A Space Moving Target Acquisition and Verification System and Method Based on Dynamic Optical Simulation

Abstract

This invention discloses a space moving target acquisition and verification system and method based on dynamic optical simulation. The system includes an acquisition observation sensor, a target dynamic optical simulator, an onboard control computer, a dynamic simulation device, and a remote control terminal. The dynamic simulation device generates the local satellite orbit and attitude, and the target satellite orbit for the next control cycle, and calculates the target satellite's azimuth information and optical characteristics. The target dynamic optical simulator generates optical excitation based on the target satellite's optical characteristics. The acquisition observation sensor performs imaging and image recognition on the optical excitation, calculates the target's azimuth information on the local satellite, and sends it to the onboard control computer. The onboard control computer generates local satellite state setting instructions and sends them to the dynamic simulation device, forming a closed-loop control. This invention solves the problem that existing methods cannot fully verify the coupling effect between the optical probe recognition effect of the acquisition observation sensor and the closed-loop tracking control effect of the control computer.

Description

Technical Field

[0001] This invention relates to a space motion target acquisition and verification system and method based on dynamic optical simulation, belonging to the field of spacecraft system-level testing technology. Background Technology

[0002] Space target acquisition is the foundation of space target situational awareness. Acquisition observation sensors are a typical type of sensor used for long-range acquisition and identification of space targets. These sensors acquire star maps containing space targets and stars through optical lenses, and extract the space target through image processing and analysis of its operational characteristics, determining information such as its azimuth, brightness, and pixel size. Furthermore, continuous tracking and measurement of space targets are closely related to closed-loop tracking control; large control errors, or even polarity errors, can cause the space target's position to exceed the field of view of the acquisition observation sensor.

[0003] In ground testing of space situational awareness vehicles, it is necessary to input the measurement data from the acquisition and observation sensor into the closed loop of the control system. However, most current ground closed-loop tests directly transmit the expected measurement results from the acquisition and observation sensor to the control computer via a data interface, which fails to verify the optical recognition capability of the acquisition and observation sensor and the coupling effect between sensor recognition and closed-loop tracking control. Summary of the Invention

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

[0005] The technical solution of this invention is:

[0006] A space motion target acquisition and verification system based on dynamic optical simulation includes an acquisition observation sensor, a target dynamic optical simulator, a spaceborne control computer, a dynamic simulation device, and a remote control terminal;

[0007] The target dynamic optical simulator generates optical excitation based on the optical characteristics of the target star output by the dynamic simulation equipment.

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

[0009] The onboard control computer acquires the satellite's attitude and three-axis angular velocity, receives the target's azimuth information on the satellite from the capture observation sensor, generates satellite state setting instructions based on the above data, and sends them to the dynamic simulation equipment;

[0010] The dynamic simulation equipment generates the orbit and attitude of the local satellite and the target satellite for the next control cycle based on the local satellite's orbit and attitude, the target satellite's orbit, and the received local and target satellite status setting commands. It also calculates the target satellite's azimuth information and optical characteristics. The optical characteristics of the target satellite include the target satellite's desired position coordinates in the image, the target satellite's brightness, and the target satellite's point size.

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

[0012] Furthermore, the dynamics simulation equipment, based on the local satellite's orbit during this control cycle and the received local satellite state setting instructions, performs orbit recursion, with the recursion duration being the control cycle. Generate the local orbit for the next control cycle. :

[0013]

[0014]

[0015]

[0016] In the formula, m For the mass of this satellite, Set the status instructions for the satellite received in this cycle. For gravitational constant, For Earth mass, The components of the perturbation acceleration along the three axes.

