High-precision tracking and pointing system and method capable of autonomously formulating observation task in orbit

Abstract

The invention belongs to the technical field of space photoelectric detection, and provides a high-precision tracking and pointing system and method capable of autonomously formulating an observation task in orbit. The system comprises an information processing unit, a power supply management unit, a task management unit, a thermal control unit, a GNSS unit, a star sensor unit, a gyroscope unit, a tracking and pointing calculation unit and a servo turntable unit. The system can receive a platform instruction, integrate information of sensors such as a GNSS, a star sensor and a gyroscope, calculate the accurate position of a tracked celestial body, and adjust the direction of a servo turntable in real time so as to accurately track a target. The working method comprises the steps of system starting and initializing, observation task making, tracking and aiming mode preparing, aiming direction correcting, observation target tracking and aiming, exception handling and the like. The system can realize high-precision observation of a celestial body target without depending on attitude adjustment of a spacecraft platform, improves the observation efficiency and reliability, and is suitable for observation of celestial bodies such as pulsar on a space station platform.

Description

Technical Field

[0001] The present invention belongs to the technical field of space photoelectric detection, and provides a high-precision tracking and aiming system and method that can autonomously formulate observation tasks on orbit. Background Art

[0002] As human beings continue to explore space, the competition for interests in near-Earth and deep space has become increasingly fierce. This competition is not only reflected in the development and utilization of resources, but also in who can master more advanced navigation and timing technologies to build an independent space-time system. Pulsar-based navigation and timing technology has become a key means to achieve this goal due to its unique advantages. As a stable clock in the universe, the X-ray pulses emitted by pulsars have extremely high accuracy and stability, which can be used for precise navigation and timing of spacecraft, thereby greatly improving the reliability and accuracy of space missions.

[0003] However, with the rapid development of advanced space projects such as X-ray pulsar navigation, timing, and X-ray communication, unprecedented high requirements have been placed on the on-orbit adaptability of celestial target observation equipment. Traditional celestial observation systems usually rely on dedicated satellite platforms that can adjust their attitude according to the needs of the observation mission and provide precise attitude information for the observation payload to perform pointing correction. However, when these observation payloads are applied to the final pulsar navigation and timing mission, the situation changes. At this time, the detection payload becomes a supporting equipment of the spacecraft platform, and the spacecraft platform itself will not arbitrarily change its attitude to meet the observation needs of the supporting equipment.

[0004] This change poses a huge challenge to observation equipment, because traditional observation systems often rely on the attitude adjustment of the platform to maintain accurate tracking of the observation target. If the platform cannot provide such support, then the observation equipment must have stronger autonomy and adaptability, and be able to achieve high-precision observation of celestial targets without relying on the attitude adjustment of the platform. Summary of the invention

[0005] In view of this, the present invention proposes a high-precision tracking and aiming system that can autonomously formulate observation tasks on orbit, which includes:

[0006] An information processing unit receives platform instructions and starts a power management unit and a task management unit;

[0007] The power management unit converts the platform power supply into the power supply required by each unit of the system;

[0008] The mission management unit embeds the basic data information of celestial body position, spacecraft orbit, Earth radiation belt model and mission calculation model, and formulates the probe observation mission according to the platform instructions, local time, position and attitude information provided by GNSS, star sensors and gyroscopes;

[0009] The thermal control unit is responsible for the thermal management of the system to ensure that all components operate within the appropriate temperature range;

[0010] GNSS unit, which provides time reference and orbit position information for the autonomous tracking and aiming system;

[0011] The star-sensing unit provides attitude information and combines the orbital position information and pulsar position information to calculate the turntable adjustment position information;

[0012] The gyro unit measures the attitude information of the spacecraft for miss compensation;

[0013] The tracking and aiming calculation unit calculates the miss distance based on the information provided by GNSS, star sensors and gyroscopes and the position of the mission observation target, and converts the miss distance into the actuation amount of the servo turntable;

[0014] Servo turntable unit, high-precision servo turntable, used to achieve tracking and aiming of target celestial bodies;

[0015] The information processing unit is connected to the power management unit and the task management unit, and after receiving the platform instruction, sends a start signal to them;

