Space moving target capturing and verifying system and method based on dynamic optical simulation

Abstract

The invention discloses a space moving target capture verification system and method based on dynamic optical simulation. The system comprises a capture observation sensor, a target dynamic optical simulator, a satellite-borne control computer, dynamics simulation equipment and a remote control terminal. And the dynamic simulation equipment generates the orbit and attitude of the satellite and the orbit of the target satellite in the next control period, and calculates the azimuth information of the target satellite in the satellite and the optical characteristics of the target satellite. The target dynamic optical simulator generates optical excitation according to optical characteristics of a target star, the capturing observation sensor performs imaging and image recognition on the optical excitation, and azimuth information of the target in the star is obtained through calculation and sent to the satellite-borne control computer. The spaceborne control computer generates a spaceborne state setting instruction and sends the instruction to the dynamics simulation device to form closed-loop control. The method solves the problem that the existing method cannot comprehensively verify and capture the coupling effect of the recognition effect of the optical probe of the observation sensor and the closed-loop tracking control effect of the control computer.

Description

Technical Field

[0001] The invention relates to a space motion target capture verification system and method based on dynamic optical simulation, belonging to the technical field of spacecraft system-level testing. Background Art

[0002] Space target capture is the basis of space target situational awareness. Capture observation sensors are a typical type of sensor used to capture and identify space targets at a long distance. Capture observation sensors obtain star maps containing space targets and stars through optical lenses, extract space targets through image processing and space target operation characteristics, and determine their azimuth, brightness, pixel size and other information. In addition, continuous tracking measurement of space targets is closely related to closed-loop tracking control. Large control errors or even polarity errors will cause the position of the space target to exceed the field of view of the capture observation sensor.

[0003] In the ground test of space situational awareness aircraft, the measurement data of the capture observation sensor needs to be introduced into the closed loop of the control system. However, most of the current ground closed-loop tests directly transmit the expected measurement results of the capture observation sensor to the control computer through the data interface, which cannot verify the optical recognition ability of the capture observation sensor and the coupling effect of sensor recognition and closed-loop tracking control. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, and to propose a space motion target capture verification system and method based on dynamic optical simulation. Through the verification system design and the test method design, the coupling effect of the comprehensive verification of the capture observation sensor optical probe recognition effect and the control computer closed-loop tracking control effect is achieved.

[0005] The technical solution of the present invention is:

[0006] A space motion target capture verification system based on dynamic optical simulation, comprising a capture observation sensor, a target dynamic optical simulator, a satellite control computer, a dynamic simulation device and a remote control terminal;

[0007] The target dynamic optical simulator generates optical excitation according to the optical properties of the target star output by the dynamic simulation device;

[0008] The capture observation sensor performs imaging and image recognition on the optical excitation of the target dynamic optical simulator, calculates the position information of the target on the satellite and sends it to the onboard control computer;

[0009] The onboard control computer obtains the attitude and three-axis angular velocity of the satellite, receives the position information of the target on the satellite output by the capture observation sensor, generates the state setting instruction of the satellite based on the above data, and sends it to the dynamic simulation device;

[0010] The dynamic simulation device generates the local orbit and attitude of the local star and the orbit of the target star in the next control cycle according to the local orbit and attitude of the local star and the orbit of the target star in the current control cycle and the state setting instructions of the local star and the target star, and calculates the position information of the target star on the local star and the optical characteristics of the target star; wherein the optical characteristics of the target star include the expected position coordinates of the target star in the image, the brightness of the target star, and the star point size of the target star;

[0011] The remote control terminal is used to control the operating status of the verification system, generate target star state setting instructions, and send them to the dynamics simulation equipment.

[0012] Furthermore, the dynamic simulation device performs orbit recursion according to the local satellite orbit of the current control cycle and the local satellite state setting instruction received, and the recursion duration is the control cycle T s , generate the local orbit [x,y,z,Vx,Vy,Vz] of the next control cycle T :

[0013]

[0014] Where m is the mass of the satellite, [Fx, Fy, Fz] T is the state setting instruction of the local star received in this cycle, G is the gravitational constant, M is the mass of the earth, a px 、a py 、a pz are the components of the perturbation acceleration in the three axes.

