An optical target simulation system and method under starry sky background

Abstract

The application provides a starry sky background optical target simulation system and method, wherein the simulation method comprises the following steps: S1, a light star model image processing module generates a target star and a background starry sky image according to dynamic information generated by a dynamic model module; S2, an installation error of a display head of the corrected target star is corrected, the coordinates of the corrected target star are transmitted to the light star model image processing module, and the position coordinates of the target star in the background starry sky image are adjusted; S3, data transmission delay in a simulation system link, image processing and display delay are corrected, the azimuth and the elevation angle measured by an optical angle measuring single machine are corrected, and the corrected azimuth and the corrected elevation angle are transmitted to a control module; S4, the control module controls the attitude of the target star according to the corrected azimuth and the corrected elevation angle, and the simulation of the optical target is completed. Through the simulation system and method, the target recognition and tracking capability of the optical angle measuring single machine can be fully verified before the launch of the aircraft.

Description

Technical Field

[0001] This invention relates to the field of space technology, and in particular to an optical target simulation system and method against a starry sky background. Background Technology

[0002] As the missions of spacecraft in orbit become increasingly diverse, the ability to identify and track space targets in orbit is becoming more and more important. Optical angle measuring units, as a type of angle measuring and aiming unit, have a wide range of applications. In order to verify the target identification and tracking capabilities of optical angle measuring units, it is necessary to simulate the in-orbit operating conditions of optical angle measuring units as much as possible and conduct sufficient tests on the ground to ensure that they function normally in orbit. Summary of the Invention

[0003] The purpose of this invention is to provide an optical target simulation system and method under starry sky background. This simulation system and method can fully verify the target recognition and tracking capabilities of an optical angle measuring unit before the launch of an aircraft. It has the advantages of simple operation and high simulation matching degree.

[0004] To achieve the above objectives, this invention provides an optical target simulation system against a starry sky background, comprising: a dynamic model module, an optical star model image processing module, an optical star model image display head, an optical angle measuring unit, and a control module; the dynamic model module is used to simulate the position and attitude of a satellite in orbit and generate dynamic information; the optical star model image processing module is communicatively connected to the dynamic model module and is used to receive the dynamic information and generate images of the target star and the background starry sky; the optical star model image display head is mounted on the top of the optical angle measuring unit and is communicatively connected to the optical star model image processing module; the optical star model image display head receives and displays the images of the target star and the background starry sky; the optical angle measuring unit identifies the target star and measures its azimuth and elevation angles based on the target star and background starry sky images displayed by the optical star model image display head, and transmits the azimuth and elevation angles to the control module; the control module controls the attitude based on the azimuth and elevation angles transmitted by the optical angle measuring unit to stably point the target star.

[0005] The present invention also provides a method for simulating optical targets against a starry sky background, implemented based on the above-mentioned optical target simulation system against a starry sky background, which includes the following steps:

[0006] S1. The optical star model image processing module generates images of the target star and the background starry sky based on the dynamic information generated by the dynamic model module.

[0007] S2. Correct the installation error of the optical star model image display head, transmit the corrected coordinates of the target star to the optical star model image processing module, and adjust the position coordinates of the target star in the background starry sky image;

[0008] S3. Correct the data transmission delay and image processing and display delay in the analog system link, perform delay correction on the azimuth and elevation angles measured by the optical angle measuring unit, and transmit the corrected azimuth and elevation angles to the control module.

[0009] S4. The control module controls the attitude of the target star based on the corrected azimuth and elevation angles to complete the simulation of the optical target.

[0010] Preferably, the calculation of the target star and background starry sky image in step S1 includes the following steps:

[0011] S11. Based on the relative positions of the target star and the background starry sky in the dynamic two-star orbit system and the optical parameters of the optical angle measuring unit and the optical star model image display head, calculate the pixel position of the target star in the coordinate system of the optical star model image; wherein, the optical parameters include: the focal length and pixel size corresponding to the optical angle measuring unit and the optical star model image display head respectively.

[0012] S12. Based on the attitude information of the satellite body currently equipped with an optical angle measuring unit, the attitude quaternion from the optical angle measuring unit's measurement frame to the inertial frame is calculated. The optical star model image processing module generates images of the target star and the background star based on the attitude quaternion.

