Imaging quality evaluation method and system in on-orbit closed-loop guide tracking moving target process

Abstract

The invention provides an imaging quality evaluation method and system in a satellite in-orbit closed-loop guiding and tracking moving target process, and the method comprises the steps: calculating the movement amount of an imaging position of a target on a detector caused by a plurality of influence factors in camera integration time, and synthesizing the imaging position movement amount of the plurality of influence factors through square and square extraction. And evaluating the influence of the closed-loop guided moving target tracking process on the imaging quality according to the comprehensive imaging position movement amount. According to the method, quantitative analysis results of influence of satellite attitude control errors, scanning mirror control errors, target motion, micro-vibration and the like on imaging quality are given in all the steps, various influence factors are integrated, and a conclusion whether the imaging quality is influenced in the closed-loop guide tracking process is obtained. Through the method, the imaging quality in a moving target, a static target or a ground object guide tracking mode can be quantitatively analyzed, influence factors participating in calculation are selected according to characteristics, and the analysis result is more accurate.

Description

Technical Field

[0001] The present invention belongs to the field of dynamic imaging assessment, and in particular, relates to an imaging quality assessment method and system during on-orbit closed-loop guidance and tracking of a moving target. Background Art

[0002] During the process of continuous tracking and imaging of moving targets by satellites in orbit, the satellite needs to continuously obtain the target position, perform satellite attitude control based on the position information, and scan the scanning mirror back and forth to form an image. This tracking process is a closed-loop control process from obtaining the target position to tracking the target movement. The tracking process is affected by multiple movements such as target maneuvers, satellite attitude maneuvers, scanning mirror rotations, and micro-vibrations on the satellite. When designing a satellite, it is necessary to reasonably determine key indicators such as satellite attitude tracking accuracy, camera scanning mirror control accuracy, and micro-vibration magnitude on the satellite based on the target movement speed range while ensuring the imaging quality of the moving target. Therefore, there is a need for a quantitative evaluation method for the imaging quality of the satellite in the process of closed-loop guidance and tracking of moving targets in orbit. This method is the basis for the demonstration and design of comprehensive satellite indicators.

[0003] Patent document "A method for agile satellite imaging conditions" (CN102063558A) discloses a method for analyzing the imaging quality of on-orbit cameras, but this method uses traditional camera imaging quality evaluation indicators, selects MTF, pixel resolution and width as analysis indicators, and the impact analysis given is only the impact result of the camera itself. The present invention provides an analysis method for whether the imaging quality is affected by multiple influencing factors such as satellite attitude control error, scanning mirror control error, target motion, micro-vibration, etc. in the process of on-orbit closed-loop guidance and tracking of moving targets. The static imaging quality of the camera itself is a necessary prerequisite. If the static imaging quality of the camera cannot be guaranteed, the subsequent analysis of other influencing factors is meaningless.

[0004] In each step of the present invention, the quantitative influence results of the calculated attitude control error, camera scanning mirror control error, target motion influence, satellite micro-vibration, etc. on the imaging quality are respectively given, and the final result of the influence on the imaging quality is obtained comprehensively. The present invention can be used to quantitatively analyze the imaging quality in the guidance and tracking mode of moving targets, stationary targets or ground objects. Summary of the invention

[0005] In view of the defects in the prior art, the object of the present invention is to provide a method and system for evaluating imaging quality during on-orbit closed-loop guidance and tracking of a moving target.

[0006] According to the present invention, a method for evaluating imaging quality during on-orbit closed-loop guidance and tracking of a moving target comprises the following steps:

[0007] Step S1: Calculate the movement of the imaging position of the target on the detector caused by various influencing factors within the camera integration time;

[0008] Step S2: The imaging position movement of various influencing factors is synthesized by square root and square root to obtain the comprehensive imaging position movement d m , according to the comprehensive imaging position movement d m Evaluate the impact on imaging quality;

[0009] The camera integration time is the time for continuously acquiring target information during imaging.