[0015] Furthermore, the dynamics simulation device calculates the position information of the target star relative to the local star, that is, the azimuth angle θ a and the pitch angle θ e , the calculation method is:

[0016]

[0017] θ e =acrsin(c1)

[0018] In the formula, C bi is the 3×3 attitude cosine matrix, C ca_b is a 3×3 capture observation sensor installation matrix, with an azimuth angle θ a The vector of the line connecting the target and the origin of the satellite's coordinate system in the capture observation sensor reference mirror coordinate system O J Y J Z J Projection of the plane and O J Z J The angle between the axes; capture the reference mirror coordinate system O of the observation sensor J X J Y J ZJ The origin is at the center of the reference mirror, O J Z J To capture the optical axis vector direction of the observation sensor; pitch angle θ e is the vector of the line connecting the target and the origin of the satellite's coordinate system and its coordinate system O of the capture observation sensor reference mirror J Y J Z J The angle of the projection of the plane.

[0019] Furthermore, the dynamic simulation device calculates the optical properties of the target star, which include the expected position coordinates (u, v) of the target star in the image, the brightness M of the target star, and the star point size L of the target star. The calculation method is:

[0020]

[0021] Where f is the focal length of the capture observation sensor, du is the unit pixel size in the X direction of the pixel plane, dv is the unit pixel size in the Y direction, and L s and L st are the distances of the local star and the target star from the sun, L t is the distance between the local star and the target star, α is the angle between the local star, the target star and the sun, R is the radius of the target star, p is the reflectivity of the target star, and m0 is the visual magnitude of the sun;

[0022] For the star point size L of the target star: when the visible size of the target star is less than one pixel, the star point size L is set according to the size of a diffuse spot; when the visible size of the target star exceeds one pixel,

[0023]

[0024] Furthermore, at the initial moment of system operation, the dynamic simulation device uses the set local satellite orbit and attitude, and target satellite orbit as the local satellite orbit and attitude, and target satellite orbit of this control cycle, and the onboard control computer uses the set local satellite attitude and three-axis angular velocity as the local satellite attitude and three-axis angular velocity of this control cycle, the target satellite state setting instruction generated by the remote control terminal is 0, and the local satellite state setting instruction generated by the onboard control computer is 0.

[0025] Furthermore, the remote control terminal generates a target star state setting instruction according to the design requirements, that is, setting the external force [F xt ,F yt ,F zt ] T ; When the remote control terminal is not set, the dynamic simulation device will [F xt ,F yt ,F zt ] T Assign a value of 0.

[0026] Furthermore, the system also includes a data storage module and a telemetry display terminal; the dynamic simulation device packages the local satellite orbit and attitude, target satellite orbit, target satellite position information on the local satellite, and target satellite optical characteristic data of each control cycle calculated into dynamic telemetry data and sends them to the data storage module for storage; the onboard control computer packages the target satellite position information on the local satellite, local satellite attitude information, and control output local satellite status setting instructions measured by the observation sensor into on-board telemetry data and sends them to the data storage module for storage; the telemetry display terminal synchronously displays and compares the dynamic telemetry data and on-board telemetry data.

[0027] The test method of the space motion target capture verification system includes:

[0028] Step 1: Record the local orbit at the initial time [x0, y0, z0, Vx0, Vy0, Vz0] T 、Target star orbit [x t0 ,y t0 ,z t0 ,Vx t0 ,Vy t0 ,Vz t0 ] T 、The initial attitude quaternion of the satellite Set the initial values ​​of the local satellite orbit and attitude in the dynamic simulation equipment and the onboard control computer, and the target satellite orbit to the corresponding recorded values, and set the target satellite control output [F xt ,F yt ,F zt ] T The initial value is set to 0, and the control output of the onboard control computer [F x ,F y ,F z ] T The initial value is also set to 0;