[0017] Furthermore, the dynamic simulation equipment calculates the target star's azimuth information within the local area, i.e., its azimuth angle. and pitch angle The calculation method is as follows:

[0018]

[0019]

[0020]

[0021] In the formula, It is a 3×3 attitude cosine matrix. Install a matrix for a 3×3 acquisition observation sensor, azimuth angle The vector connecting the origin of the target and the local satellite's body coordinate system is in the reference mirror coordinate system O of the acquisition observation sensor. J Y J Z J Projection of a plane and O J ZJ The included angle of the axes; capturing 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 The vector of the line connecting the target and the origin of the local satellite's coordinate system and its coordinate system O of the acquisition observation sensor reference mirror J Y J Z J The angle between the projections onto the plane.

[0022] Furthermore, the dynamic simulation equipment calculates the optical properties of the target star, including the target star's desired position coordinates in the image. ), Target star brightness The size of the target star The calculation method is as follows:

[0023]

[0024]

[0025]

[0026] In the formula, To capture the focal length of the observation sensor, The unit pixel size is the pixel size in the X direction of the pixel plane. The unit cell size in the Y direction. and These are the distances of the local star and the target star from the Sun, respectively. This represents the distance between the local star and the target star. The angle between the local star, the target star, and the Sun. The radius of the target star, The reflectivity of the target star. ;

[0027] For the size of the target star When the visible size of the target star is less than one pixel, the star size Set according to a diffuse spot size; when the visible size of the target star exceeds one pixel,

[0028] .

[0029] Furthermore, at the initial moment of system operation, the dynamic simulation equipment uses the pre-set local satellite orbit and attitude, and the target satellite orbit as the local satellite orbit and attitude, and the target satellite orbit for this control cycle. The onboard control computer uses the pre-set local satellite attitude and three-axis angular velocity as the local satellite attitude and three-axis angular velocity for this control cycle. The target satellite state setting command generated by the remote control terminal is 0, and the local satellite state setting command generated by the onboard control computer is 0.

[0030] Furthermore, the remote control terminal generates target satellite status setting instructions according to design requirements, that is, sets the external forces received by the target satellite. When the remote control terminal is not configured, the dynamic simulation equipment will... .

[0031] Furthermore, the system also includes a data storage module and a telemetry display terminal. The dynamic simulation equipment packages the calculated orbit and attitude of the local satellite, the orbit of the target satellite, the azimuth information of the target satellite on the local satellite, and the optical characteristic data of the target satellite into dynamic telemetry data and sends it to the data storage module for storage. The onboard control computer packages the target satellite's azimuth information on the local satellite, the local satellite's attitude information, and the control output local satellite status setting instructions measured by the observation sensor into onboard telemetry data and sends it to the data storage module for storage. The telemetry display terminal synchronously displays and compares the dynamic telemetry data and the onboard telemetry data.

[0032] A test method for a space moving target acquisition verification system based on dynamic optical simulation is adopted, including:

[0033] Step 1: Record the local star's orbit at the initial moment. Target star orbit The initial attitude quaternion of this star Set the initial orbit and attitude values ​​of the local satellite and the target satellite orbit in the dynamic simulation equipment and onboard control computer to the corresponding recorded values, and transmit the target satellite control output in the target satellite status settings via the remote control terminal. The initial value is set to 0, and the control output of the onboard control computer is... The initial value is also set to 0;

[0034] Step 2: Set the thrust according to the control output of the local satellite status. and target star status setting instructions The dynamic simulation equipment performs trajectory recursion, with the recursion duration being the control cycle. To obtain the local orbit for the next control cycle and the target star orbit ;

[0035] Step 3: Set the control torque according to the control output satellite status command. The dynamic simulation equipment starts from the initial attitude of the local satellite. Calculate the local satellite attitude quaternion for the next control cycle. ;

[0036] Step 4: The dynamic simulation equipment determines the target star's azimuth information in its own coordinate system, i.e., the azimuth angle. and pitch angle ;

[0037] Step 5: Based on the relative positions of the local star, the target star, and the Sun, the dynamic simulation equipment uses the azimuth angle calculated in Step 4. and pitch angle To determine the optical properties of the target star;

[0038] Step 6: The target dynamic optical simulator generates optical excitation based on the optical characteristics of the target star; the capture observation sensor images the optical part of the target dynamic optical simulator to acquire image data;

[0039] Step 7: The observation sensor extracts the target star points from the image data, obtains the optical characteristics of the target star, and identifies the azimuth information of the target star in its own coordinate system, thus obtaining the azimuth angle. and pitch angle And send it to the onboard control computer;

[0040] Step 8: Based on the azimuth angle obtained in Step 7 and pitch angle The obtained three-axis attitude of the local satellite Based on the three-axis angular velocity and the target control value, the onboard control computer generates control output commands to set the satellite's status. and control torque .

