A space-based all-sky scanning camera and method

Abstract

The application provides a space-based full airspace scanning and patrolling camera and method, which are used for scanning and patrolling the airspace around the aircraft. The space-based full airspace scanning and patrolling camera comprises a camera unit, which is electrically connected with the aircraft, is used for optical measurement and image processing in the field of view range according to the instruction of the aircraft, a two-dimensional mechanism unit, which is respectively connected with the camera unit and the aircraft, is electrically connected with the aircraft, is used for supporting the camera unit, and is used for adjusting the scanning angle of the camera unit according to the control instruction of the aircraft, so as to scan and detect the target area according to the set working mode and scanning planning route. The application can meet the use requirements of miniaturization, high precision, large field of view and full airspace detection, has two modes of in-orbit key airspace coverage and full airspace coverage, and can realize the search, monitoring and threat warning of space debris in the full airspace around the aircraft.

Description

Technical Field

[0001] This invention relates to the field of space-based target monitoring, specifically to a space-based full-space scanning and inspection camera and method. Background Technology

[0002] Space-based visible sensors are the most commonly used observation equipment in space-based target monitoring systems. Compared to infrared, microwave radar, and laser methods, space-based visible sensors have significant advantages in terms of technological maturity, application range, and power consumption. Therefore, countries such as the United States, Russia, and Europe have widely adopted visible light sensors in their space-based monitoring systems.

[0003] my country's operational space station, high-value satellites such as radar and optical imaging satellites, and the second-generation navigation satellite system under construction will face multiple threats, including space debris and dead satellites, during their future operation. Improving the on-orbit safety of high-value satellites is therefore urgently needed. China's research on self-defense technologies for spacecraft started later than that of other countries, and currently, space debris monitoring mainly relies on ground-based equipment. my country is actively developing space-based space debris monitoring payloads and has begun equipping key satellites with onboard optical monitoring systems for space debris threat early warning and safety avoidance, but this is still in its initial stages.

[0004] Researching lightweight, full-airspace scanning and patrol cameras driven by two-dimensional mechanisms can help address issues such as the search, monitoring, and threat warning of space debris in the entire airspace surrounding aircraft, thus improving my country's ability to safeguard its space assets. Summary of the Invention

[0005] The purpose of this invention is to provide a space-based full-airspace scanning and inspection camera and method that can meet the requirements of miniaturization, high precision, large field of view, and full-airspace detection. It has two modes: key airspace coverage within the orbital plane of the spacecraft and full airspace coverage. It can realize the search, monitoring, and threat warning of space debris in the entire airspace around the spacecraft.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A space-based full-airspace scanning and survey camera, mounted on an aircraft, is used to perform airspace scanning and surveying around the aircraft; it includes:

[0008] The camera unit is electrically connected to the aircraft and is used to perform optical measurements and image processing within its field of view according to the instructions of the aircraft, and to send the processed inspection images to the aircraft.

[0009] A two-dimensional mechanism unit is connected to the camera unit and the aircraft respectively, and is electrically connected to the aircraft. It is used to support the camera unit and to drive the camera unit to adjust the scanning angle according to the control command of the aircraft, so as to scan and detect the target area according to the set working mode and scanning planning route.

[0010] Preferably, the camera unit includes:

[0011] A housing with a lens hole has an internal equipment cavity, and one side wall of the housing is a mounting surface for fixing to a two-dimensional mechanism unit;

[0012] The CMOS detector, electrically connected to the aircraft, includes a lens disposed within the lens aperture and a processor within the device cavity. The lens is capable of acquiring optical information within its field of view, and the processor receives instructions from the aircraft to take pictures and performs image processing on the optical information acquired by the lens to generate inspection images.

[0013] Preferably, the two-dimensional mechanism unit includes:

[0014] A mounting base, connected to the aircraft, for securing it to the aircraft.

[0015] An azimuth axis, comprising a rotatable outer shell and an inner shaft, the inner shaft being fixed to a mounting base, is used to adjust the horizontal angle of the lens optical axis of the camera unit;

[0016] The rotating shaft connecting bracket is fixed at its bottom end to the housing of the azimuth shaft and can rotate horizontally under the drive of the housing of the azimuth shaft to transmit torque.