[0029] Step 2: Set the command thrust [F x ,F y ,F z ] T and target star status setting command [F xt ,F yt ,F zt ] T , the dynamic simulation device performs orbit recursion, and the recursion duration is the control period T s , get the local orbit of the next control cycle [x,y,z,Vx,Vy,Vz] T and the target star orbit [x t ,y t ,zt ,Vx t ,Vy t ,Vz t ] T ;

[0030] Step 3: Set the control torque [M] of the command according to the state of the control output local star x ,M y ,M z ] T The dynamics simulation equipment is based on the initial attitude of the satellite Calculate the local satellite attitude quaternion [q0,q1,q2,q3] for the next control cycle T ;

[0031] Step 4: The dynamic simulation device determines the azimuth information of the target star in the coordinate system of the satellite, that is, the azimuth angle θ a and the pitch angle θ e ;

[0032] Step 5: Based on the relative positions of the local star, the target star, and the sun, the dynamic simulation device calculates the azimuth angle θ in step 4. a and the pitch angle θ e , determine the optical properties of the target star;

[0033] Step 6: The target dynamic optical simulator generates optical excitation according to the optical characteristics of the target star; the capture observation sensor images the optical part of the target dynamic optical simulator to obtain image data;

[0034] Step 7: The capture observation sensor extracts the target star point based on the image data, obtains the optical characteristics of the target star, and identifies the azimuth information of the target star in the coordinate system of the star itself, that is, the azimuth angle θ is obtained. a and the pitch angle θ e , and sent to the onboard control computer;

[0035] Step 8: Based on the azimuth angle θ obtained in step 7 a and the pitch angle θ e , the obtained three-axis attitude of the local satellite [q0,q1,q2,q3] T and three-axis angular velocity. According to the control target value, the onboard control computer generates the control output local satellite state setting instruction, i.e. thrust [Fx, Fy, Fz] T and control torque [M x ,M y ,M z ] T .

[0036] Further, in step 8, the thrust [Fx, Fy, Fz] T and control torque [Mx ,M y ,M z ] T Continuously set to 0, that is, set the test state to open-loop test state; in the open-loop test state, set the azimuth angle θ obtained in step 4 to a , pitch angle θ e and the azimuth angle θ obtained in step 7 a and the pitch angle θ e A comparison is performed, and if the two are consistent, it is determined that the optical excitation to capture observation sensor output of the target dynamic optical simulator is correct.

[0037] Furthermore, after confirming that the optical excitation to capture observation sensor output of the target dynamic optical simulator is correct, the closed-loop test state is performed, that is, the control output local state setting instruction calculated in step 8 is substituted into steps 2 and 3, and steps 2-8 are repeated once in each control cycle, and the azimuth angle θ obtained in step 4 is a , pitch angle θ e and the azimuth angle θ obtained in step 7 a and the pitch angle θ e By comparison, the two are consistent and gradually approaching 0, which means that the closed-loop control logic of the onboard control computer is correct.

[0038] The advantages of the present invention compared with the prior art are:

[0039] (1) The present invention can verify whether the path from the optical probe of the capture observation sensor to the control computer is correct during the subsystem and whole-satellite testing stage, and can achieve quantitative assessment of the accuracy of the optical input to the measurement output of the capture observation sensor, thus solving the problem of insufficient single-machine function verification caused by the single-machine directly forwarding the theoretical value obtained by dynamics calculation in the ground semi-physical test.

[0040] (2) The present invention uses optical excitation to simulate on-orbit conditions, taking into full account multiple factors such as illumination angle, target reflectivity, target star size, and target star distance, and can verify the completeness of the capture observation sensor performance under different environments.