[0041] Furthermore, in step 8, and control torque The value is continuously set to 0, which means the test state is set to open-loop test state; in the open-loop test state, the azimuth angle obtained in step 4 is... Pitch angle And the azimuth angle obtained in step 7 and pitch angle If the two are consistent, it is determined that the optical excitation of the target dynamic optical simulator to the output of the capture observation sensor is correct.

[0042] Furthermore, after confirming that the optical excitation of the target dynamic optical simulator to the output of the acquisition observation sensor is correct, a closed-loop test is performed. This involves substituting the control output local satellite state setting command calculated in step 8 into steps 2 and 3, repeating steps 2-8 once per control cycle, and then using the azimuth angle obtained in step 4. Pitch angle And the azimuth angle obtained in step 7 and pitch angle The two results are consistent and gradually approach 0, indicating that the closed-loop control logic of the onboard control computer is correct.

[0043] The advantages of this invention compared to the prior art are:

[0044] (1) This 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 stages. It can realize the quantitative assessment of the accuracy of the optical input to the measurement output of the capture observation sensor, and solve the problem of insufficient verification of single-machine function caused by the theoretical value obtained by direct forwarding dynamics calculation in ground semi-physical testing.

[0045] (2) This invention uses optical excitation to simulate on-orbit conditions, fully considering multiple factors such as illumination angle, target reflectivity, target star size, and target star distance, and can verify the completeness of the performance of the capture and observation sensor under different environments.

[0046] (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, thus solving the problem of insufficient verification of single-machine dynamic performance. Attached Figure Description

[0047] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0048] Figure 1 This is a schematic diagram of a space motion target acquisition and verification system based on dynamic optical simulation, according to an embodiment of the present invention.

[0049] Figure 2 This is a flowchart of the verification test method for capturing moving space targets based on dynamic optical simulation, according to an embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram showing the positions of the local star, the target star, and the sun in an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the reference mirror coordinate system of the capture observation sensor in an embodiment of the present invention. Detailed Implementation

[0052] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0053] This invention proposes a space moving target acquisition and verification system based on dynamic optical simulation, such as... Figure 1 As shown, it includes a target acquisition and observation sensor, a target dynamic optical simulator, a spaceborne control computer, a dynamic simulation device, a remote control terminal, a telemetry display terminal, and a database.

[0054] The acquisition and observation sensor is the core component of the space moving target acquisition verification system. When operational, the sensor images the target spacecraft using its optical system. After processing the image data, it obtains the target spacecraft's orientation information and sends the identification results to the onboard control computer for further control. In this verification system, the sensor's optical system images the target's dynamic optical simulator and sends the target identification results to the onboard control computer.

[0055] The target dynamic optical simulator generates optical excitation based on the optical characteristics information of the dynamic simulation device, which is then used by the capture observation sensor for imaging and identification.

[0056] The onboard control computer is the control center of the spacecraft. It receives the local satellite status setting instructions from the remote control terminal, receives the target identification results from the capture observation sensor, and combines the onboard autonomous control logic and information from other components to make comprehensive decisions, generate control outputs, and send them to the dynamics simulation equipment.

[0057] The dynamics simulation equipment calculates attitude and orbit based on the control output of the onboard control computer, generating the target's optical characteristics for the next control cycle. Furthermore, the dynamics simulation equipment can also receive target satellite state settings from the remote control terminal, which can be used to alter the target satellite's motion patterns, thereby affecting its optical characteristics.