[0010] Preferably, the influencing factors include satellite attitude control error, scanning mirror control error, target motion, and micro-vibration;

[0011] The calculation is to quantify the influencing factors to the movement amount of the imaging position of the target on the detector;

[0012] The targets include moving targets, stationary targets, ground objects, point targets, and surface targets;

[0013] The imaging position of the point target on the detector is the position of the image point of the target on the detector;

[0014] The imaging position of the surface target on the detector is the position of the center of gravity of the image of the target on the detector;

[0015] The satellite attitude control error includes a three-axis attitude angular velocity control error;

[0016] The scanning mirror control error includes the scanning mirror rotation angular velocity error and radial control error;

[0017] The micro-vibration is a vibration with a small amplitude and a fast changing frequency, including a translational micro-vibration component and a rotational micro-vibration component;

[0018] In the synthesis, weight addition or increase or decrease is performed according to actual settings;

[0019] The movement amount d m When it is greater than one third of the pixels, it is determined that the imaging quality is affected; the movement amount d m When it is less than or equal to one-third of the pixels, the impact on imaging quality is ignored and the movement amount is adjusted according to the characteristics of the satellite.

[0020] Preferably, step S1 comprises:

[0021] Step S1.1: According to the closed-loop guidance and tracking method, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated to obtain the attitude angular velocity difference. The movement amount d1 of the imaging position of the target on the detector caused by the satellite attitude control error is the ratio of the attitude angular velocity difference to the ideal attitude angular velocity.

[0022] and / or, including:

[0023] Step S1.2: Calculate the difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity to obtain the rotation angular velocity difference. The movement amount d2 of the imaging position of the target on the detector caused by the scanning mirror control error is the ratio of the rotation angular velocity difference to the ideal rotation angular velocity.

[0024] and / or, including:

[0025] Step S1.3: Calculate the ratio of the target moving distance within the camera integration time to the camera spatial resolution to obtain a calculation result, which is the movement amount d3 of the imaging position of the target on the detector caused by the target movement;

[0026] The camera spatial resolution is the spatial resolution at the target or object;

[0027] and / or, including:

[0028] Step S1.4: Calculate the ratio of the camera rotation angle caused by the micro-vibration to the camera angular resolution according to the vibration form to obtain a ratio result, which is the movement amount d4 of the imaging position of the target on the detector caused by the micro-vibration.

[0029] Preferably, the scanning mirror in step S1.2 is a one-dimensional scanning mirror or a two-dimensional scanning mirror;

[0030] In step S1.4, the micro-vibration is distinguished and the micro-vibration component that causes the camera to rotate is extracted;

[0031] The camera rotation angle is the maximum angle of overall camera rotation caused by micro vibration during camera integration time;

[0032] The camera angular resolution is the single pixel angular resolution of the camera;

[0033] The vibration form is a vibration form that causes the camera to rotate during the time of continuously acquiring target information;

[0034] The camera integration time includes the exposure time.

[0035] According to the present invention, an imaging quality assessment system for tracking a moving target in an on-orbit closed-loop guidance process includes:

[0036] Module M1: Calculates the movement of the target imaging position on the detector caused by various influencing factors during the camera integration time;

[0037] Module M2: The imaging position movement of various influencing factors is synthesized by square root and square root to obtain the comprehensive imaging position movement d m , according to the comprehensive imaging position movement d m Evaluate the impact on imaging quality;

[0038] The camera integration time is the time for continuously acquiring target information during imaging.

[0039] Preferably, the influencing factors include satellite attitude control error, scanning mirror control error, target motion, and micro-vibration;

[0040] The calculation is to quantify the multiple influencing factors to the movement amount of the imaging position of the target on the detector;

[0041] The targets include moving targets, stationary targets, ground objects, point targets, and surface targets;

[0042] The imaging position of the point target on the detector is the position of the image point of the target on the detector;

[0043] The imaging position of the surface target on the detector is the position of the center of gravity of the image of the target on the detector;

[0044] The satellite attitude control error includes a three-axis attitude angular velocity control error;

[0045] The scanning mirror control error includes the scanning mirror rotation angular velocity error and radial control error;

[0046] The micro-vibration is a vibration with a small amplitude and a fast changing frequency, including a translational micro-vibration component and a rotational micro-vibration component;

[0047] In the synthesis, weight addition or increase or decrease is performed according to actual settings;

[0048] The movement amount d m When it is greater than one third of the pixels, it is determined that the imaging quality is affected; the movement amount d m When it is less than or equal to one-third of the pixels, the impact on imaging quality is ignored and the movement amount is adjusted according to the characteristics of the satellite.

[0049] Preferably, module M1 comprises:

[0050] Module M1.1: According to the closed-loop guidance and tracking method, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated to obtain the attitude angular velocity difference. The movement amount d1 of the target imaging position on the detector caused by the satellite attitude control error is the ratio of the attitude angular velocity difference to the ideal attitude angular velocity.