[0041] (3) The present invention introduces the measurement output of the capture observation sensor into the closed-loop control of the control subsystem, and adjusts the optical excitation image in real time according to the closed-loop control effect, thereby solving the problem of insufficient verification of the dynamic performance of a single machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0043] Figure 1 Schematic diagram of a space motion target capture verification system based on dynamic optical simulation according to an embodiment of the present invention;

[0044] Figure 2 This is a flow chart of a space motion target capture verification test method based on dynamic optical simulation according to an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram of the positions of the host star, target star and sun in an embodiment of the present invention;

[0046] Figure 4 Schematic diagram of a reference mirror coordinate system for capturing an observation sensor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0047] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0048] The present invention proposes a space motion target capture verification system based on dynamic optical simulation, such as Figure 1 As shown, it includes capture observation sensor, target dynamic optical simulator, satellite control computer, dynamic simulation equipment, remote control terminal, telemetry display terminal and database.

[0049] The capture observation sensor is the core stand-alone product of the space motion target capture verification system. When the capture observation sensor is working, it images the target spacecraft through the optical system, obtains the azimuth information recognition result of the target spacecraft through stand-alone image data processing, and sends the recognition result to the onboard control computer for the next step of control. In this verification system, the optical system of the capture observation sensor images the target dynamic optical simulator and sends the target recognition result to the onboard control computer.

[0050] The target dynamic optical simulator generates optical excitation according to the optical characteristic information of the dynamic simulation device for the capture observation sensor to image and identify.

[0051] The onboard control computer is the control center of the spacecraft. It receives the satellite status setting instructions from the remote control terminal, receives the target identification results of the capture observation sensor, and makes comprehensive decisions based on the onboard autonomous control logic and other component information to generate control outputs and send them to the dynamic simulation equipment.

[0052] The dynamics simulation device performs attitude and orbit calculations based on the control output of the onboard control computer and generates the target optical characteristics for the next control cycle. In addition, the dynamics simulation device can also receive the target star state setting execution from the remote control terminal to change the motion law of the target star, thereby affecting the target optical characteristics.

[0053] The remote control terminal is used to control the operating status of the entire verification system. It can generate state setting instructions for the local and target satellites and change the status of the dynamic simulation equipment and the satellite-borne control computer.

[0054] The telemetry display terminal is used to display on-board telemetry data and dynamic telemetry data, reflecting the attitude and orbit information of the spacecraft and the working status of each unit, so as to monitor and interpret the status in the closed-loop test.

[0055] The database is used to record various types of data in the verification system, including commands issued by the remote control terminal, on-board telemetry data and dynamic telemetry data.

[0056] A method for verifying a space motion target capture verification system based on dynamic optical simulation determines the orbits of the host star, the target star, and the sun according to the output effects of the actuators; determines the attitude of the host star; determines the orientation of the target star in the host star's own system; determines the position, brightness, and star point size of the target star in the field of view of the capture observation sensor of the host star; the capture observation sensor captures and identifies the target based on the image, and determines the orientation, brightness, and star point size of the target; the controller determines the output of the actuator according to the measurement and control instructions of the capture and observation sensors; and determines the attitude and orbit changes according to the output effects of the actuators.

[0057] The test method is as Figure 2 As shown, the following steps may be specifically included:

[0058] Step 1: Record the local orbit at the initial time [x0, y0, z0, Vx0, Vy0, Vz0] T 、Target star orbit [x t0 ,y t0 ,z t0 ,Vx t0 ,Vy t0 ,Vz t0 ] T 、The initial attitude quaternion of the satellite The orbit and attitude initial values ​​in the dynamic simulation equipment and the onboard control computer are set to the recorded state. The target star control output [F xt ,F yt ,F zt ] T The initial value is set to 0. The control output of the onboard control computer [F x ,F y,F z ] T The initial value is also set to 0 to start closed-loop control.

[0059] Step 2: According to the control output [F x ,F y ,F z ] T and target star status settings [F xt ,F yt ,F zt ] T , perform orbit recursion, the recursion duration is the control period T s , get the local orbit of the next control cycle [x,y,z,Vx,Vy,Vz] T and the target star orbit [x t ,y t ,z t ,Vx t ,Vy t ,Vz t ] T .