[0017] The pitch axis includes a relatively rotatable outer shell and an inner shaft, the outer shell being fixed to the top of the rotating shaft connecting bracket, and is used to adjust the pitch angle of the optical axis of the camera unit lens;

[0018] A camera mounting plate is used to fix the camera unit. One side of the plate is fixed to the inner axis of the pitch axis, and the other side is fixed to the mounting surface of the camera unit's housing.

[0019] Preferably, the two-dimensional mechanism unit further includes:

[0020] The hot blade can simultaneously lock or release the azimuth and pitch axes as needed, thereby providing high stability and high precision support for the camera unit.

[0021] Preferably, the processor of the CMOS detector is installed inside the device cavity near the mounting surface, and thermal grease is applied between the mounting surface of the housing and the camera mounting plate.

[0022] The area of ​​the camera mounting plate is larger than the mounting surface of the housing, and it is extended into a disc-shaped heat dissipation surface.

[0023] Preferably, the camera unit further includes a lens hood, which is fixed to the outer wall of the housing around the lens aperture to prevent light outside the imaging angle from entering the lens; the lens hood is heat-insulated from the housing.

[0024] Preferably, the camera unit further includes a camera cable, one end of which is electrically connected to the processor of the CMOS detector and the other end of which is electrically connected to the aircraft, for sending control commands from the aircraft to the CMOS detector and sending inspection images generated by the processor of the CMOS detector to the aircraft.

[0025] The azimuth axis and pitch axis are provided with central holes extending along the axis. The camera cable passes through the central holes of the azimuth axis and pitch axis and moves coaxially with the axis when the two-dimensional mechanism unit axis system rotates.

[0026] A method for patrolling key airspace on the orbital plane, implemented based on any of the above-mentioned patrol cameras, includes the following steps:

[0027] Check the camera's azimuth axis lock and fix the lens optical axis azimuth angle to 0°;

[0028] The tilt axis is rotated to hold the lens optical axis at six tilt angle positions: 75°→45°→15°→-15°→-45°→-75°. During the holding period, astronomical calibration and image taking are performed.

[0029] The cycle repeats continuously to achieve coverage of key airspace within the orbital plane.

[0030] A method for full-airspace patrol, based on any of the above-mentioned patrol cameras, includes the following steps:

[0031] The azimuth axis of the inspection camera is rotated, and the azimuth angle of the lens optical axis is fixed successively at 75°, 15°, and -45° and held at each position.

[0032] During the dwell time at each azimuth angle, the pitch axis rotates, and the lens optical axis dwells at six pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete half of the full airspace coverage.

[0033] Preferably, the method further includes the step of:

[0034] The azimuth axis of the inspection camera is rotated to fix the azimuth angle of the lens optical axis to 45°, -15°, and -75° in sequence and hold them thereafter.

[0035] During the dwell time at each azimuth angle, the pitch axis rotates, and the lens optical axis dwells at a total of 6 pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete the other half of the full airspace coverage. The two are combined to complete the full airspace coverage.

[0036] No images are taken during azimuth and pitch axis rotation.

[0037] In summary, compared with the prior art, the space-based full-space scanning and inspection camera and method provided by the present invention have the following beneficial effects:

[0038] 1. A two-dimensional mechanism unit drives a large field-of-view CMOS camera to perform pitch and azimuth scanning, achieving the requirement of full-space field-of-view coverage;

[0039] 2. By optimizing the camera cable routing and heat dissipation path, a good working environment for the inspection camera was ensured, improving its reliability and adaptability.

[0040] 3. By adopting a configuration with a vertical azimuth axis and a horizontal pitch axis, the camera unit is mounted on the pitch axis of the two-dimensional mechanism unit and its center of gravity falls on the azimuth axis, which facilitates the calibration and measurement of the camera's optical axis.

[0041] 4. The whole machine adopts a modular design concept, and each module can be easily replaced. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the structure of the space-based all-space scanning and survey camera of the present invention;

[0043] Figure 2 This is a schematic diagram of the structure of the space-based all-space scanning and survey camera of the present invention;

[0044] Figure 3 This is a schematic diagram of the structure of the two-dimensional mechanism unit of the present invention;

[0045] Figure 4a This is a diagram showing the elevation angle array positions and field of view coverage for the key airspace scan in this invention.