[0051] and / or, including:

[0052] Module M1.2: Calculate the difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity to obtain the rotation angular velocity difference. The movement amount d2 of the imaging position of the target on the detector caused by the scanning mirror control error is the ratio of the rotation angular velocity difference to the ideal rotation angular velocity.

[0053] and / or, including:

[0054] Module M1.3: Calculate the ratio of the target moving distance within the camera integration time to the camera spatial resolution, and obtain the calculation result, which is the movement amount d3 of the target imaging position on the detector caused by the target movement;

[0055] The camera spatial resolution is the spatial resolution at the target or object;

[0056] and / or, including:

[0057] Module M1.4: Calculate the ratio of the camera rotation angle caused by the micro-vibration to the camera angular resolution according to the vibration form, and obtain the ratio result. The ratio result is the movement amount d4 of the imaging position of the target on the detector caused by the micro-vibration.

[0058] Preferably, the scanning mirror in module M1.2 is a one-dimensional scanning mirror or a two-dimensional scanning mirror;

[0059] In module M1.4, the micro-vibration is differentiated and the micro-vibration component that causes the camera to rotate is extracted;

[0060] The camera rotation angle is the maximum angle of overall camera rotation caused by micro vibration during camera integration time;

[0061] The camera angular resolution is the single pixel angular resolution of the camera;

[0062] The vibration form is a vibration form that causes the camera to rotate during the time of continuously acquiring target information;

[0063] The camera integration time includes the exposure time.

[0064] According to a computer-readable storage medium storing a computer program provided by the present invention, when the computer program is executed by a processor, the steps of the imaging quality assessment method during the on-orbit closed-loop guidance and tracking of a moving target provided by the present invention are implemented.

[0065] A satellite system provided according to the present invention comprises the imaging quality assessment system during on-orbit closed-loop guidance and tracking of a moving target provided by the present invention, or the computer-readable storage medium storing a computer program.

[0066] Compared with the prior art, the present invention has the following beneficial effects:

[0067] 1. The present invention can quantitatively analyze the imaging quality of moving targets, stationary targets or ground object satellites in an on-orbit closed-loop guidance and tracking mode.

[0068] 2. In the present invention, multiple influencing factors have their own accuracy evaluation methods, which not only comprehensively characterize the impact of multiple factors on the quality of imaging in motion, but also can perform quantitative calculations using the accuracy indicators of multiple influencing factors themselves.

[0069] 3. For the imaging quality analysis of ground objects and targets moving at different speeds, the influencing factors involved in the calculation can be selected according to the satellite characteristics, and the analysis results will be more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0071] Figure 1 This is a flow chart of the imaging quality assessment and analysis method during the satellite's on-orbit closed-loop guidance and tracking of moving targets.

[0072] Figure 2 Schematic diagram of the satellite closed-loop guidance and target tracking process. DETAILED DESCRIPTION

[0073] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0074] The present invention analyzes the various interference sources that affect the imaging quality in the process of satellite on-orbit guidance and tracking of moving targets, and proposes a method of evaluating the imaging quality by the amount of movement of the imaging position of the moving target on the detector during the camera integration time. In the process of closed-loop guidance and tracking of moving targets, there are multiple influencing factors such as satellite attitude control error, scanning mirror control error, target motion, micro-vibration, etc., and an indicator is needed to evaluate the imaging quality. Therefore, multiple influences such as target maneuvering, satellite attitude maneuvering, scanning mirror maneuvering, micro-vibration, etc. are included, and finally the amount of movement of the imaging position of the target on the detector caused by multiple influencing factors during the camera integration time is selected as the evaluation indicator. This indicator can not only comprehensively characterize the imaging quality in motion, but also establish a quantitative calculation process from the influencing factors to this indicator.

[0075] like Figure 1 As shown, a method for evaluating imaging quality during on-orbit closed-loop guidance and tracking of a moving target provided by the present invention specifically comprises the following steps:

[0076] Step S1: The impact of satellite closed-loop guidance and tracking on imaging quality is evaluated by the amount of movement of the imaging position of the target on the detector during the camera integration time. The greater the amount of movement of the imaging position of the target on the detector during the camera integration time, the greater the impact on imaging quality.