[0060] The specific implementation is as follows: The target star orbit recursion method is similar to the calculation method of the current star. Taking the current star as an example, the mass of the current star satellite is m, and the control force received in this cycle is [Fx, Fy, Fz] T , the orbit calculation method of this star is as follows:

[0061]

[0062] In formula (2), G is the gravitational constant, M is the mass of the Earth, and a px , a py , a pz are the components of the perturbation acceleration in the three axes, and their specific values ​​are known.

[0063] Step 3: Determine the next period attitude of the satellite [q0, q1, q2, q3] T According to the control output torque [M x ,M y ,M z ] T , from the initial posture Calculate the next cycle posture [q0,q1,q2,q3] T , the calculation method of which is well known.

[0064] Step 4: Determine the position information of the target star relative to the local star, i.e. the azimuth angle θ a and the pitch angle θ e , which is defined as follows:

[0065] (1) Azimuth angle θ a:Defined as the vector of the line connecting the target and the origin of the product coordinate system at O J Y J Z J Projection of the plane and O J Z J Angle of the axis, deflection +Y J The axis is positive;

[0066] (2) Pitch angle θ e :Defined as the vector between the target and the origin of the product coordinate system and its J Y J Z J The angle of the projection of the plane, biased towards +X J Axis is positive.

[0067] Among them, O J X J Y J Z J To capture the reference mirror coordinate system of the observation sensor, Figure 4 As shown, the origin is at the center of the reference mirror, O J Z J To capture the optical axis vector direction of the observation sensor.

[0068] C bi is a 3×3 attitude cosine matrix, which can be obtained by [q0,q1,q2,q3] T The calculation method is known. ca_b For a 3×3 capture observation sensor installation matrix, the azimuth angle θ a and the pitch angle θ e The calculation method is as follows:

[0069]

[0070] θ e =acrsin(c1) (6)

[0071] Step 5: Determine the optical properties of the target and generate optical excitation based on the relative positions of the local star, the target star, and the sun. The optical properties of the target include the expected position coordinates (u, v) of the target star in the image, the brightness M of the target star, and the star point size L of the target star.

[0072] Sub-step 1: Obtain the azimuth angle θ according to step 3 a and the pitch angle θ e Calculate (u,v).

[0073] Let the focal length of the capture and observation sensor be f, the unit pixel size in the X direction of the pixel plane be du, the unit pixel size in the Y direction be dv, and (u0, v0) be the pixel center coordinates. Therefore, the expected position coordinates (u, v) of the target star in the image can be expressed as:

[0074]

[0075] Wherein, c1, c2, and c3 are calculated by formula (4).

[0076] Sub-step 2: Calculate the brightness M of the target star.

[0077] like Figure 3 As shown, the distances of the host star and the target star from the sun are L s and L st , the distance between the local star and the target star is L t , the angle between the local star, the target star and the sun is α. The radius of the target star is R, and the reflectivity of the target star is p. Then the brightness of the target star can be expressed as

[0078]

[0079]

[0080] Among them, m0 is the visual magnitude of the sun, which is -26.7.

[0081] Sub-step 3: Calculate the star point size L of the target star. The star point size of the target star is described by the diffuse spot diameter it occupies in the pixel, which is mainly related to the radius of the target star and L t (the distance between the local star and the target star). When the visible size of the target star is less than one pixel, the star point size L can be set according to the diffuse spot size, taking L = 3. Taking the X direction of the pixel plane as an example, when the visible size of the target star exceeds one pixel,

[0082]

[0083] Among them, du is the unit pixel size in the X direction of the pixel plane, and f is the focal length of the capture and observation sensor.

[0084] The optical excitation is generated according to the expected position coordinates (u, v) of the target star in the image, the brightness M of the target star, the star point size L of the target star and other optical characteristics.