[0046] Figure 4b This is an azimuth array position and field of view coverage diagram for the key spatial domain scanning of the present invention;

[0047] Figure 5a This is a partial elevation angle array position and field of view coverage diagram of the full-space scanning of the present invention;

[0048] Figure 5b This is a partial azimuth array position and field of view coverage diagram of the full-space scanning of the present invention;

[0049] Figure 6aThis is a partial elevation angle array position and field of view coverage diagram of the full-space scanning of the present invention;

[0050] Figure 6b This is a partial azimuth array position and field of view coverage map of the full-space scanning of the present invention. Detailed Implementation

[0051] The following detailed description, in conjunction with the accompanying drawings and specific embodiments, provides a further detailed explanation of the space-based full-space scanning and survey camera and method proposed in this invention. The advantages and features of this invention will become clearer from the following description. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, intended only to facilitate and clarify the illustration of the embodiments of this invention, and are not intended to limit the implementation conditions of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effects and objectives achieved by this invention, should still fall within the scope of the technical content disclosed in this invention.

[0052] It should be noted that, in this invention, relational terms such as "and" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only the expressly listed elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0053] Combined with appendix Figure 1 ~6. This invention provides a space-based full-airspace scanning and patrol camera and method for achieving focused or full-airspace scanning and patrol around an aircraft. Among them,

[0054] As attached Figure 1 , 2 As shown, the space-based full-airspace scanning and patrol camera is mounted on an aircraft (not shown) and is used to perform focused airspace scanning and patrol or full-airspace scanning and patrol around the aircraft. It includes a camera unit and a two-dimensional mechanism unit; wherein:

[0055] The camera unit is connected to the two-dimensional mechanism unit and electrically connected to the aircraft. Supported by the two-dimensional mechanism unit, it performs optical measurements and image processing within its field of view according to the aircraft's commands, and transmits the processed survey images to the aircraft. It includes:

[0056] The housing 11 has a lens hole and its interior is a device cavity. One side wall of the housing 11 is a mounting surface for fixing to a two-dimensional mechanism unit.

[0057] A CMOS detector (not shown), employing existing high-precision, wide-field-of-view CMOS detector technology, is electrically connected to the aircraft. It includes a lens housed within a lens aperture and a processor within a device cavity. The lens acquires optical information within its field of view, and the processor receives instructions from the aircraft to take pictures and processes the acquired optical information to generate patrol images. The image processing includes image preprocessing, centroid calculation of point targets, and processing of the image window containing a specified target. During full-frame image processing, it performs two-dimensional maximum background estimation and full-frame target extraction; during window image processing, it performs one-dimensional background estimation, realizing window image data acquisition and preprocessing. The high-precision, wide-field-of-view CMOS detector boasts high optical angle measurement accuracy, long operating distance, large instantaneous field of view, and high target extraction rate, meeting the requirements for space target measurement, identification, information fusion, and alarm applications.

[0058] A lens hood 12 is fixed to the outer wall of the housing 11 around the lens aperture to prevent light outside the imaging angle from entering the lens.

[0059] The camera cable 13 is electrically connected at one end to the processor of the CMOS detector and at the other end to the aircraft via the electrical connector 14. It is used to send control commands from the aircraft to the CMOS detector and to send the inspection images generated by the processor of the CMOS detector to the aircraft.

[0060] A two-dimensional mechanism unit, connected to both the camera unit and the aircraft, and electrically connected to the aircraft, supports the camera unit and, according to the aircraft's control commands, rotates the camera unit to adjust the horizontal and vertical angles of its lens optical axis, enabling the camera unit to scan and detect the target area according to the set working mode and scanning route. (See attached...) Figure 3 As shown, it includes:

[0061] Mount 25 is connected to the aircraft and used to secure it to the aircraft.

[0062] The azimuth axis 24 includes a relatively rotatable outer shell and an inner shaft, the inner shaft of which is fixed to the mounting base 25, and is used to adjust the horizontal angle of the optical axis of the camera unit lens;

[0063] The rotating shaft connecting bracket 23 is fixed at its bottom end to the housing of the azimuth shaft 24 and can rotate horizontally under the drive of the housing of the azimuth shaft 24 to transmit torque.

[0064] The pitch axis 22 includes a relatively rotatable outer shell and an inner shaft. Its outer shell is fixed to the top of the rotating shaft connecting bracket 23 and is used to adjust the pitch angle of the optical axis of the camera unit lens.