[0077] The factors that affect the imaging quality during satellite guidance and tracking of moving targets include attitude control errors, camera scanning mirror control errors, target motion, micro-vibration and other interferences. The interference sources can be appropriately increased or decreased according to the camera type, target type and on-board vibration sources.

[0078] The evaluation includes: calculating the satellite attitude control error, scanning mirror control error, target motion, micro-vibration, etc. to the target imaging position movement on the detector, and quantitatively analyzing the impact of various interferences on the imaging quality.

[0079] In more preferred examples, it is clarified that in the process of closed-loop guidance and tracking on orbit, in order to comprehensively consider the impact of various factors on the imaging quality, the imaging position movement of the moving target on the detector image plane within the camera integration time is used as an evaluation index. Generally, when the target imaging position change is greater than one-third of the pixel, it will affect the imaging quality. The movement index can be appropriately adjusted according to the characteristics of the satellite.

[0080] The targets include moving targets, stationary targets, and ground objects. In order to evaluate the imaging quality under various interferences, the displacement of the imaging position of the target on the detector is used as an evaluation index, which can be applied to point targets, surface targets, ground objects, etc.

[0081] In more preferred examples, the imaging quality of point target and surface target guided tracking can be evaluated, the imaging position of a point target is the position of the image point of the target on the detector, and the imaging position of a surface target is the position of the center of gravity of the target image on the detector.

[0082] Step S1 includes:

[0083] Step S1.1: According to the closed-loop guidance and tracking method, especially when the target is a moving target, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated. The ratio of this difference to the ideal attitude angular velocity is the three-axis attitude angular velocity control error, that is, the movement of the target imaging position on the detector caused by the satellite attitude control error.

[0084] In more preferred examples, the reason that affects the imaging quality during the guided tracking process is that the actual attitude angular velocity cannot be controlled to the ideal attitude angular velocity, so that the camera's visual axis does not always point to the moving target, causing the imaging position of the target on the detector to change, thereby reducing the imaging quality.

[0085] In other words, the amount of movement of the target imaging position on the detector is the control deviation between the actual attitude angular velocity and the desired ideal attitude angular velocity. This deviation has different definitions in different control modes, but all represent the deviation in velocity of attitude control.

[0086] by Figure 2For example, the satellite continuously tracks the moving target in orbit. The satellite moves from position W1, W2 to position W n The target is tracked and the corresponding target moves from position M1, M2 to position M n .

[0087] Step S1.2: The rotation of the camera scanning mirror can realize imaging of different areas. The scanning mirror rotation angular velocity control error in the scanning mirror control error will affect the imaging quality in the scanning direction. The difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity is calculated. The ratio of this difference to the ideal rotation angular velocity is the amount of movement of the target imaging position on the detector caused by the scanning mirror control error.

[0088] The scanning mirror control error includes the scanning mirror rotation angular velocity error and radial control error. The radial control error will not affect the imaging quality, while the rotation angular velocity control error will cause the camera resolution to change during imaging, thereby causing the imaging position of the target on the detector to change, reducing the imaging quality.

[0089] Among them, when a scanning mirror exists, each control amount of the scanning mirror will cause the imaging position of the target on the detector to move, which is applicable to different types of scanning mirrors such as one-dimensional scanning mirrors and two-dimensional scanning mirrors.

[0090] Step S1.3: The target motion during the camera integration time will affect the imaging quality of the closed-loop guided tracking process. The ratio of the target moving distance during the camera integration time to the camera spatial resolution is the amount of displacement of the target imaging position on the detector caused by the target motion.

[0091] The camera integration time is the time for continuously acquiring target information during imaging, and is applicable to concepts with the same meaning, such as exposure time, etc.

[0092] The camera spatial resolution is the spatial resolution at which a moving target or object is detected. The longer the detection distance, the lower the camera spatial resolution, and the smaller the impact of target motion on imaging quality.

[0093] Step S1.4: Micro-vibration includes translational micro-vibration component and rotational micro-vibration component. The influence of translational micro-vibration component on camera imaging quality can be ignored. Rotational micro-vibration component causes the camera to rotate, affecting imaging quality. The ratio of the camera rotation angle caused by micro-vibration to the camera angular resolution is the amount of displacement of the imaging position of the target on the detector caused by micro-vibration;

[0094] The micro-vibration is a vibration with a small amplitude and a fast changing frequency, but is not limited to micro-vibration. It is a vibration form suitable for causing the camera to rotate within the time of continuously acquiring target information.

