Microsatellite simulation device for multi-view fusion perception

Abstract

The invention discloses a microsatellite simulation device for multi-view fusion perception. The microsatellite simulation device is characterized in that a microsatellite shell is of a hexahedron structure; the air floatation system provides a three-degree-of-freedom zero-gravity environment for the microsatellite simulation device; the control system comprises a control unit and a control execution mechanism, wherein the control unit receives pose information sent by the external central intelligent processor and performs pose control on the microsatellite simulation device; the control execution mechanism receives the pose control signal of the control unit and executes the pose adjustment of the microsatellite simulation device; the power supply system comprises a storage battery, a power supply controller and a connecting cable, and provides sufficient energy for other systems; the visual perception system comprises a longitudinal visual angle compensation mechanism, a visual camera and an image acquisition and calculation unit and is used for target multi-angle image acquisition. Motion control and visual perception of the microsatellite base are achieved, and support is provided for ground verification of the microsatellite cooperation technology.

Description

Technical Field

[0001] The invention relates to a micro-satellite simulation device oriented to multi-view fusion perception, belonging to the field of multi-satellite collaborative space measurement. Background Art

[0002] The research on microsatellite cooperative technology has been highly valued by scholars from all over the world. The constellation of small satellites uses information sharing and mutual cooperation among members to replace a single complex large satellite to complete space missions. At present and in the future, the constellation of small satellites has very broad application prospects in the fields of earth survey, deep space exploration, scientific experiments, etc.

[0003] Limited by the size envelope of micro-satellites, a single micro-satellite can only carry a tiny visual sensor, which has limited perception capability and strength and cannot play a greater role. The multi-perspective fusion perception between satellite clusters is used to superimpose and enhance the perception information of each micro-satellite, which can realize the detection of weak targets in space, the refined three-dimensional reconstruction of large spacecraft, and the stable identification and tracking of key parts.

[0004] Due to the large number of member satellites, the cost of on-orbit verification is high in the constellation system, and key technology verification is generally carried out in the form of ground semi-physical simulation. In the process of ground semi-physical simulation, it is necessary to consider the simulation of space microgravity environment and complex space lighting environment. Microsatellite simulation device is the core of micro-nano satellite simulation. Existing microsatellite base simulation devices usually use suspension devices, floating devices in water or robotic arm base devices for simulation. There are problems such as complex simulation of space microgravity environment, short continuous simulation time, difficult and dangerous posture adjustment, high cost of single test, and the need for more than 10 testers to cooperate, simple simulation of space lighting environment, inability to truly and effectively simulate space stray light, complex layout of simulation device, limited carrying capacity, and large mechanical size. Therefore, for ground semi-physical simulation of multi-perspective fusion of constellations, the limited simulation of layout configuration, carrying capacity, and mechanical size of microsatellite simulation devices is currently a difficult problem. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and provide a micro-satellite simulation device for multi-perspective fusion perception, and to achieve motion control and visual perception of the micro-satellite simulation device through air flotation system design, control system design, power supply system design, and visual perception system design.

[0006] The technical solution of the present invention is: a micro-satellite simulation device for multi-view fusion perception, including: a micro-satellite shell, and an air flotation system, a control system, a power supply system and a visual perception system distributed inside and outside the micro-satellite shell, wherein:

[0007] The microsatellite shell is a hexahedral structure supported by four columns, which contain mechanical interfaces;

[0008] The air flotation system is used to provide a three-degree-of-freedom zero-gravity environment for the micro-satellite simulation device;

[0009] The control system includes a control unit and a control actuator, wherein the control unit sends an injection amount signal and an injection time signal to the air flotation system, and simultaneously receives the posture information sent by the external central intelligent processor, and sends a posture control signal to the control actuator; the control actuator receives the posture control signal from the control unit, and adjusts the posture of the micro-satellite simulation device;

[0010] The power system provides sufficient energy for other systems;

[0011] The visual perception system includes a longitudinal viewing angle compensation mechanism, a visual camera, and an image acquisition calculation unit, and is used for multi-angle image acquisition of a target.

[0012] Preferably, the air flotation system includes an air foot, an air jet valve, a composite gas cylinder and an air circuit, specifically:

[0013] Four gas feet are installed at the bottom of the micro-satellite simulation device. Each gas foot is provided with a throttle hole. The thickness of the gas film on the gas foot is designed to be 0.003mm±0.0005mm, the pressure is designed to be 0.3Mpa±0.05Mpa, and the bearing capacity provided by the gas foot is designed to be 35kg±0.5kg, so that the micro-satellite simulation device is in a suspended state.