[0085] Step 6: The capture observation sensor obtains optical image data and identifies the azimuth information of the target star based on optical excitation imaging. First, the target star point is extracted. The star point extraction method is well known. After the target star point is extracted, the image coordinates (u, v) corresponding to the target star point, the target star brightness M, and the target star point size L are obtained. The azimuth angle θ is calculated inversely according to equations (5)-(8): a and the pitch angle θ e , and sent to the control computer for closed-loop tracking control.

[0086] Step 7: Based on the azimuth angle θ measured by the capture observation sensor a and the pitch angle θ e , and the three-axis attitude measured by other attitude measurement sensors [q0,q1,q2,q3] T and three-axis angular velocity, and performs control output calculation according to the control target value and the control logic inside the control computer to generate the control output, i.e. thrust [Fx, Fy, Fz] T and control torque [M x ,M y ,M z ] T Among them, the control output calculation method is a well-known content.

[0087] During the test, the remote control terminal can set the state of the satellite and the target satellite according to the situation. Set the external force received by the target satellite [F xt ,F yt ,F zt ] T , the motion law of the target star has been changed; when the remote control terminal is not set, the dynamic simulation device will [F xt ,F yt ,F zt ] T The value is 0. The local satellite status setting is mainly used to set the initial status of the onboard control computer, such as the initial orbits of the local satellite and the target satellite; it can also be used to change the internal logic of the onboard control computer, which does not need to be changed under normal conditions.

[0088] During the test, the dynamics simulation equipment packages the data calculated in steps 2-5 into dynamics telemetry data and sends it to the database for subsequent data analysis; the onboard control computer packages the input information received in step 7 and the control output into onboard telemetry data and sends it to the data for subsequent data analysis; the remote control terminal also sends the target satellite status setting and local satellite status setting instructions issued to the database for backup.

[0089] During the test, the telemetry display terminal synchronously displays and compares the dynamic telemetry data and the onboard telemetry data to determine whether the test status settings and product working status are normal.

[0090] Furthermore, the tester can continuously set the control output calculated in step 7 to 0, that is, set the test state to an open-loop test state. In the open-loop test state, the azimuth angle θ obtained in step 4 is a , pitch angle θ e and the azimuth angle θ obtained in step 7 a and the pitch angle θ e By comparing the two, if they are consistent, the correctness of the optical excitation of the target dynamic optical simulator to the output of the captured observation sensor can be verified.

[0091] Furthermore, after the open-loop test is normal, the control output calculated in step 8 can be substituted into steps 2 and 3, and steps 2-8 are repeated once in each control cycle, that is, the test state is set to the closed-loop test state. In the closed-loop test state, the azimuth angle θ obtained in step 4 is a , pitch angle θ e and the azimuth angle θ obtained in step 6 a and the pitch angle θ e By comparing them, if the two are consistent and gradually approaching 0, it can be verified that the closed-loop control logic of the control subsystem is correct; by changing the control logic of the onboard computer through the status setting of the own satellite, thereby affecting the closed-loop tracking speed of the control system, the dynamic performance of the capture observation sensor can be verified; by changing the motion law of the target star through the status setting of the target star, the closed-loop tracking effect of the control system can be verified.

[0092] The above-described embodiments are only preferred specific implementations of the present invention. Common changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A space motion target capture verification system based on dynamic optical simulation, characterized in that: It includes capture observation sensors, target dynamic optical simulator, onboard control computer, dynamic simulation equipment and remote control terminal; The target dynamic optical simulator generates optical excitation according to the optical properties of the target star output by the dynamic simulation device; The capture observation sensor performs imaging and image recognition on the optical excitation of the target dynamic optical simulator, calculates the position information of the target on the satellite and sends it to the onboard control computer; The onboard control computer obtains the attitude and three-axis angular velocity of the satellite, receives the position information of the target on the satellite output by the capture observation sensor, generates the state setting instruction of the satellite based on the above data, and sends it to the dynamic simulation device; The dynamic simulation device generates the local orbit and attitude of the local star and the orbit of the target star in the next control cycle according to the local orbit and attitude of the local star and the orbit of the target star in the current control cycle and the state setting instructions of the local star and the target star, and calculates the position information of the target star on the local star and the optical characteristics of the target star; wherein the optical characteristics of the target star include the expected position coordinates of the target star in the image, the brightness of the target star, and the star point size of the target star; The remote control terminal is used to control the operating status of the verification system, generate target star state setting instructions, and send them to the dynamics simulation equipment.