[0095] Micro-vibration is manifested as amplitudes at different vibration frequencies, and it is necessary to measure the vibration components perpendicular to the camera installation direction and parallel to the camera installation direction. The vibration component perpendicular to the camera installation direction causes the camera to rotate, causing the imaging position of the target on the detector to change, reducing the imaging quality.

[0096] In more preferred examples, it is necessary to distinguish the effects of micro-vibrations, extract the micro-vibration components that cause the camera to rotate, calculate the maximum angle of overall rotation of the camera caused by the micro-vibrations within the camera integration time, and then divide it by the single-pixel angular resolution of the camera to obtain the amount of movement of the imaging position of the target on the detector caused by the micro-vibrations.

[0097] Step S2: synthesize multiple influencing factors by taking the square root of the sum of squares, and comprehensively analyze the common influence of multiple factors on the imaging quality.

[0098] The synthesis is weighted or appropriately increased or decreased according to actual conditions.

[0099] In more preferred examples, multiple influencing factors are combined based on the analysis of the impact of each influencing factor on the imaging quality. Since each influencing factor is independent and unrelated, the square root method is used for synthesis, and the common impact of multiple factors on the imaging quality is combined, and the weight is added or appropriately increased or decreased according to the actual situation.

[0100] The present invention also provides an imaging quality assessment system during on-orbit closed-loop guidance and tracking of a moving target. The imaging quality assessment system during on-orbit closed-loop guidance and tracking of a moving target can be implemented by executing the process steps of the imaging quality assessment method during on-orbit closed-loop guidance and tracking of a moving target, that is, those skilled in the art can understand the imaging quality assessment method during on-orbit closed-loop guidance and tracking of a moving target as a preferred implementation of the imaging quality assessment system during on-orbit closed-loop guidance and tracking of a moving target.

[0101] According to the present invention, an imaging quality assessment system in the process of on-orbit closed-loop guidance and tracking of a moving target specifically comprises:

[0102] Module M1: Calculates the movement of the target imaging position on the detector caused by various influencing factors during the camera integration time.

[0103] Module M2: The imaging position movement of various influencing factors is synthesized by square root and square root to obtain the comprehensive imaging position movement d m , according to the comprehensive imaging position movement d m Assess the impact on imaging quality.

[0104] The camera integration time is the time for continuously acquiring target information during imaging.

[0105] In more preferred embodiments, the influencing factors include satellite attitude control error, scanning mirror control error, target motion, and micro-vibration;

[0106] The calculation is to quantify the influencing factors to the movement amount of the imaging position of the target on the detector.

[0107] The targets include moving targets, stationary targets, ground objects, point targets, and surface targets.

[0108] The imaging position of the point target on the detector is the position of the image point of the target on the detector, and the imaging position of the surface target on the detector is the position of the center of gravity of the image of the target on the detector.

[0109] The satellite attitude control error includes a three-axis attitude angular velocity control error.

[0110] The scanning mirror control error includes a scanning mirror rotation angular velocity error and a radial control error.

[0111] The micro-vibration is a vibration with a small vibration amplitude and a fast changing frequency, including a translational micro-vibration component and a rotational micro-vibration component.

[0112] In the synthesis, weight addition or increase or decrease is performed according to actual settings.

[0113] The movement amount d m When it is greater than one third of the pixels, it is determined that the imaging quality is affected; the movement amount d m When it is less than or equal to one-third of the pixels, the impact on imaging quality is ignored and the movement amount is adjusted according to the characteristics of the satellite.

[0114] In more preferred embodiments, module M1 includes:

[0115] Module M1.1: According to the closed-loop guidance and tracking method, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated to obtain the attitude angular velocity difference. The movement amount d1 of the imaging position of the target on the detector caused by the satellite attitude control error is the ratio of the attitude angular velocity difference to the ideal attitude angular velocity.

[0116] and / or, including:

[0117] Module M1.2: Calculate the difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity to obtain the rotation angular velocity difference. The movement d2 of the imaging position of the target on the detector caused by the scanning mirror control error is the ratio of the rotation angular velocity difference to the ideal rotation angular velocity.

[0118] and / or, including:

[0119] Module M1.3: Calculate the ratio of the target moving distance within the camera integration time to the camera spatial resolution, and obtain the calculation result, which is the movement amount d3 of the target imaging position on the detector caused by the target movement.

[0120] The camera spatial resolution is the spatial resolution of the target.