[0014] Eight jet valves are installed on four surfaces in the middle of the microsatellite shell, with the nozzles of the jet valves facing the bottom of the simulation device. Two jet valves are installed on each surface, and the installation distance between the two jet valves is greater than 5cm. The load capacity provided by the nozzle is designed to be 5kg±0.5kg, which assists the air foot to keep the microsatellite simulation device in a suspended state.

[0015] The composite gas cylinder is installed vertically inside the microsatellite shell. A fiber-wound composite gas cylinder is selected, and the rated working pressure is set to 20Mpa±5Mpa. The high-pressure gas in the cylinder is reduced to 0-0.6MPa by the low-pressure regulator in the gas circuit, and its on-off is controlled by the solenoid valve in the gas circuit. It is then filtered through the first stage in the gas circuit and finally supplied to the gas foot and nozzle.

[0016] Preferably, the control unit includes a control computer and a control card, wherein the control computer and the control card are connected via a data line:

[0017] The control computer is located at the bottom of the micro-satellite simulation device; the control card controls the switch status of the air foot and the jet system, is embedded in the control computer, and adopts digital output control.

[0018] Preferably, the control actuator comprises a cold jet propulsion system and a flywheel, wherein:

[0019] The cold jet propulsion system consists of eight nozzles, which are divided into four groups. Two sets of cold jet thrusters in each group are orthogonally installed at the mechanical interface in the middle of each column of the microsatellite shell. The installation distance between the two nozzles is greater than 5cm. Through the combination, control forces in two directions can be generated, thereby synthesizing a control torque in one direction, which is used to adjust the posture of the microsatellite simulation device and realize the three-degree-of-freedom control of the microsatellite simulation device.

[0020] The flywheel is installed on the main inertia axis of the microsatellite simulation device. The control unit of the microsatellite simulation device sends a speed adjustment signal to the control circuit board of the flywheel according to the attitude deviation of each axis, and controls each axis of the microsatellite simulation device by changing the speed of the flywheel.

[0021] Preferably, each set of cold jet thrusters comprises an electromagnetic switch valve and a nozzle, wherein:

[0022] The electromagnetic switch valve controls the on-off of the gas circuit according to the posture control signal input by the control unit;

[0023] The nozzle adopts the Laval nozzle principle to achieve rapid ejection of compressed gas, and the contraction section of the nozzle is a stepped surface structure.

[0024] Preferably, the flywheel comprises: a housing, a rotor assembly, a flywheel motor, a bearing assembly, and a control circuit board;

[0025] The flywheel motor adopts a brushless and coreless DC motor, which is installed in the middle of the housing; the rotor assembly includes a motor rotor and a rotating mass, which are integrated and supported by a bearing assembly and installed in a sealed space at the upper part of the housing. The middle part of the housing is a mechanical interface and an electrical interface, and the power interface of the flywheel motor is connected to the electrical interface in the middle of the housing; the control circuit board is installed at the lower part of the housing;

[0026] The maximum angular momentum of the flywheel is designed to be 0.5Nms@6000rpm, the maximum control torque is designed to be 20mNm, and the communication interface is designed to be RS422 / CAN.

[0027] Preferably, the power supply system includes a battery, a power supply controller and a connecting cable, wherein:

[0028] The battery type is lithium-ion battery, with a maximum charging voltage of 28.8V and a nominal capacity of 10Ah±0.5Ah;

[0029] The power controller output voltage is 24V and the power is 500W;

[0030] The output of the battery is converted into voltage by the power controller and then provides DC power to the air flotation system, control system and visual perception system through connecting cables.

[0031] Preferably, the visual perception system includes a longitudinal viewing angle compensation mechanism, a visual camera, and an image acquisition and calculation unit, wherein:

[0032] The longitudinal viewing angle compensation mechanism expands the longitudinal viewing angle range of the camera, stabilizes the visual camera viewing angle, and collects clearer image data; including: integrated motor screw guide rail, gimbal stabilizer;

[0033] The integrated motor lead screw guide rail is longitudinally suspended on the outer facade of the micro-satellite simulation device shell, and the gimbal stabilizer is mounted on the integrated motor lead screw guide rail for longitudinal movement;

[0034] The visual camera uses the Azure Kinect depth camera, which is installed on a gimbal stabilizer.