[0013] Preferably, if the position of the target star in the coordinate system measured by the optical angle measuring device is (X,Y,Z), then the azimuth angle α and elevation angle β are:

[0014]

[0015] In the coordinate system of the optical star model image, the coordinates of the target star in the optical star model image coordinate system are calculated as follows, using the azimuth angle α, elevation angle β, optical star model pixel size pix, and focal length f:

[0016]

[0017] Preferably, if the attitude quaternion of the satellite system relative to the inertial frame is q b←i The attitude quaternion of the optical angle measurement unit relative to the satellite body is q. s←b Then the quaternion of the measurement frame relative to the inertial frame is:

[0018]

[0019] Based on the quaternion q of the measurement frame relative to the inertial frame using the optical angle measuring device. s←i The background starry sky image within the field of view of the optical angle measuring single-machine is generated through the optical star model image processing module.

[0020] Preferably, the correction of the installation error of the optical star model image display head in step S2 includes the translation error and rotation error generated when the optical star model image display head is installed on the top of the optical goniometer.

[0021] Preferably, the pixel position of the target star input to the optical star model image processing module is calculated from the relative positions of the two stars and equations (1) and (2) using dynamics. s ,Y s The azimuth and elevation angles obtained by the optical measurement unit are (α, β). Based on the optical parameters of the optical measurement unit: sensor pixel size pix_c, detector focal length f... d Calculate the coordinates of the target star in the optical angle measurement single-machine image plane coordinate system:

[0022]

[0023] Based on the translation and rotation errors, the coordinates of the target star in the optical star model image plane coordinate system and the optical angle measurement single-machine image plane coordinate system have the following relationship:

[0024]

[0025] in,

[0026]

[0027] In equation (6), ΔX s ΔY s Δθ represents the number of translation error pixels and the angle of rotation error of the head displayed in the optical star model image, respectively, and k is an optical parameter.

[0028] Preferably, correcting the installation error of the optical star model image display head 30 specifically includes the following steps:

[0029] S21. The dynamics model module inputs the position (X) of the first fixed target star into the star model image processing module. s1 ,Y s1 The azimuth and elevation angles obtained by the optical angle measuring single-machine measurement are (α1, β1). From equation (2), the first coordinate of the target star on the image plane coordinate system of the optical angle measuring single-machine is (X). c1 ,Y c1 );

[0030] S22, The dynamics model module inputs the position (X) of the second fixed target star into the star model image processing module. s2 ,Y s2 The azimuth and elevation angles obtained by the optical angle measuring single-machine measurement are (α2, β2). From equation (2), the second coordinate of the target star on the image plane coordinate system of the optical angle measuring single-machine is (X). c2,Y c2 );

[0031] S23, will (X) s1 ,Y s1 ), (X c1 ,Y c1 ), (X s2 ,Y s2 ), (X c2 ,Y c2 Substituting into equation (4) and simplifying, we get:

[0032]

[0033] From equation (7) and cos 2 Δθ+sin 2 Δθ=1 yields:

[0034]

[0035] The rotation error is calculated using equations (7) and (8):

[0036]

[0037] S24. Substituting the rotation error Δθ and the optical parameter k into equation (5) yields the translation error:

[0038]

[0039] S25. The dynamic model module inputs the corrected coordinates (X) of the target star into the star model image processing module. s_fixed ,Y s_fixed ):

[0040]

[0041] The translation and rotation errors caused by the corrective installation in steps S21 to S25.

[0042] Preferably, the data transmission delay in step S3 is the data transmission delay from the dynamic model module to the optical star model image processing module and then to the optical star model image display head; the image processing and display delay is the image processing delay of the optical star model image processing module receiving dynamic information and generating an image, and the image display delay of the optical star model image display head.

[0043] Preferably, if the data transmission delay, image generation delay, and image display delay are Δt, the azimuth and elevation angles transmitted from the dynamic model module to the optical star model image processing module are recursively calculated using the difference between their preceding and following periods for the Δt time, and the corrected azimuth and elevation angles (α) are then calculated. fixed ,β fixed )as follows:

[0044]

[0045] Where α k ,β k and α k-1 ,β k-1 These are the azimuth and elevation angles for the current cycle and the previous cycle, respectively.