[0065] The camera mounting plate 21 is used to fix the camera unit. One side of the plate is fixed to the inner shaft of the pitch axis 22, and the other side is fixed to the mounting surface of the camera unit housing 11.

[0066] The hot knife 26 is a conventional hot knife-type locking and releasing device that can simultaneously lock or release the azimuth axis 24 and the pitch axis 22 as needed, thereby providing high stability and high precision support for the camera unit.

[0067] The azimuth axis 24 and pitch axis 22 also include cables (not shown) that are connected to the aircraft. The power and control signals for the azimuth axis 24 and pitch axis 22 are provided by the aircraft.

[0068] The working principle of the two-dimensional mechanism unit is as follows: the inner axis of the azimuth axis 24 is stationary relative to the fixed base 25 and the aircraft. The outer shell of the azimuth axis 24 can rotate relative to its inner axis, synchronously driving the rotating shaft connecting frame 23, pitch axis 22, camera mounting plate 21, and camera unit connected in sequence above it to rotate horizontally, thereby achieving horizontal angle adjustment of the lens optical axis of the camera unit. Conversely, the outer shell of the pitch axis 22 is stationary relative to the rotating shaft connecting frame 23. The inner axis of the pitch axis 22 can rotate relative to its outer shell, synchronously driving the camera mounting plate 21 and camera unit connected in sequence to rotate vertically, thereby achieving pitch angle adjustment of the lens optical axis of the camera unit. By adjusting the horizontal and pitch angles of the lens optical axis of the camera unit, an azimuth angle of ±180° and a pitch angle of ±90° coverage range can be achieved. When it is necessary to rotate and adjust the pitch and azimuth positions of the camera unit, the hot knife 26 releases the azimuth axis 24 and the pitch axis 22; when the position adjustment is completed and shooting is required, the hot knife 26 simultaneously locks the azimuth axis 24 and the pitch axis 22 to keep the camera unit stable.

[0069] Furthermore, the inspection camera of the present invention also has a heat dissipation design to enable the heat-generating components to dissipate heat quickly and maintain stable operation. The heat-generating components of the two-dimensional mechanism unit are the azimuth axis 24 and the pitch axis 22, while the heat-generating components of the camera unit are the processor of the large field-of-view CMOS detector and other electronic components within the housing 11. The heat dissipation design includes: mounting the CMOS detector processor inside the device cavity near the mounting surface, with other electronic components distributed around the device cavity to ensure unobstructed heat dissipation channels; applying thermal grease between the mounting surface of the housing 11 and the camera mounting plate 21 for good heat conduction, allowing heat from the device cavity to be conducted to the outer surface of the housing 11 and then to the camera mounting plate 21 via the mounting surface; the camera mounting plate 21 has a larger area than the mounting surface of the housing 11 and is expanded into a disc-shaped heat dissipation surface for rapid heat dissipation; the light shield 12 is thermally insulated from the housing 11 to avoid unnecessary heat transfer; the azimuth axis 24 conducts heat to the fixed base 25 and the rotating axis connecting bracket 23 connected to it, and the pitch axis 22 conducts heat to the rotating axis connecting bracket 23 and the camera mounting plate 21 connected to it, enabling rapid heat dissipation for the azimuth axis 24 and the pitch axis 22.

[0070] Because the camera cable 13 swings back and forth when the pitch axis 22 rotates, it is prone to damage. Therefore, the inspection camera of this invention also features a cable-through-axis design to reduce cable torque and improve cable reliability. (See attached image) Figures 1-3 As shown, the azimuth axis 24 and the pitch axis 22 are provided with central holes extending along their axes. The camera cable 13 passes through the central holes of the azimuth axis 24 and the pitch axis 22, and moves coaxially with them when the two-dimensional mechanism unit axis system rotates. The two are relatively stationary, effectively avoiding structural interference or snagging when the camera cable rotates, reducing cable torque, improving cable reliability, and reducing the overall envelope size of the inspection camera. The cable from the exit of the azimuth axis 24 to the electrical connector 14 is a braided cable, which is a stationary cable. At the same time, the cables of the azimuth axis 24 and the pitch axis 22 are bundled with the camera cable 13 and run together.