[0035] The image acquisition and computing unit is installed on the azure-kinect depth camera to control the switch, image acquisition, and image transmission of the visual camera.

[0036] Preferably, the gimbal stabilizer is configured with mounting interfaces adapted to a variety of cameras, and a counterweight is installed to achieve the effect of stabilizing the camera.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] (1) The microgravity simulation of the present invention has the following advantages: 1) It adopts the form of gas cylinder, gas foot, nozzle and gas circuit, which is stable, light, rigid and strong; 2) The high-pressure gas in the gas cylinder is controlled by the low-pressure regulator and the solenoid valve in the gas circuit to achieve stable control of the jet; 3) The eight nozzles installed on the four surfaces in the middle of the micro-satellite shell ensure that the micro-satellite base simulation device can float freely and stably without control signals, restoring the real state of the satellite in space; 4) The gas cylinder is made of composite materials, and the reinforced fiber in the composite material makes the gas cylinder have anti-collision ability, which improves the safety of the high-pressure gas cylinder;

[0039] (2) The flotation system of the present invention utilizes the combined effect of the gas foot and the nozzle, and adopts a strategy of using the flotation generated by the gas foot as the main and the flotation generated by the nozzle as the auxiliary. The generated flotation force can carry a simulation device weighing more than 40 kg, and has the advantages of strong flotation carrying capacity and stable flotation.

[0040] (3) Each set of cold jet propulsion of the present invention comprises an electromagnetic switch valve and a nozzle. The electromagnetic switch valve can control the on-off of the gas path according to the input digital control signal; the nozzle adopts the Laval nozzle principle to realize the rapid ejection of compressed gas, thereby improving the propulsion efficiency of the compressed gas;

[0041] (4) The flywheel of the present invention is installed on the top of the base, and rotates at high speed under the drive of the motor to form a certain angular momentum. The rotor and the base constitute an angular momentum conservation system. If the size or direction of the flywheel angular momentum is changed, the base will make a certain angular momentum change reaction to maintain the conservation of angular momentum. There is a momentum exchange relationship between the flywheel and the base;

[0042] (5) The camera gimbal is installed on the slider of the integrated motor screw guide rail of the present invention, which mainly realizes: the camera roll angle can rotate by ±30°, thereby increasing the camera viewing angle range; the camera vibration is reduced during the movement of the simulator, thereby facilitating the camera image acquisition;

[0043] (6) The micro-satellite base simulation device of the present invention has a compact structure and restores the mechanical structure of the space satellite to the greatest extent. Through the internal hollow structure design and the mechanical slots designed on the outer shell support column, the function expansion and installation of various structural parts can be quickly realized;

[0044] (7) The power system design of the present invention has voltage conversion capability, and can provide +24V DC power and +6V DC power for the control system flywheel and the visual perception system respectively;

[0045] (8) The control system of the present invention can freely receive control information sent by an external central intelligent processor, and can realize remote control, thereby reducing the high cost of a single test and the need for more than 10 testers to cooperate. DETAILED DESCRIPTION

[0046] The present invention is further described below by describing in detail a preferred specific embodiment. The present invention provides a micro-satellite simulation device for multi-view fusion perception, including: a micro-satellite shell, and an air flotation system, a control system, a power supply system and a visual perception system distributed inside and outside the micro-satellite shell structure, wherein: the micro-satellite shell is a hexahedron, adopts an aluminum alloy structure, and the shell support column is designed with a mechanical slot for convenient installation of various mechanical structures.

[0047] The air flotation system, control system, power system and visual perception system distributed inside and outside the microsatellite shell are as follows:

[0048] 1. Air flotation system.

[0049] Four air feet are installed at the bottom of the microsatellite simulation device. The radius of the air foot is designed to be 25mm, the number of throttling holes on each air foot is set to 1, the thickness of the air film covering the bottom of the air foot is designed to be 0.003mm±0.0005mm, the pressure is designed to be 0.3Mpa±0.05Mpa, the bearing capacity provided by the air foot is designed to be 20Mpa±5Mpa, and the floating weight provided by the air foot is designed to be 35Kg±0.5Kg, which is used to put the microsatellite simulation device in a suspended state.