2. According to claim 1, a spatial motion target capture verification system based on dynamic optical simulation is characterized in that: The dynamic simulation device performs orbit recursion according to the local satellite orbit of this control cycle and the local satellite state setting instruction received. The recursion duration is the control cycle T s , generate the local orbit [x,y,z,Vx,Vy,Vz] of the next control cycle T : Where m is the mass of the satellite, [Fx, Fy, Fz] T is the state setting instruction of the local star received in this cycle, G is the gravitational constant, M is the mass of the earth, a px 、a py 、a pz are the components of the perturbation acceleration in the three axes.

3. The space moving target capture verification system based on dynamic optical simulation according to claim 1, characterized in that: The dynamic simulation equipment calculates the position information of the target star relative to the local star, that is, the azimuth angle θ a and the pitch angle θ e , the calculation method is: i e =acrsin(c1) In the formula, C bi is the 3×3 attitude cosine matrix, C ca_b is a 3×3 capture observation sensor installation matrix, with an azimuth angle θ a The vector of the line connecting the target and the origin of the satellite's coordinate system in the capture observation sensor reference mirror coordinate system O J Y J Z J Projection of the plane and O J Z J The angle between the axes; capture the reference mirror coordinate system O of the observation sensor J X J Y J Z J The origin is at the center of the reference mirror, O J Z J To capture the optical axis vector direction of the observation sensor; pitch angle θ e is the vector of the line connecting the target and the origin of the satellite's coordinate system and its coordinate system O of the capture observation sensor reference mirror J Y J Z J The angle of the projection of the plane.

4. The space moving target capture verification system based on dynamic optical simulation according to claim 3, characterized in that: The dynamic simulation device calculates the optical properties of the target star. The optical properties include the expected position coordinates (u, v) of the target star in the image, the brightness M of the target star, and the star point size L of the target star. The calculation method is: Where f is the focal length of the capture observation sensor, du is the unit pixel size in the X direction of the pixel plane, dv is the unit pixel size in the Y direction, and L s and L st are the distances of the local star and the target star from the sun, L t is the distance between the local star and the target star, α is the angle between the local star, the target star and the sun, R is the radius of the target star, p is the reflectivity of the target star, and m0 is the visual magnitude of the sun; For the star point size L of the target star: when the visible size of the target star is less than one pixel, the star point size L is set according to the size of a diffuse spot; when the visible size of the target star exceeds one pixel, 5. The space moving target capture verification system based on dynamic optical simulation according to claim 1, characterized in that: At the initial moment of system operation, the dynamic simulation device uses the set local satellite orbit and attitude, and target satellite orbit as the local satellite orbit and attitude, and target satellite orbit of this control cycle. The onboard control computer uses the set local satellite attitude and three-axis angular velocity as the local satellite attitude and three-axis angular velocity of this control cycle. The target satellite state setting instruction generated by the remote control terminal is 0, and the local satellite state setting instruction generated by the onboard control computer is 0.

6. The space moving target capture verification system based on dynamic optical simulation according to claim 1, characterized in that: The remote control terminal generates the target star state setting instruction according to the design requirements, that is, setting the external force [F xt ,F yt ,F zt ] T ; When the remote control terminal is not set, the dynamic simulation device will [F xt ,F yt ,F zt ] T Assign a value of 0.