[0046] In summary, compared with the prior art, the optical target simulation system and method provided by the present invention under a starry sky background has the following beneficial effects: before the launch of the spacecraft, the target recognition and tracking capabilities of the optical angle measuring unit can be fully verified through the present invention, which has the advantages of high simulation matching degree and adjustable parameters. Attached Figure Description

[0047] Figure 1 This is a schematic diagram of the simulation system upon which the optical target simulation method under a starry sky background of the present invention is based;

[0048] Figure 2 This is a schematic diagram of the optical angle measurement single-machine measurement system of the optical target simulation method under starry sky background of the present invention;

[0049] Figure 3 This is a schematic diagram illustrating the calculation of the optical star model image for the optical target simulation method under a starry sky background according to the present invention;

[0050] Figure 4 This is a schematic diagram illustrating the installation error of the optical target simulation method under a starry sky background according to the present invention. Detailed Implementation

[0051] The following will be combined with the appendix in the embodiments of the present invention. Figure 1 ~Attached Figure 4 The technical solutions, structural features, objectives and effects achieved in the embodiments of the present invention will be described in detail.

[0052] It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions. They are only used to facilitate and clarify the purpose of illustrating the embodiments of the present invention, and are not intended to limit the implementation conditions of the present invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportional relationship, or adjustments to the size should still fall within the scope of the technical content disclosed in the present invention, provided that they do not affect the effects and objectives that the present invention can produce.

[0053] It should be noted that, in this invention, relational terms such as "first" and "second" 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.

[0054] This invention provides a system for simulating optical targets against a starry sky background. The optical targets include a satellite body, a target star, and the background starry sky, such as... Figure 1 As shown, it includes: a dynamic model module 10, an optical star model image processing module 20, an optical star model image display head 30, an optical angle measuring unit 40, and a control module 50; the dynamic model module 10 is used to simulate the position and attitude of the satellite body in orbit and generate dynamic information; the optical star model image processing module 20 is communicatively connected to the dynamic model module 10 and is used to receive the dynamic information and generate images of the target star and the background starry sky; the optical star model image display head 30 is installed on the top of the optical angle measuring unit 40 and is communicatively connected to the optical star model image processing module 20; the optical star model image display head 30 receives and displays the images of the target star and the background starry sky; the optical angle measuring unit 40 identifies the target star and measures its azimuth and elevation angles based on the images of the target star and the background starry sky displayed by the optical star model image display head 30, and transmits the azimuth and elevation angles to the control module 50; the control module 50 controls the attitude based on the azimuth and elevation angles transmitted by the optical angle measuring unit 40 and stabilizes the pointing of the target star.

[0055] In this embodiment, the dynamic model module 10 is a computer with dynamic model simulation software installed, which is connected to the optical star model image processing module 20 via a first communication cable. The optical star model image processing module 20 consists of a computer with optical star simulator software installed, which is connected to the optical star model image display head 30 via a video signal cable and displays the target star and background starry sky image on the optical star model image display head 30. The optical angle measuring unit 40 includes an angle measuring detector and a sensor, which is installed on the satellite body in actual application (in this embodiment, it is fixedly installed on the ground, and the ground is equivalent to the satellite body) to identify the target star and measure its azimuth and elevation angles. The control module 50 consists of a computer with an attitude control system installed, which is connected to the dynamic model module 10 via a second communication cable and performs stable control of the target star's attitude based on the measurement information collected by the optical angle measuring unit 40.

[0056] Based on the aforementioned optical target simulation system under a starry sky background, this invention also provides a method for simulating optical targets under a starry sky background, comprising the following steps: S1, the optical star model image processing module 20 generates target star and background starry sky images based on the dynamic information generated by the dynamic model module 10; S2, the installation error of the optical star model image display head 30 is corrected, the corrected coordinates of the target star are transmitted to the optical star model image processing module 20, and the position coordinates of the target star in the background starry sky image are adjusted; S3, the data transmission delay and image processing and display delay in the simulation system link are corrected, the azimuth and elevation angles measured by the optical angle measuring unit 40 are corrected for delay, and the corrected azimuth and elevation angles are transmitted to the control module 50; S4, the control module 50 controls the attitude of the target star based on the corrected azimuth and elevation angles to complete the simulation of the optical target.