[0050] Eight jet valves are installed on four faces in the middle of the microsatellite shell; specifically, the eight jet valves are distributed on four faces in the middle of the hexahedral microsatellite shell, two jet valves are installed on each face, the air outlet of the jet valve nozzle faces the bottom of the simulation device, the distance between the two nozzles installed on each face is greater than 5 cm, and the load capacity provided by the nozzle is designed to be 5 kg ± 0.5 kg, which is used to put the microsatellite simulation device in a suspended state;

[0051] A composite gas cylinder is installed vertically inside the micro-satellite shell, and gas is supplied to the gas foot and nozzle through the gas circuit. The gas circuit is a copper tube with a diameter of 2mm. A low-pressure regulator, a solenoid valve, and a first-stage filter are set at the connection of the copper tube, which are distributed inside the micro-satellite shell. A 12L fiber-wound composite gas cylinder is selected, and the rated working pressure is designed to be 20Mpa±5Mpa. The high-pressure gas in the cylinder is reduced to 0~0.6MPa by the low-pressure regulator in the gas circuit, and its on and off is controlled by the solenoid valve in the gas circuit. It is finally supplied to the gas foot and nozzle through the first-stage filter in the gas circuit, so that the micro-satellite simulation device can perform translational and rotational movements with extremely low friction on the air floating platform, providing a three-degree-of-freedom zero-gravity environment.

[0052] 2. Control system.

[0053] The control system includes a control unit and a control actuator.

[0054] The control actuator includes a cold jet propulsion system and a flywheel, simulating the attitude and orbit control thrusters of a microsatellite.

[0055] The cold jet propulsion system consists of eight nozzles, which are divided into four groups. Two sets of cold jet thrusters in each group are orthogonally installed at the mechanical interface in the middle of each column of the microsatellite shell. Two nozzles are installed on each interface. The nozzle outlet direction is parallel to the facade of the microsatellite shell. The installation distance of the two nozzles is greater than 5cm. Through the combination, control forces in two directions can be generated, thereby synthesizing a control torque in one direction. The rated thrust of the jet thruster is designed to be 200mN±10mN, the minimum pulse width is 50ms, the thrust deviation is about 10%±2%, the solenoid valve opening / closing time is set to 10ms / 15ms, and the working pressure is 0.4Mpa±0.1Mpa, realizing the three-degree-of-freedom control of the air flotation system. Each set of cold jet thrusters includes an electromagnetic switch valve and a nozzle. The electromagnetic switch valve can control the on-off of the gas path according to the digital control signal (position control signal) input by the control unit. The nozzle adopts the Laval nozzle principle to realize the rapid ejection of compressed gas and improve the propulsion efficiency of compressed gas. The throat diameter of the nozzle is 1.2mm±0.1mm, the outlet section diameter is 8.8mm±0.1mm, and the contraction section of the nozzle is a stepped surface structure.

[0056] The flywheel is designed to be composed of five components, including a housing, a rotor assembly (including a motor rotor and a rotating mass), a flywheel motor, a bearing assembly, and a control circuit board. The flywheel motor adopts a brushless and coreless DC motor, which is installed in the middle of the housing; the motor rotor and the rotating mass are integrated, supported by a bearing assembly (a ball bearing is selected in the present invention), and installed in a sealed space at the upper part of the housing, the middle part of the housing is a mechanical interface and an electrical interface, and the power interface of the flywheel motor is connected to the electrical interface in the middle of the housing; the control circuit is installed at the lower part of the housing. The control circuit transmits signals to the flywheel motor through a data line. The maximum angular momentum of the flywheel is designed to be 0.5Nms@6000rpm, the maximum control torque is designed to be 20mNm, and the communication interface is designed to be RS422 / CAN. The flywheel is installed on the main inertia axis of the micro-satellite simulation device, and the control unit of the micro-satellite simulation device sends a speed adjustment signal to the control circuit board of the flywheel according to the attitude deviation of each axis, and controls each axis of the micro-satellite simulation device by changing the speed of the flywheel.

[0057] The control unit is used to receive the micro-satellite simulation device posture information sent by the external central intelligent processor, and drive the jet thruster and flywheel to control the posture of the micro-satellite simulation device. It includes a control computer and a control card. The control computer is used to control the calculation of the system. It is located at the bottom of the micro-satellite simulation device and is fixed to the bottom of the micro-satellite simulation device by 4 screws; the ADLINK Matrix MXE-1500 series embedded computer is selected. The control card is embedded and installed in the control computer. Its main task is to control the switch state of the gas foot and the jet system. It adopts digital output control and selects the I-7042 module. The control card has 12 digital outputs and uses 485 bus input instructions.

[0058] 3. Power supply system.