[0121] and / or, including:

[0122] Module M1.4: Calculate the ratio of the camera rotation angle caused by the micro-vibration to the camera angular resolution according to the vibration form, and obtain the ratio result. The ratio result is the movement amount d4 of the imaging position of the target on the detector caused by the micro-vibration.

[0123] In more preferred examples, the scanning mirror in module M1.2 is a one-dimensional scanning mirror or a two-dimensional scanning mirror.

[0124] In module M1.4, the influence of micro-vibration is distinguished and the micro-vibration component that causes the camera to rotate is extracted.

[0125] The camera rotation angle is the maximum angle of overall camera rotation caused by micro vibration within the camera integration time.

[0126] The camera angular resolution is the single pixel angular resolution of the camera.

[0127] The vibration form is a vibration form that causes the camera to rotate during the time of continuously acquiring target information.

[0128] The camera integration time includes the exposure time.

[0129] Those skilled in the art know that, in addition to realizing the system and its various devices, modules, and units provided by the present invention in a purely computer-readable program code, it is entirely possible to realize the same functions in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers by logically programming the method steps. Therefore, the system and its various devices, modules, and units provided by the present invention can be considered as a hardware component, and the devices, modules, and units included therein for realizing various functions can also be regarded as structures within the hardware component; the devices, modules, and units for realizing various functions can also be regarded as both software modules for realizing the method and structures within the hardware component.

[0130] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A method for evaluating imaging quality during on-orbit closed-loop guidance and tracking of a moving target, characterized in that: include: Step S1: Calculate the movement of the imaging position of the target on the detector caused by various influencing factors within the camera integration time; Step S2: The imaging position movement of various influencing factors is synthesized by square root and square root to obtain the comprehensive imaging position movement d m , according to the comprehensive imaging position movement d m Evaluate the impact on imaging quality; The camera integration time is the time for continuously acquiring target information during imaging.

2. The imaging quality assessment method for on-orbit closed-loop guidance and tracking of a moving target according to claim 1, characterized in that: The influencing factors include satellite attitude control error, scanning mirror control error, target motion, and micro-vibration; The calculation is to quantify the influencing factors to the movement amount of the imaging position of the target on the detector; The targets include moving targets, stationary targets, ground objects, point targets, and surface targets; The imaging position of the point target on the detector is the position of the image point of the target on the detector; The imaging position of the surface target on the detector is the position of the center of gravity of the image of the target on the detector; The satellite attitude control error includes a three-axis attitude angular velocity control error; The scanning mirror control error includes the scanning mirror rotation angular velocity error and radial control error; The micro-vibration is a vibration with a small amplitude and a fast changing frequency, including a translational micro-vibration component and a rotational micro-vibration component; In the synthesis, weight addition or increase or decrease is performed according to actual settings; The movement amount d m When it is greater than one third of the pixels, it is determined that the imaging quality is affected; the movement amount d m When it is less than or equal to one-third of the pixels, the impact on imaging quality is ignored and the movement amount is adjusted according to the characteristics of the satellite.

3. The imaging quality assessment method for on-orbit closed-loop guidance and tracking of a moving target according to claim 1, characterized in that: Step S1 includes: Step S1.1: According to the closed-loop guidance and tracking method, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated to obtain the attitude angular velocity difference. The movement amount d1 of the imaging position of the target on the detector caused by the satellite attitude control error is the ratio of the attitude angular velocity difference to the ideal attitude angular velocity. and / or, including: Step S1.2: Calculate the difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity to obtain the rotation angular velocity difference. The movement amount d2 of the imaging position of the target on the detector caused by the scanning mirror control error is the ratio of the rotation angular velocity difference to the ideal rotation angular velocity. and / or, including: Step S1.3: Calculate the ratio of the target moving distance within the camera integration time to the camera spatial resolution to obtain a calculation result, which is the movement amount d3 of the imaging position of the target on the detector caused by the target movement; The camera spatial resolution is the spatial resolution at the target or object; and / or, including: Step S1.4: Calculate the ratio of the camera rotation angle caused by the micro-vibration to the camera angular resolution according to the vibration form to obtain a ratio result, which is the movement amount d4 of the imaging position of the target on the detector caused by the micro-vibration.