[0057] As an optional embodiment, the calculation of the target star and background star image in step S1 includes the following steps: S11, calculating the pixel position of the target star in the coordinate system of the optical star model image based on the relative positions of the target star and the background star in the orbital system of the two stars (i.e., the satellite body and the target star) and the optical parameters of the optical angle measuring unit 40 and the optical star model image display head 30; S12, calculating the attitude quaternion from the optical angle measuring unit measurement frame to the inertial frame based on the attitude information of the satellite body currently equipped with the optical angle measuring unit 40, and the optical star model image processing module 20 generating the target star and background star images based on the attitude quaternion. The optical parameters include the focal length, pixel size, etc., corresponding to the optical angle measuring unit 40 and the optical star model image display head 30, respectively.

[0058] Specifically, the dynamic information generated by the dynamic model module 10 shows that the target star's position in the coordinate system measured by the optical angle measuring device is (X, Y, Z), and the azimuth angle α and elevation angle β are defined as follows: Figure 2 As shown, then:

[0059]

[0060] Using the optical star model image processing module 20 to represent the position of the target star, the coordinates of the target star in the optical star model image coordinate system are calculated from the azimuth angle α, elevation angle β, optical star model pixel size pix, and focal length f. Figure 3 As shown:

[0061]

[0062] Let q be the attitude quaternion of the satellite's own system (i.e., the coordinate system in which the satellite with the optical angle measuring unit 40° is located) relative to the inertial frame. b←i The attitude quaternion of the optical angle measurement unit relative to the satellite body is q.s←b Then the quaternion of the measurement frame relative to the inertial frame is:

[0063]

[0064] The quaternion q of the measurement frame relative to the inertial frame is measured by an optical angle measuring device. s←i The background starry sky image within the field of view of the optical angle measuring unit 40 can be directly generated by the optical star model image processing module 20. Then, the optical path is designed by the optical star model image display head 30 to simulate parallel light rays from infinity to the target star and background starry sky, ensuring that the azimuth and elevation angles of the target star generated by the optical star model image processing module 20 are consistent with those measured by the optical measuring unit 40. It should be noted that both the generation of the background starry sky image within the field of view of the optical angle measuring unit by the optical star model image processing module and the optical path design by the optical star model image display head are existing technologies.

[0065] Furthermore, the correction of the installation error of the optical star model image display head 30 mentioned in step S2 refers to the translational and rotational errors generated when the optical star model image display head 30 is installed on the top of the optical angle measuring unit 40. The accuracy of the image displayed by the optical star model image display head 30 is improved by correcting the installation error.

[0066] Due to installation errors, the azimuth and elevation angles of the target star obtained by the optical star model image processing module 20 based on the dynamic relative position are inconsistent with those calculated by the optical measurement unit 40 after identification. These errors mainly originate from translational and rotational errors generated during the installation of the optical star model image display head 30. The translational error arises because the optical axis of the optical star model image display head 30 does not coincide with the optical axis of the goniometer detector in the optical measurement unit 40 during installation. The rotational error is caused by the non-parallelism between the optical star model image plane coordinate system and the optical goniometer plane coordinate system. Specifically, the X-axis of the optical star model image plane coordinate system... s -Y s The X-axis coordinate system of the single-machine image of the optical angle measurement unit c -Y c And installation error diagrams, such as Figure 4 As shown.

[0067] Specifically, based on the dynamics, the relative positions of the two stars, and equations (1) and (2), the pixel position of the target star input to the optical star model image processing module 20 is (X... s ,Y s The azimuth and elevation angles measured by the optical measuring unit 40 are (α, β). Based on the optical parameters of the optical measuring unit 40: sensor pixel size pix_c, detector focal length f... d It can calculate the coordinates of the target star in the optical angle measurement single-machine image plane coordinate system:

[0068]

[0069] Due to translation and rotation errors, the coordinates of the target star in the optical star model image plane coordinate system and the optical angle measurement single-machine image plane coordinate system have the following relationship:

[0070]

[0071] in,

[0072]

[0073] In equation (6), ΔX s ΔY s Δθ represents the number of translation error pixels and the angle of rotation error of the head 30 in the optical star model image display, respectively, and k is the optical parameter.