[0059] The power system provides sufficient energy for other systems and consists of batteries, power controllers, and connecting cables. The battery type is a lithium-ion battery with a nominal voltage of 25.2V, a maximum charging voltage of 28.8V, a nominal capacity of 10Ah±0.5Ah, and an overall size of 100×120×75mm. It is equipped with a dedicated charger for Li-ion battery packs. The power controller has an output voltage of 24V, a power of 500W, and a size of 215×135×50mm. The power system design consists of a voltage converter and power connection cables between various devices. After the voltage conversion of the battery output by the voltage converter, it provides +24V DC power and +6V DC power to the air flotation system nozzle, the control system flywheel, and the visual perception system respectively.

[0060] 4. Visual perception system: The visual perception system is used for multi-angle image acquisition of the target, and is composed of a longitudinal viewing angle compensation mechanism, a visual camera, and an image acquisition and calculation unit.

[0061] The longitudinal viewing angle compensation mechanism expands the longitudinal viewing angle range of the camera, stabilizes the visual camera viewing angle, and collects clearer image data. The integrated motor screw guide rail is used in conjunction with the gimbal stabilizer to achieve longitudinal viewing angle compensation and dynamic stable shooting of the visual camera.

[0062] The integrated motor screw guide is suspended longitudinally on the outer facade of the upper part of the micro-satellite simulation device shell, and the bottom of the guide is parallel to the top surface of the micro-satellite simulation device. The center of mass of the micro-satellite simulation device is adjusted to level. The integrated motor screw guide is equipped with a gimbal stabilizer. The integrated motor screw guide can carry the gimbal stabilizer for longitudinal movement. Its movement range is designed to be 200mm to 800mm. At the same time, the gimbal stabilizer can move longitudinally on the integrated motor screw guide to achieve the effect of longitudinal viewing angle compensation. In order to ensure the stable operation of the screw guide, a drag chain is installed on one side of the integrated motor screw guide to prevent the cables of the motor and visual camera from being entangled with the screw.

[0063] The gimbal stabilizer is mainly composed of a motor, a shaft sleeve and a camera mounting platform. The camera mounting platform can be adapted to the mounting interfaces of various cameras. In order to prevent the eccentric torque at one end of the motor from being too large and causing the platform to be unstable, a counterweight is installed in the reverse position of the motor shaft sleeve to achieve the effect of stabilizing the camera.

[0064] The visual camera selects the azure-kinect depth camera, which is horizontally installed on the gimbal stabilizer using the four reserved threaded holes at the bottom of the azure-kinect.

[0065] The image acquisition and computing unit is located on the azure-kinect depth camera and is used to control the switch, image acquisition, and image transmission of the azure-kinect depth camera.

[0066] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A micro-satellite simulation device for multi-view fusion perception, characterized in that include: The microsatellite shell, and the air flotation system, control system, power system and visual perception system distributed inside and outside the microsatellite shell, including: The microsatellite shell is a hexahedral structure supported by four columns, which contain mechanical interfaces; The air flotation system is used to provide a three-degree-of-freedom zero-gravity environment for the micro-satellite simulation device; The control system includes a control unit and a control actuator, wherein the control unit sends an injection amount signal and an injection time signal to the air flotation system, and simultaneously receives the posture information sent by the external central intelligent processor, and sends a posture control signal to the control actuator; the control actuator receives the posture control signal from the control unit, and adjusts the posture of the micro-satellite simulation device; The power system provides sufficient energy for other systems; The visual perception system includes a longitudinal viewing angle compensation mechanism, a visual camera, and an image acquisition calculation unit, and is used for multi-angle image acquisition of a target.

2. The micro-satellite simulation device for multi-view fusion perception according to claim 1 is characterized in that: The air flotation system includes an air foot, an air jet valve, a composite gas cylinder and an air circuit. Specifically: Four gas feet are installed at the bottom of the micro-satellite simulation device. Each gas foot is provided with a throttle hole. The thickness of the gas film on the gas foot is designed to be 0.003mm±0.0005mm, the pressure is designed to be 0.3Mpa±0.05Mpa, and the bearing capacity provided by the gas foot is designed to be 35kg±0.5kg, so that the micro-satellite simulation device is in a suspended state. Eight jet valves are installed on four surfaces in the middle of the microsatellite shell, with the nozzles of the jet valves facing the bottom of the simulation device. Two jet valves are installed on each surface, and the installation distance between the two jet valves is greater than 5cm. The load capacity provided by the nozzle is designed to be 5kg±0.5kg, which assists the air foot to keep the microsatellite simulation device in a suspended state. The composite gas cylinder is installed vertically inside the microsatellite shell. A fiber-wound composite gas cylinder is selected, and the rated working pressure is set to 20Mpa±5Mpa. The high-pressure gas in the cylinder is reduced to 0-0.6MPa by the low-pressure regulator in the gas circuit, and its on-off is controlled by the solenoid valve in the gas circuit. It is then filtered through the first stage in the gas circuit and finally supplied to the gas foot and nozzle.