4. The imaging quality assessment method for on-orbit closed-loop guidance and tracking of a moving target according to claim 3 is characterized in that: The scanning mirror in step S1.2 is a one-dimensional scanning mirror or a two-dimensional scanning mirror; In step S1.4, the micro-vibration is distinguished and the micro-vibration component that causes the camera to rotate is extracted; The camera rotation angle is the maximum angle of overall camera rotation caused by micro vibration during camera integration time; The camera angular resolution is the single pixel angular resolution of the camera; The vibration form is a vibration form that causes the camera to rotate during the time of continuously acquiring target information; The camera integration time includes the exposure time.

5. An imaging quality assessment system for on-orbit closed-loop guidance and tracking of moving targets, characterized in that: include: Module M1: Calculates the movement of the target imaging position on the detector caused by various influencing factors during the camera integration time; Module M2: The imaging position movement of various influencing factors is synthesized by square root and square root to obtain the comprehensive imaging position movement d m , according to the comprehensive imaging position movement d m Evaluate the impact on imaging quality; The camera integration time is the time for continuously acquiring target information during imaging.

6. The imaging quality assessment system for on-orbit closed-loop guidance and tracking of moving targets according to claim 5, characterized in that: The influencing factors include satellite attitude control error, scanning mirror control error, target motion, and micro-vibration; The calculation is to quantify the influencing factors to the movement amount of the imaging position of the target on the detector; The targets include moving targets, stationary targets, ground objects, point targets, and surface targets; The imaging position of the point target on the detector is the position of the image point of the target on the detector; The imaging position of the surface target on the detector is the position of the center of gravity of the image of the target on the detector; The satellite attitude control error includes a three-axis attitude angular velocity control error; The scanning mirror control error includes the scanning mirror rotation angular velocity error and radial control error; The micro-vibration is a vibration with a small amplitude and a fast changing frequency, including a translational micro-vibration component and a rotational micro-vibration component; In the synthesis, weight addition or increase or decrease is performed according to actual settings; The movement amount d m When it is greater than one third of the pixels, it is determined that the imaging quality is affected; the movement amount d m When it is less than or equal to one-third of the pixels, the impact on imaging quality is ignored and the movement amount is adjusted according to the characteristics of the satellite.

7. The imaging quality assessment system for on-orbit closed-loop guidance and tracking of moving targets according to claim 5, characterized in that: Module M1 includes: Module M1.1: According to the closed-loop guidance and tracking method, the difference between the actual attitude angular velocity and the ideal attitude angular velocity in the closed-loop guidance and tracking process is calculated to obtain the attitude angular velocity difference. The movement amount d1 of the target imaging position on the detector caused by the satellite attitude control error is the ratio of the attitude angular velocity difference to the ideal attitude angular velocity. and / or, including: Module M1.2: Calculate the difference between the actual scanning mirror rotation angular velocity and the ideal rotation angular velocity to obtain the rotation angular velocity difference. The movement amount d2 of the imaging position of the target on the detector caused by the scanning mirror control error is the ratio of the rotation angular velocity difference to the ideal rotation angular velocity. and / or, including: Module M1.3: Calculate the ratio of the target moving distance within the camera integration time to the camera spatial resolution, and obtain the calculation result, which is the movement amount d3 of the target imaging position on the detector caused by the target movement; The camera spatial resolution is the spatial resolution at the target or object; and / or, including: Module M1.4: Calculate the ratio of the camera rotation angle caused by the micro-vibration to the camera angular resolution according to the vibration form, and obtain the ratio result. The ratio result is the movement amount d4 of the imaging position of the target on the detector caused by the micro-vibration.

8. The imaging quality assessment system for on-orbit closed-loop guidance and tracking of moving targets according to claim 7, characterized in that: The scanning mirror described in module M1.2 is a one-dimensional scanning mirror or a two-dimensional scanning mirror; In module M1.4, the micro-vibration is differentiated and the micro-vibration component that causes the camera to rotate is extracted; The camera rotation angle is the maximum angle of overall camera rotation caused by micro vibration during camera integration time; The camera angular resolution is the single pixel angular resolution of the camera; The vibration form is a vibration form that causes the camera to rotate during the time of continuously acquiring target information; The camera integration time includes the exposure time.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the imaging quality assessment method in the process of on-orbit closed-loop guidance and tracking of a moving target according to any one of claims 1 to 4 are implemented.

10. A satellite system, characterized in that: The imaging quality assessment system comprising the on-orbit closed-loop guidance and tracking of a moving target as described in any one of claims 5 to 8, or the computer-readable storage medium storing a computer program as described in claim 9.

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