[0058] The remote control terminal is used to control the operating status of the entire verification system. It can generate status setting commands for the local satellite and the target satellite, and change the status of the dynamic simulation equipment and the onboard control computer.

[0059] The telemetry display terminal is used to display on-board telemetry data and dynamic telemetry data, reflecting the spacecraft's attitude and orbit information and the working status of each unit, thereby monitoring and interpreting the status in closed-loop testing.

[0060] 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.

[0061] The verification method for a space motion target acquisition verification system based on dynamic optical simulation involves determining the orbits of the local satellite, the target satellite, and the Sun based on the output effect of the actuator; determining the attitude of the local satellite; determining the azimuth of the target satellite within the local satellite's system; determining the position, brightness, and star size of the target satellite within the field of view of the local satellite's acquisition observation sensor; the acquisition observation sensor capturing and identifying the target based on the image, and determining the target's azimuth, brightness, and star size; the controller determining the actuator output based on the measurement and control commands from the acquisition and observation sensors; and determining the attitude and orbit changes based on the output effect of the actuator.

[0062] The test method is as follows: Figure 2 As shown, the specific steps may include the following:

[0063] Step 1: Record the local star's orbit at the initial moment. Target star orbit The initial attitude quaternion of this star The initial orbit and attitude values ​​in the dynamics simulation equipment and onboard control computer are set to the recorded states. The target satellite control output in the target satellite state settings is then transmitted via a remote control terminal. The initial value is set to 0. The control output of the onboard control computer. The initial value is also set to 0, and closed-loop control begins.

[0064] Step 2: Based on the control output and target star status settings The orbit is recursively calculated, with the calculation time being the control cycle. To obtain the local orbit for the next control cycle and the target star orbit .

[0065] The specific implementation is as follows: The recursive method for calculating the target satellite's orbit is similar to the calculation method for the local satellite. Taking the local satellite as an example, let the mass of the local satellite be... m The control force received in this cycle is The orbit of this star is calculated as follows:

[0066] (1)

[0067] (2)

[0068] (3)

[0069] In formula (2) For gravitational constant, For Earth mass, These are the components of the perturbation acceleration along the three axes. Their specific values ​​are publicly known.

[0070] Step 3: Determine the attitude of the local satellite in the next cycle Based on the torque of the control output. From the initial posture Calculate the attitude for the next cycle The calculation method is publicly known.

[0071] Step 4: Determine the target star's azimuth information within this star system, i.e., its azimuth angle. and pitch angle Its definition is as follows:

[0072] (1) Azimuth Defined as the vector connecting the origin of the target and product coordinate systems at point O. J Y J Z J Projection of a plane and O J Z J The angle between the axes is biased towards +Y. J The axis is positive;

[0073] (2) Pitch angle Defined as the vector of the line connecting the target and the origin of the product coordinate system and its coordinates at point O. J Y J Z J The angle between the projections of the plane and the x-axis is biased towards +X. J The axis is positive.

[0074] Among them, O J X J Y J Z J To capture the reference mirror coordinate system of the observation sensor, such as Figure 4 As shown, the origin is at the center of the reference mirror, O J Z J To capture the direction of the optical axis vector of the observation sensor.

[0075] The attitude cosine matrix is ​​3×3, which can be derived from... The calculation method is publicly known. If a matrix is ​​installed on a 3×3 acquisition observation sensor, then the azimuth angle... and pitch angle The calculation method is as follows:

[0076] (4)

[0077] (5)

[0078] (6)

[0079] Step 5: Determine the optical characteristics of the target based on the relative positions of the local star, the target star, and the Sun, and generate optical excitation. The optical characteristics of the target include the desired position coordinates of the target star in the image (…). ), Target star brightness The size of the target star .

[0080] Sub-step 1: Obtain the azimuth angle based on step 3. and pitch angle calculate( ).