3. The micro-satellite simulation device for multi-view fusion perception according to claim 1 is characterized in that: The control unit includes a control computer and a control card, wherein the control computer and the control card are connected via a data line: The control computer is located at the bottom of the micro-satellite simulation device; the control card controls the switch status of the air foot and the jet system, is embedded in the control computer, and adopts digital output control.

4. The micro-satellite simulation device for multi-view fusion perception according to claim 1 is characterized in that: The control actuator includes a cold jet propulsion system and a flywheel, wherein: The cold jet propulsion system consists of eight nozzles, which are divided into four groups. Two sets of cold jet thrusters in each group are orthogonally installed at the mechanical interface in the middle of each column of the microsatellite shell. The installation distance between the two nozzles is greater than 5cm. The control forces in two directions are generated by combination, thereby synthesizing the control torque in one direction, which is used to adjust the posture of the microsatellite simulation device and realize the three-degree-of-freedom control of the microsatellite simulation device. The flywheel is installed on the main inertia axis of the microsatellite simulation device. The control unit of the microsatellite simulation device sends a speed adjustment signal to the control circuit board of the flywheel according to the attitude deviation of each axis, and controls each axis of the microsatellite simulation device by changing the speed of the flywheel.

5. The micro-satellite simulation device for multi-view fusion perception according to claim 4 is characterized in that: Each cold jet propulsion system includes an electromagnetic switch valve and a nozzle, wherein: The electromagnetic switch valve controls the on and off of the gas circuit according to the posture control signal input by the control unit; The nozzle adopts the Laval nozzle principle to achieve rapid ejection of compressed gas, and the contraction section of the nozzle is a stepped surface structure.

6. The micro-satellite simulation device for multi-view fusion perception according to claim 4 is characterized in that: The flywheel includes: Housing, rotor assembly, flywheel motor, bearing assembly, control circuit board; The flywheel motor adopts a brushless and coreless DC motor, which is installed in the middle of the housing; The rotor assembly includes a motor rotor and a rotating mass, which are integrated and supported by a bearing assembly and installed in a sealed space at the upper part of the housing. The middle part of the housing is a mechanical interface and an electrical interface, and the power interface of the flywheel motor is connected to the electrical interface in the middle of the housing. The control circuit board is installed at the lower part of the housing. The maximum angular momentum of the flywheel is designed to be 0.5Nms@6000rpm, the maximum control torque is designed to be 20mNm, and the communication interface is designed to be RS422 / CAN.

7. The micro-satellite simulation device for multi-view fusion perception according to claim 1, characterized in that: The power supply system includes a battery, a power controller and connecting cables, including: The battery type is lithium-ion battery, with a maximum charging voltage of 28.8V and a nominal capacity of 10Ah±0.5Ah; The power controller output voltage is 24V and the power is 500W; The output of the battery is converted into voltage by the power controller and then provides DC power to the flotation system, control system and visual perception system through connecting cables.

8. The micro-satellite simulation device for multi-view fusion perception according to claim 1 is characterized in that: The visual perception system includes a longitudinal viewing angle compensation mechanism, a visual camera, and an image acquisition and calculation unit, wherein: The longitudinal viewing angle compensation mechanism expands the longitudinal viewing angle range of the camera, stabilizes the visual camera viewing angle, and collects clearer image data; including: integrated motor screw guide rail, gimbal stabilizer; The integrated motor lead screw guide rail is longitudinally suspended on the outer facade of the micro-satellite simulation device shell, and the gimbal stabilizer is mounted on the integrated motor lead screw guide rail for longitudinal movement; The visual camera uses the Azure Kinect depth camera, which is installed on a gimbal stabilizer. The image acquisition and computing unit is installed on the azure-kinect depth camera to control the switch, image acquisition, and image transmission of the visual camera.

9. The micro-satellite simulation device for multi-view fusion perception according to claim 8, characterized in that: The gimbal stabilizer is equipped with mounting interfaces that are compatible with a variety of cameras, and is equipped with counterweights to stabilize the camera.