[0074] Based on the above positional relationship, the specific steps to correct the installation error of the optical star model image display head 30 include the following:

[0075] S21, The dynamic model module 10 inputs the position (X) of the first fixed target star into the star model image processing module 20. s1 ,Y s1 The azimuth and elevation angles obtained by the optical angle measuring single-machine 40 are (α1, β1). From equation (2), the first coordinate of the target star on the image plane coordinate system of the optical angle measuring single-machine is (X). c1 ,Y c1 );

[0076] S22, the dynamic model module 10 inputs the position (X) of the second fixed target star into the star model image processing module 20. s2 ,Y s2 The azimuth and elevation angles obtained by the optical angle measuring single-machine 40 are (α2, β2). From equation (2), the second coordinate of the target star on the image plane coordinate system of the optical angle measuring single-machine is (X). c2 ,Y c2 );

[0077] S23, will (X) s1 ,Y s1 ), (X c1 ,Y c1 ), (X s2 ,Y s2 ), (X c2 ,Y c2 Substituting into equation (4) and simplifying, we get:

[0078]

[0079] From equation (7) and cos2 Δθ+sin 2 Δθ=1 yields:

[0080]

[0081] The rotation error is calculated using equations (7) and (8):

[0082]

[0083] S24. Substituting the rotation error Δθ and the optical parameter k into equation (5) yields the translation error:

[0084]

[0085] S25. The dynamic model module 10 inputs the corrected coordinates (X) of the target star into the photorealm image processing module 20. s_fixed ,Y s_fixed ):

[0086]

[0087] After steps S21 to S25, the translation and rotation errors caused by the installation can be corrected.

[0088] Furthermore, the data transmission delay and image processing and display delay in the simulation system link are corrected; wherein the data transmission delay mentioned in step S3 is the data transmission delay from the dynamic model module 10 to the optical star model image processing module 20 and then to the optical star model image display head 30; the image processing and display delay is the image processing delay of the optical star model image processing module 20 receiving dynamic information and generating an image and the image display delay of the optical star model image display head 30.

[0089] Specifically, let the data transmission delay, image generation delay, and image display delay be Δt. The azimuth and elevation angles transmitted from the dynamic model module 10 to the optical star model image processing module 20 are recursively calculated using the difference between their preceding and following periods over time Δt. The corrected azimuth and elevation angles (α) fixed ,β fixed )as follows:

[0090]

[0091] Where α k ,β k and α k-1 ,β k-1 These are the azimuth and elevation angles for the current and previous periods, respectively; the corrected azimuth and elevation angles (α) are then used to calculate the elevation angles. fixed ,β fixed The image is transmitted to the optical star model image processing module 20 to correct the delay error.

[0092] In summary, compared with the prior art, the optical target simulation system and method under starry sky background provided by the present invention can fully verify the target recognition and tracking capabilities of the optical angle measuring unit before the launch of the spacecraft, and has the advantages of high simulation matching degree and adjustable parameters.

[0093] 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 method for simulating optical targets against a starry sky background, implemented based on an optical target simulation system against a starry sky background, the optical target simulation system against a starry sky background comprising: Dynamics model module, optical star model image processing module, optical star model image display head, optical angle measuring unit and control module; The dynamic model module is used to simulate the position and attitude of the satellite body in orbit and generate dynamic information; the optical star model image processing module is communicatively connected to the dynamic model module and is used to receive the dynamic information and generate images of the target star and background starry sky; the optical star model image display head is mounted on the top of the optical angle measuring unit and is communicatively connected to the optical star model image processing module; the optical star model image display head receives and displays the images of the target star and background starry sky; the optical angle measuring unit identifies the target star and measures its azimuth and elevation angles based on the images of the target star and background starry sky displayed by the optical star model image display head, and transmits the azimuth and elevation angles to the control module; the control module controls the attitude based on the azimuth and elevation angles transmitted by the optical angle measuring unit to stably point the target star; the method is characterized by the following steps: S1. The optical star model image processing module generates images of the target star and the background starry sky based on the dynamic information generated by the dynamic model module. S2. Correct the installation error of the optical star model image display head, transmit the corrected coordinates of the target star to the optical star model image processing module, and adjust the position coordinates of the target star in the background starry sky image; S3. Correct the data transmission delay and image processing and display delay in the analog system link, perform delay correction on the azimuth and elevation angles measured by the optical angle measuring unit, and transmit the corrected azimuth and elevation angles to the control module. S4. The control module controls the attitude of the target star based on the corrected azimuth and elevation angles to complete the simulation of the optical target.