[0081] Let the focal length of the acquisition and observation sensor be . The unit pixel size in the X direction of the pixel plane is The unit cell size in the Y direction is , ( ) are the coordinates of the pixel center. Therefore, the expected position coordinates of the target star in the image are ( This can be represented as:

[0082] (7)

[0083] (8)

[0084] in, The result is obtained from formula (4).

[0085] Sub-step 2: Calculate the brightness of the target star .

[0086] like Figure 3 As shown, the distances of the local star and the target star from the Sun are respectively... and The distance between the local star and the target star is The angle between this star, the target star, and the Sun is... The radius of the target star is The reflectivity of the target star is The brightness of the target star can then be expressed as:

[0087] (9)

[0088] in,

[0089] Sub-step 3: Calculate the size of the target star's point. The size of the target star's point of view is described by the diameter of its diffuse spot within the pixel, which is mainly related to the target star's radius and... Related to the size of the target star when its visible size is less than one pixel. It can be set according to the size of a diffusion spot. Taking the X-axis of the pixel plane as an example, when the visible size of the target star exceeds one pixel,

[0090]

[0091] in, The unit pixel size is the pixel size in the X direction of the pixel plane. To capture and observe the focal length of the sensor.

[0092] Based on the desired position coordinates of the target star in the image ( ), Target star brightness The size of the target star Optical excitation is generated by optical properties such as [the optical properties].

[0093] Step 6: The observation sensor acquires optical image data and identifies the azimuth information of the target star based on optical excitation imaging. First, the target star points are extracted using a known method. After extraction, the image coordinates corresponding to the target star points are obtained. ), Target star brightness and the size of the target star's point The azimuth angle can be calculated by reversing equations (5)-(8). and pitch angle The data is then sent to the control computer for closed-loop tracking control.

[0094] Step 7: Based on the azimuth angle measured by the capture observation sensor and pitch angle and other attitude measurement sensors measuring the three-axis attitude Based on the three-axis angular velocity, and according to the control target value and the internal control logic of the control computer, the control output is calculated and generated. and control torque The method for calculating the control output is a well-known fact.

[0095] During the test, the remote control terminal can set the status of the local satellite and the target satellite as needed. This includes setting the external forces received by the target satellite. The motion pattern of the target star has been altered; if the remote control terminal is not configured, the dynamic simulation equipment will... The satellite status settings are primarily used to set the initial state of the onboard control computer, such as the initial orbits of the satellite and the target satellite; they can also be used to modify the internal logic of the onboard control computer, but no changes are needed under normal circumstances.

[0096] During the test, the dynamic simulation equipment packages the data calculated in steps 2-5 into dynamic telemetry data and sends it to the database for subsequent data analysis; the onboard control computer packages the input information and control output received in step 7 into onboard telemetry data and sends it to the database for subsequent data analysis; the remote control terminal also sends the target satellite status setting and local satellite status setting commands to the database for backup.

[0097] During the test, the telemetry display terminal synchronously displays and compares the dynamic telemetry data and the on-board telemetry data to determine whether the test status settings and product working status are normal.

[0098] Furthermore, the tester can continuously set the control output calculated in step 7 to 0, that is, set the test state to open-loop test state. In the open-loop test state, the azimuth angle obtained in step 4 is... Pitch angle And the azimuth angle obtained in step 7 and pitch angle 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 capture observation sensor can be verified.

[0099] Furthermore, after the open-loop test is completed under normal conditions, the control output calculated in step 8 can be substituted into steps 2 and 3, and steps 2-8 can be repeated once per control cycle, thus setting the test state to closed-loop test state. In the closed-loop test state, the azimuth angle obtained in step 4 is... Pitch angle And the azimuth angle obtained in step 6 and pitch angle By comparing the two, if they are consistent and gradually approach 0, the correctness of the closed-loop control logic of the control subsystem can be verified. By changing the control logic of the onboard computer through the local satellite state settings, and thus affecting the closed-loop tracking speed of the control system, the dynamic performance of the acquisition observation sensor can be verified. By changing the motion law of the target satellite through the target satellite state settings, the closed-loop tracking effect of the control system can be verified.