[0071] In addition, the present invention also provides a method for inspecting key airspace on the orbital plane, implemented based on any of the above-mentioned inspection cameras, including the following steps:

[0072] As attached Figure 4a , 4b As shown, the azimuth axis 24 of the inspection camera is locked, fixing the azimuth angle of the lens optical axis to 0°;

[0073] The tilt axis 22 rotates to hold the lens optical axis at six tilt angle positions: 75°→45°→15°→-15°→-45°→-75°. During the holding period, astronomical calibration and image taking are performed, while no image taking is performed during the rotation.

[0074] The cycle repeats continuously to complete the coverage of key airspace within the orbital plane. The horizontal field of view of the key airspace is the horizontal field of view angle of a single camera, which is generally ±23°.

[0075] The dwell time of the pitch axis 22 at each position is adjustable, for example, 3 to 10 seconds; the rotation speed of the pitch axis 22 is adjustable, and the patrol time between positions is usually 3 to 5 seconds. The fields of view between adjacent positions overlap to ensure 100% coverage of key airspace on the orbital plane.

[0076] In addition, the present invention also provides a full-airspace patrol method, implemented based on any of the above-mentioned patrol cameras, including the following steps:

[0077] As attached Figure 5a , 5b As shown, the azimuth axis 24 of the inspection camera rotates, and the azimuth angle of the lens optical axis is fixed successively at 75°, 15°, and -45° and held at each position.

[0078] During the dwell time at each azimuth angle, the pitch axis 22 rotates, and the lens optical axis dwells at a total of 6 pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete half of the full airspace coverage.

[0079] As attached Figure 6a , 6b As shown, the azimuth axis 24 of the inspection camera rotates, and the azimuth angle of the lens optical axis is fixed successively at 45°, -15°, and -75° and held at each position.

[0080] During the dwell time at each azimuth angle, the pitch axis 22 rotates, and the lens optical axis dwells at a total of 6 pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete the other half of the full airspace coverage. The two are combined to complete the full airspace coverage.

[0081] No images are taken during the rotation of azimuth axis 24 and pitch axis 22.

[0082] The patrol camera rotates via a combination of pitch axis 22 and azimuth axis 24, with the lens optical axis residing at a total of 36 positions. The dwell time at each position is 3 to 10 seconds, during which astronomical calibration and image taking are performed. The fields of view overlap between adjacent positions to ensure that the coverage of the entire airspace is not less than 95%. The patrol time between each pitch axis position is 3 to 5 seconds, and the patrol time between each azimuth axis position is 5 to 10 seconds. The rotation speeds of azimuth axis 24 and pitch axis 22 are adjustable.

[0083] The patrol camera of this invention can be installed as a single unit or in combination into a system on an aircraft. The installation angle and field of view coverage area can be reasonably adjusted according to the distribution direction of space debris and detection requirements to avoid obstruction of the field of view by the aircraft itself and ensure full airspace coverage for target detection.

[0084] In summary, the present invention provides a space-based full-space scanning inspection camera and method, which uses a two-dimensional mechanism unit to drive a large field-of-view CMOS camera to perform pitch and azimuth scanning, thus achieving the requirement of full-space field-of-view coverage. By optimizing the camera cable shaft connection method and camera heat dissipation path, a good working environment for the inspection camera is ensured, improving the reliability and adaptability of the inspection camera. By adopting a configuration with a vertical azimuth axis and a horizontal pitch axis, the camera unit is mounted on the pitch axis of the two-dimensional mechanism unit and its center of gravity falls on the azimuth axis, which facilitates the calibration and measurement of the camera's optical axis. The whole machine adopts a modular design concept, and each module can be easily replaced.

[0085] Although the present invention has been described in detail through the preferred embodiments above, it should be understood that the above description should not be considered as a limitation of the present invention. Various modifications and substitutions to the present invention will be apparent to those skilled in the art after reading the above description. Therefore, the scope of protection of the present invention should be defined by the appended claims.