2. The method for simulating optical targets against a starry sky background as described in claim 1, characterized in that, Step S1, which involves generating the target star and background starry sky image, includes the following steps: S11. Based on the relative positions of the target star and the background starry sky in the dynamic two-star orbit system and the optical parameters of the optical angle measuring unit and the optical star model image display head, calculate the pixel position of the target star in the coordinate system of the optical star model image; wherein, the optical parameters include: the focal length and pixel size corresponding to the optical angle measuring unit and the optical star model image display head respectively. S12. Based on the attitude information of the satellite body currently equipped with an optical angle measuring unit, the attitude quaternion from the optical angle measuring unit's measurement frame to the inertial frame is calculated. The optical star model image processing module generates images of the target star and the background star based on the attitude quaternion.

3. The method for simulating optical targets against a starry sky background as described in claim 2, characterized in that, If the position of the target star in the coordinate system measured by the optical angle measuring device is Then the azimuth angle and elevation angle for: （1） In the coordinate system of the light star model image, the azimuth angle of the target star is... Elevation angle Star model pixel size ,focal length The coordinates of the target star in the coordinate system of the star model image are calculated as follows: （2）。 4. The method for simulating optical targets against a starry sky background as described in claim 1, characterized in that, If the attitude quaternion of the satellite system relative to the inertial frame is The attitude quaternion of the optical angle measurement unit relative to the satellite body is: Then the quaternion of the measurement frame relative to the inertial frame is: （3） The quaternion of the measurement frame relative to the inertial frame based on the optical angle measuring device. The background starry sky image within the field of view of the optical angle measuring single-machine is generated through the optical star model image processing module.

5. The method for simulating optical targets against a starry sky background as described in claim 3, characterized in that, The correction of the installation error of the optical star model image display head mentioned in step S2 includes the translation error and rotation error generated when the optical star model image display head is installed on the top of the optical angle measuring unit.

6. The method for simulating optical targets against a starry sky background as described in claim 5, characterized in that, The pixel position of the target star, calculated from the relative positions of the two stars and equations (1) and (2) by dynamics, is given by the input to the photo-star model image processing module. The azimuth and elevation angles obtained by a single optical measurement unit are: Based on the optical parameters of the optical measurement unit: sensor pixel size Detector focal length Calculate the coordinates of the target star in the optical angle measurement single-machine image plane coordinate system: （4） Based on the translation and rotation errors, the coordinates of the target star in the optical star model image plane coordinate system and the optical angle measurement single-machine image plane coordinate system have the following relationship: （5） in, （6） In equation (6), , , These represent the number of pixels representing the translational error and the angle representing the rotational error of the head in the star-shaped image display, respectively. These are optical parameters.

7. The method for simulating optical targets against a starry sky background as described in claim 5, characterized in that, The specific steps for correcting the installation error of the optical star model image display head (30) are as follows: S21. The dynamics model module inputs the position of the first fixed target star into the photo-star model image processing module. The azimuth and elevation angles obtained by a single optical angle measuring machine are: From equation (2), the first coordinate of the target star in the optical angle measurement single-machine image plane coordinate system can be obtained as follows: ; S22, The dynamics model module inputs the position of the second fixed target star into the star model image processing module. The azimuth and elevation angles obtained by a single optical angle measuring machine are: From equation (2), the second coordinate of the target star in the optical angle measurement single-machine image plane coordinate system can be obtained as follows: ; S23, will , , , After simplifying equation (4), we get: （7） From equation (7) and available: （8） The rotation error is calculated using equations (7) and (8): （9） S24, Rotation error and optical parameters Substituting into equation (5), we can obtain the translation error: （10） S25. The dynamic model module inputs the corrected coordinates of the target star into the optical star model image processing module. : （11） The translation and rotation errors caused by the corrective installation in steps S21 to S25.

8. The method for simulating optical targets against a starry sky background as described in claim 6, characterized in that, The data transmission delay mentioned in step S3 is the data transmission delay from the dynamic model module to the optical star model image processing module and then to the optical star model image display head; the image processing and display delay is the image processing delay of the optical star model image processing module receiving dynamic information and generating an image, and the image display delay of the optical star model image display head.

9. The method for simulating optical targets against a starry sky background as described in claim 7, characterized in that, If the data transmission delay, image generation delay, and image display delay are... The azimuth and elevation angles transmitted from the dynamic model module to the optical star model image processing module are processed by the difference between their preceding and following periods. Over time, the corrected azimuth and elevation angles as follows: （12） in and These are the azimuth and elevation angles for the current cycle and the previous cycle, respectively.

Images