[0100] The embodiments described above are merely preferred embodiments of the present invention. Ordinary variations and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included within the protection scope of the present invention.

Claims

1. A space moving target acquisition and verification system based on dynamic optical simulation, characterized in that, This includes a target observation sensor, a target dynamic optical simulator, a spaceborne control computer, dynamic simulation equipment, and a remote control terminal; The target dynamic optical simulator generates optical excitation based on the optical characteristics of the target star output by the dynamic simulation equipment. The capture observation sensor performs imaging and image recognition on the optical excitation of the target dynamic optical simulator, calculates the target's azimuth information on the satellite, and sends it to the onboard control computer. The onboard control computer acquires the satellite's attitude and three-axis angular velocity, receives the target's azimuth information on the satellite from the capture observation sensor, generates satellite state setting instructions based on the above data, and sends them to the dynamic simulation equipment; The dynamic simulation equipment generates the orbit and attitude of the local satellite and the target satellite for the next control cycle based on the local satellite's orbit and attitude, the target satellite's orbit, and the received local and target satellite status setting commands. It also calculates the target satellite's azimuth information and optical characteristics. The optical characteristics of the target satellite include the target satellite's desired position coordinates in the image, the target satellite's brightness, and the target satellite's point size. The remote control terminal is used to control the operating status of the verification system, generate target satellite status setting instructions, and send them to the dynamic simulation equipment. The system also includes a data storage module and a telemetry display terminal. The dynamic simulation equipment packages the calculated orbit and attitude of the local satellite, the orbit of the target satellite, the azimuth information of the target satellite on the local satellite, and the optical characteristic data of the target satellite into dynamic telemetry data and sends it to the data storage module for storage. The onboard control computer packages the target satellite's azimuth information on the local satellite, the local satellite's attitude information, and the control output local satellite status setting instructions measured by the observation sensor into onboard telemetry data and sends it to the data storage module for storage. The telemetry display terminal synchronously displays and compares the dynamic telemetry data and the onboard telemetry data.

2. The space moving target acquisition and verification system based on dynamic optical simulation according to claim 1, characterized in that, The dynamic simulation equipment, based on the local satellite's orbit during the current control cycle and the received local satellite state setting commands, performs orbit recursion, with the recursion duration being the control cycle. Generate the local orbit for the next control cycle. : In the formula, m For the mass of this satellite, Set the status instructions for the satellite received in this cycle. For gravitational constant, For Earth mass, The components of the perturbation acceleration along the three axes.

3. The space moving target acquisition and verification system based on dynamic optical simulation according to claim 1, characterized in that, The dynamic simulation equipment calculates the target star's azimuth information within the local area, i.e., its azimuth angle. and pitch angle The calculation method is as follows: In the formula, It is a 3×3 attitude cosine matrix. Install a matrix for a 3×3 acquisition observation sensor, azimuth angle The vector connecting the origin of the target and the local satellite's body coordinate system is in the reference mirror coordinate system O of the acquisition observation sensor. J Y J Z J Projection of a plane and O J Z J The included angle of the axes; capturing 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 The vector of the line connecting the target and the origin of the local satellite's coordinate system and its coordinate system O of the acquisition observation sensor reference mirror J Y J Z J The angle between the projections onto the plane.