7. The space moving target capture verification system based on dynamic optical simulation according to claim 1, characterized in that: The system also includes a data storage module and a telemetry display terminal; the dynamics simulation device packages the local satellite orbit and attitude, target satellite orbit, target satellite position information on the local satellite, and target satellite optical characteristic data obtained in each control period into dynamics telemetry data and sends them to the data storage module for storage; the onboard control computer packages the target satellite position information on the local satellite, the local satellite attitude information, and the control output local satellite status setting instructions measured by the observation sensor into onboard telemetry data and sends them to the data storage module for storage; the telemetry display terminal synchronously displays and compares the dynamics telemetry data and the onboard telemetry data.

8. The test method of the space moving target capture verification system according to claim 1 is characterized in that: include: Step 1: Record the local orbit at the initial time [x0, y0, z0, Vx0, Vy0, Vz0] T 、Target star orbit [x t0 ,y t0 ,z t0 ,Vx t0 ,Vy t0 ,Vz t0 ] T 、The initial attitude quaternion of the satellite Set the initial values ​​of the local satellite orbit and attitude in the dynamic simulation equipment and the onboard control computer, and the target satellite orbit to the corresponding recorded values, and set the target satellite control output [F xt ,F yt ,F zt ] T The initial value is set to 0, and the control output of the onboard control computer [F x ,F y ,F z ] T The initial value is also set to 0; Step 2: Set the command thrust [F x ,F y ,F z ] T and target star status setting command [F xt ,F yt ,F zt ] T , the dynamic simulation device performs orbit recursion, and the recursion duration is the control period T s , get the local orbit of the next control cycle [x,y,z,Vx,Vy,Vz] T and the target star orbit [x t ,y t ,z t ,Vx t ,Vy t ,Vz t ] T ; Step 3: Set the control torque [M] of the command according to the state of the control output local star x ,M y ,M z ] T The dynamics simulation equipment is based on the initial attitude of the satellite Calculate the local satellite attitude quaternion [q0,q1,q2,q3] for the next control cycle T ; Step 4: The dynamic simulation device determines the azimuth information of the target star in the coordinate system of the satellite, that is, the azimuth angle θ a and the pitch angle θ e ; Step 5: Based on the relative positions of the local star, the target star, and the sun, the dynamic simulation device calculates the azimuth angle θ calculated in step 4. a and the pitch angle θ e , determine the optical properties of the target star; Step 6: The target dynamic optical simulator generates optical excitation according to the optical characteristics of the target star; The capture observation sensor images the optical part of the target dynamic optical simulator to obtain image data; Step 7: The capture observation sensor extracts the target star point based on the image data, obtains the optical characteristics of the target star, and identifies the azimuth information of the target star in the coordinate system of the star itself, that is, the azimuth angle θ is obtained. a and the pitch angle θ e , and sent to the onboard control computer; Step 8: Based on the azimuth angle θ obtained in step 7 a and the pitch angle θ e , the obtained three-axis attitude of the local satellite [q0,q1,q2,q3] T and three-axis angular velocity. According to the control target value, the onboard control computer generates the control output local satellite state setting instruction, i.e. thrust [Fx, Fy, Fz] T and control torque [M x ,M y ,M z ] T .

9. The testing method according to claim 8, characterized in that: In step 8, the thrust [Fx, Fy, Fz] T and control torque [M x ,M y ,M z ] T Continuously set to 0, that is, set the test state to open-loop test state; in the open-loop test state, set the azimuth angle θ obtained in step 4 to a , pitch angle θ e and the azimuth angle θ obtained in step 7 a and the pitch angle θ e A comparison is performed, and if the two are consistent, it is determined that the optical excitation to capture observation sensor output of the target dynamic optical simulator is correct.

10. The testing method according to claim 8, characterized in that: After confirming that the optical excitation of the target dynamic optical simulator to the capture observation sensor output is correct, the closed-loop test state is performed, that is, the control output local state setting instruction calculated in step 8 is substituted into steps 2 and 3, and steps 2-8 are repeated once in each control cycle, and the azimuth angle θ obtained in step 4 is a , pitch angle θ e and the azimuth angle θ obtained in step 7 a and the pitch angle θ e By comparison, the two are consistent and gradually approaching 0, which means that the closed-loop control logic of the onboard control computer is correct.

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