Claims

1. A space-based full-airspace scanning and survey camera, mounted on an aircraft, for performing airspace scanning and surveying around the aircraft; characterized in that, It includes: The camera unit is electrically connected to the aircraft and is used to perform optical measurements and image processing within its field of view according to the instructions of the aircraft, and to send the processed inspection images to the aircraft. A two-dimensional mechanism unit is connected to the camera unit and the aircraft respectively, and is electrically connected to the aircraft. It is used to support the camera unit and to drive the camera unit to adjust the scanning angle according to the control command of the aircraft, so as to scan and detect the target area according to the set working mode and scanning planning route. The camera unit includes: A housing with a lens hole has an internal equipment cavity, and one side wall of the housing is a mounting surface for fixing to a two-dimensional mechanism unit; The CMOS detector, electrically connected to the aircraft, includes a lens disposed in the lens aperture and a processor disposed in the device cavity. The lens is capable of acquiring optical information within its field of view. The processor receives instructions from the aircraft to take pictures and performs image processing on the optical information acquired by the lens to generate inspection images. The two-dimensional mechanism unit includes: A mounting bracket, connected to the aircraft, for securing itself to the aircraft; An azimuth axis, comprising a rotatable outer shell and an inner shaft, the inner shaft being fixed to a mounting base, is used to adjust the horizontal angle of the lens optical axis of the camera unit; The rotating shaft connecting bracket is fixed at its bottom end to the housing of the azimuth shaft and can rotate horizontally under the drive of the housing of the azimuth shaft to transmit torque. The pitch axis includes a relatively rotatable outer shell and an inner shaft, the outer shell being fixed to the top of the rotating shaft connecting bracket, and is used to adjust the pitch angle of the optical axis of the camera unit lens; A camera mounting plate is used to fix the camera unit, with one side fixed to the inner axis of the pitch axis and the other side fixed to the mounting surface of the camera unit's housing. The camera unit also includes a camera cable, one end of which is electrically connected to the processor of the CMOS detector and the other end of which is electrically connected to the aircraft, for sending control commands from the aircraft to the CMOS detector and sending inspection images generated by the processor of the CMOS detector to the aircraft. The azimuth axis and pitch axis are provided with central holes extending along the axis. The camera cable passes through the central holes of the azimuth axis and pitch axis and moves coaxially with the axis when the two-dimensional mechanism unit axis system rotates.

2. The patrol camera as described in claim 1, characterized in that, The two-dimensional mechanism unit also includes: The hot blade can simultaneously lock or release the azimuth and pitch axes as needed, thereby providing high stability and high precision support for the camera unit.

3. The patrol camera as described in claim 1, characterized in that, The processor of the CMOS detector is installed inside the device cavity near the mounting surface, and thermal grease is applied between the mounting surface of the housing and the camera mounting plate. The area of ​​the camera mounting plate is larger than the mounting surface of the housing, and it is extended into a disc-shaped heat dissipation surface.

4. The patrol camera as described in claim 1, characterized in that, The camera unit also includes a lens hood, which is fixed to the outer wall of the housing around the lens aperture to prevent light outside the imaging angle from entering the lens; the lens hood is heat-insulated from the housing.

5. A method for patrolling key airspace on the orbital plane, characterized in that, Based on the patrol camera as described in any one of claims 1 to 4, the steps include: Check the camera's azimuth axis lock and fix the lens optical axis azimuth angle to 0°; The tilt axis is rotated to hold the lens optical axis at six tilt angle positions: 75°→45°→15°→-15°→-45°→-75°. During the holding period, astronomical calibration and image taking are performed. The cycle repeats continuously to achieve coverage of key airspace within the orbital plane.

6. A method for full airspace patrol, characterized in that, Based on the patrol camera as described in any one of claims 1 to 4, the steps include: The azimuth axis of the inspection camera is rotated, and the azimuth angle of the lens optical axis is fixed successively at 75°, 15°, and -45° and held at each position. During the dwell time at each azimuth angle, the pitch axis rotates, and the lens optical axis dwells at six pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete half of the full airspace coverage.

7. The full airspace patrol method as described in claim 6, characterized in that, It also includes the following steps: The azimuth axis of the inspection camera is rotated to fix the azimuth angle of the lens optical axis to 45°, -15°, and -75° in sequence and hold them thereafter. During the dwell time at each azimuth angle, the pitch axis rotates, and the lens optical axis dwells at a total of 6 pitch angle positions: 75°→45°→15°→-15°→-45°→-75°. During the dwell time, astronomical calibration and image taking are performed to complete the other half of the full airspace coverage. The two are combined to complete the full airspace coverage. No images are taken during azimuth and pitch axis rotation.

Images