4. The space moving target acquisition and verification system based on dynamic optical simulation according to claim 3, characterized in that, The dynamic simulation equipment calculates the optical properties of the target star, including the expected position coordinates of the target star in the image. ), Target star brightness The size of the target star The calculation method is as follows: In the formula, To capture the focal length of the observation sensor, The unit pixel size is the pixel size in the X direction of the pixel plane. The unit cell size in the Y direction. and These are the distances of the local star and the target star from the Sun, respectively. This represents the distance between the local star and the target star. The angle between the local star, the target star, and the Sun. The radius of the target star, The reflectivity of the target star. ; For the size of the target star When the visible size of the target star is less than one pixel, the star size Set according to a diffuse spot size; when the visible size of the target star exceeds one pixel, 。 5. The space moving target acquisition and verification system based on dynamic optical simulation according to claim 1, characterized in that, At the initial moment of system operation, the dynamic simulation equipment uses the pre-set local satellite orbit and attitude, and the target satellite orbit as the local satellite orbit and attitude, and the target satellite orbit for this control cycle. The onboard control computer uses the pre-set local satellite attitude and three-axis angular velocity as the local satellite attitude and three-axis angular velocity for this control cycle. The target satellite state setting command generated by the remote control terminal is 0, and the local satellite state setting command generated by the onboard control computer is 0.

6. The space moving target acquisition and verification system based on dynamic optical simulation according to claim 1, characterized in that, The remote control terminal generates target satellite status setting instructions according to design requirements, that is, sets the external forces received by the target satellite. ; When the remote control terminal is not configured, the dynamic simulation equipment will .

7. A test method for a space moving target acquisition and verification system based on dynamic optical simulation as described in claim 1, characterized in that, include: Step 1: Record the local star's orbit at the initial moment. Target star orbit The initial attitude quaternion of this star ; The local satellite orbit and initial attitude values, as well as the target satellite orbit, are set to the corresponding recorded values ​​in the dynamic simulation equipment and the onboard control computer. The target satellite control output in the target satellite status settings is then transmitted via a remote control terminal. The initial value is set to 0, and the control output of the onboard control computer is... The initial value is also set to 0; Step 2: Set the thrust according to the control output of the local satellite status. and target star status setting instructions The dynamic simulation equipment performs trajectory recursion, with the recursion duration being the control cycle. To obtain the local orbit for the next control cycle and the target star orbit ; Step 3: Set the control torque according to the control output satellite status command. The dynamic simulation equipment starts from the initial attitude of the local satellite. Calculate the local satellite attitude quaternion for the next control cycle. ; Step 4: The dynamic simulation equipment determines the target star's azimuth information in its own coordinate system, i.e., the azimuth angle. and pitch angle ; Step 5: Based on the relative positions of the local star, the target star, and the Sun, the dynamic simulation equipment uses the azimuth angle calculated in Step 4. and pitch angle To determine the optical properties of the target star; Step 6: The target dynamic optical simulator generates optical excitation based on the optical characteristics of the target star; The capture observation sensor images the optical components of the target dynamic optical simulator to acquire image data; Step 7: The observation sensor extracts the target star points from the image data, obtains the optical characteristics of the target star, and identifies the azimuth information of the target star in its own coordinate system, thus obtaining the azimuth angle. and pitch angle And send it to the onboard control computer; Step 8: Based on the azimuth angle obtained in Step 7 and pitch angle The obtained three-axis attitude of the local satellite Based on the three-axis angular velocity and the target control value, the onboard control computer generates control output commands to set the satellite's status. and control torque .

8. The test method according to claim 7, characterized in that, In step 8, and control torque The value is continuously set to 0, which means the test state is set to open-loop test state; in the open-loop test state, the azimuth angle obtained in step 4 is... Pitch angle And the azimuth angle obtained in step 7 and pitch angle If the two are consistent, it is determined that the optical excitation of the target dynamic optical simulator to the output of the capture observation sensor is correct.

9. The test method according to claim 7, characterized in that, After confirming that the optical excitation of the target dynamic optical simulator to the output of the acquisition observation sensor is correct, a closed-loop test is performed. This involves substituting the control output local satellite state setting command calculated in step 8 into steps 2 and 3, repeating steps 2-8 once per control cycle, and then using the azimuth angle obtained in step 4. Pitch angle And the azimuth angle obtained in step 7 and pitch angle The two results are consistent and gradually approach 0, indicating that the closed-loop control logic of the onboard control computer is correct.

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