite optical payload, and collects the background image of the small body motion and environment module. The real-time simulator 40 controls the motion of the simulation approximation module according to the background image, so that the small body motion and environment module is always at the center of the field of view of the simulation approximation module, realizing a ground demonstration verification scheme for the long-distance approach of deep space small bodies, enabling the smooth progress of ground tests, and further can be used to verify relevant feature extraction algorithms or to simulate and study the optical navigation feature imaging of small bodies.

[0051] The present invention aims to test the long-distance recognition ability of the optical payload under different background star maps and different simulated small body magnitudes, and simulate the process of the long-distance approach of the small body. The present invention also aims to propose a high-precision optical navigation method for the long-distance approach of small bodies that can improve the relative orbital geometric configuration of the detector to the small body, increase the navigation error convergence speed and navigation accuracy, and provide a technical reference for future small body exploration projects.

[0052] The present invention discloses an autonomous optical navigation verification system for deep - space small celestial bodies. The system includes a parallel light source 11, a scaled - down model 12 of a small celestial body, a star background curtain 14, a turntable 13, a turntable controller, a robotic arm 31, a robotic arm controller, a first guide rail 33, a guide rail controller, a navigation camera 32, and a real - time simulator 40. At one end of the first guide rail 33, the scaled - down model 12 of the small celestial body is placed on a single - axis turntable 13. The parallel light source 11 simulates the incident sunlight on the surface of the small celestial body at different angles. A star background curtain 14 is suspended at the rear end of the scaled - down model 12 of the small celestial body. At the other end of the first guide rail 33 are the robotic arm 31 and the navigation camera 32. The working principle of the system is as follows: The first guide rail 33 drives the body of the robotic arm 31 to approach the scaled - down model 12 of the small celestial body at a constant speed. The navigation camera 32 samples the scaled - down model 12 of the small celestial body in real time, and will capture and transmit an image to the real - time simulator 40 at regular time intervals. After the real - time simulator 40 processes the image, it calculates the pose of the navigation camera 32 in the inertial coordinate system of the scaled - down model 12 of the small celestial body, and sends a trajectory correction instruction to the upper computer of the robotic arm 31. The upper computer gives an instruction to the robotic arm 31 to correct the pose of the navigation camera 32, so as to keep the scaled - down model 12 of the small celestial body always at the center position of the field of view of the navigation camera 32, thereby realizing the ground demonstration and verification process of the long - distance approach of deep - space small celestial bodies.

[0053] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other. For the system disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and reference can be made to the description of the method part for related parts.

[0054] The above description is only a description of the preferred embodiments of the present invention, and does not limit the scope of the present invention in any way. Any changes and modifications made by those of ordinary skill in the field of the present invention based on the above disclosure are within the protection scope of the claims.

Claims

1. An autonomous optical navigation verification system for deep space small celestial bodies, characterized in that, The deep space small body autonomous optical navigation verification system includes a small body motion and environment module, a simulation approaching module, an upper / lower computer and a real-time simulator. Among them: The small body motion and environment module is configured to construct small body motion parameters and environment, and simulate a real small body target; The simulation approaching module includes a robotic arm, a navigation camera, a first guide rail, a guide rail control cabinet and a robotic arm control cabinet. Among them: The first guide rail drives the body of the robotic arm to approach the small body scaled model at a certain constant speed. The navigation camera samples the small body scaled model in real time to form a background image. The navigation camera preprocesses the collected background image through the navigation camera backend algorithm, and then transmits the background image to the real-time simulator; After processing the background image, the real-time simulator calculates the pose of the navigation camera relative to the small body scaled model in the inertial coordinate system, and issues a trajectory correction instruction to the upper / lower computer according to the pose. The upper / lower computer sends the trajectory correction instruction to the guide rail control cabinet and the robotic arm control cabinet; The guide rail control cabinet and the robotic arm control cabinet adjust the speed of the first guide rail according to the trajectory correction instruction, and adjust the pose of the robotic arm according to the trajectory correction instruction to correct the pose of the navigation camera, so as to keep the small body scaled model always at the center of the field of view of the navigation camera, thereby completing a ground demonstration verification process of the long-distance approach of a deep space small body; Adjust the guidance time interval of the real-time simulator, and / or the magnitude of the small body scaled model, and / or the constant approaching speed of the first guide rail, and / or the motion state of the second navigation, and perform multiple ground demonstration verification processes of the long-distance approach of the deep space small body to test the performance of the navigation camera; The ground demonstration verification system for the long-distance approach of the deep space small body further includes a position calibration module and a user terminal module. Among them: The position calibration module obtains the background image from the navigation camera, obtains the speed of the first guide rail and the pose of the robotic arm from the guide rail control cabinet and the robotic arm control cabinet, and obtains the small body motion parameters and environment parameters from the small body motion and environment module, and calculates the real-time pose and guidance trajectory according to the background image, the speed of the first guide rail, the pose of the robotic arm, and the small body motion parameters and environment parameters, and outputs the real trajectory to the user terminal module according to the real-time pose and guidance trajectory; The real-time simulator outputs a nominal trajectory to the user terminal module through the preprocessed background image, the speed of the first guide rail and the pose of the robotic arm; The user terminal module compares the real trajectory with the nominal trajectory to test the performance of the navigation camera, eliminate the influence of multiple disturbances occurring during the exposure time, and the actual imaging of the navigation target on the CCD plane is the trajectory to extract the characteristic information of the navigation target for precise navigation; By keeping the small celestial body motion and environment module always at the center of the field of view of the simulation approximation module and testing the performance of the navigation camera, while verifying the relevant feature extraction algorithms, it is used to simulate and study the imaging of small celestial body optical navigation features. Under different background star maps and different simulated small celestial body magnitudes, it tests the long-distance recognition ability of the optical payload, simulates the process of the small celestial body approaching from a long distance, improves the relative orbital geometric configuration of the detector with respect to the small celestial body, increases the convergence speed of the navigation error, and conducts high-precision optical navigation for the small celestial body approaching from a long distance with high precision.

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