[0016] The power management unit is connected to the information processing unit, the task management unit, the thermal control unit, the GNSS unit, the star sensing unit, the gyro unit, the tracking and aiming calculation unit and the servo turntable unit to provide them with power;

[0017] The mission management unit is connected to the information processing unit, GNSS unit, star-sensing unit, gyro unit, tracking and aiming calculation unit and servo turntable unit, receives platform instructions and local information, formulates observation tasks and distributes instructions;

[0018] The thermal control unit is connected to the power management unit, receives electrical energy to work, and controls the system temperature through internal circulation;

[0019] The GNSS unit is connected to the mission management unit to send time packets, second pulses and orbital position information;

[0020] The star-sensing unit is connected to the mission management unit and the tracking and aiming calculation unit to send attitude information and solution results;

[0021] The gyro unit is connected to the mission management unit and the tracking and aiming calculation unit to send attitude information;

[0022] The tracking and aiming computing unit is connected to the mission management unit, star-sensing unit, gyro unit and servo turntable unit to receive information and send control instructions;

[0023] The servo turntable unit is connected to the power management unit and the tracking and aiming calculation unit, receives electrical energy and control instructions, and performs rotation and tracking and aiming.

[0024] A working method of a high-precision tracking and aiming system capable of autonomously formulating observation tasks on orbit comprises the following steps:

[0025] S1, system startup and initialization:

[0026] S11, system startup: when the spacecraft platform sends a working instruction, the information processing unit of the autonomous tracking and aiming system receives the instruction and enters the power-on working state;

[0027] S12, initialization: the information processing unit automatically formulates a series of initialization instructions and sends them to the task management unit; the task management unit formulates a power-on instruction sequence based on these instructions and sends it to the power management unit, and the power management unit powers on the thermal control unit, GNSS, star sensor, and gyro system components respectively to put them into normal working state;

[0028] S2, observation task formulation:

[0029] S21, information collection: After all components of the system are powered on and working normally, GNSS, star sensors, and gyros begin to collect local time, platform position, and attitude information in real time, and send this information to the task management unit;

[0030] S22, Mission Planning: The mission management unit uses this real-time information, combined with the self-embedded celestial body position, spacecraft orbit, Earth radiation belt model basic data information and mission calculation model, to develop a detailed observation plan; the observation plan includes key information such as observation target, observation start time and observation end time;

[0031] S3, follow-up aiming mode preparation:

[0032] S31, system switching: after the observation task is formulated, the system automatically switches from the observation task formulation mode to the autonomous tracking mode;

[0033] S32, power-on preparation: the task management unit generates a power-on instruction and sends it to the power management unit, which then powers on the tracking and aiming calculation unit and the servo turntable unit to put them into working state;

[0034] S4, aiming direction correction:

[0035] The servo turntable performs aiming direction correction. This step usually uses a recognized celestial body as the calibration aiming object to ensure the pointing accuracy of the system.

[0036] S5, tracking and aiming at the observed target: the tracking and aiming calculation unit calculates the miss distance using multi-source information, generates a control instruction and sends it to the servo turntable unit to drive it to adjust its position to accurately track and aim at the observed target;

[0037] S6, exception handling:

[0038] During the tracking and aiming process, if an abnormal condition occurs and shutdown is required, the servo turntable unit will perform an emergency stop operation while ensuring structural safety; when the observation task is completed, the system will stop tracking and aiming according to the preset end conditions and wait for the start of the next observation task.

[0039] In a preferred solution, the specific process of step S5 includes:

[0040] S51, information integration: the tracking and aiming computing unit integrates information from multiple sensors;

[0041] S52, miss distance calculation: after determining the position of the tracked celestial body, the tracking and aiming calculation unit compares this position with the current orientation of the servo turntable and calculates the deviation between the two, i.e., the miss distance; the miss distance is a key parameter, which reflects the angle or displacement that the servo turntable needs to adjust to ensure accurate tracking of the target;

[0042] S53, sending the miss distance information: after calculating the miss distance, the tracking and aiming calculation unit immediately sends this information to the servo turntable unit; at the same time, it also receives its own telemetry information from the navigation camera unit, which helps the tracking and aiming calculation unit to more accurately evaluate the status and performance of the system;

[0043] S54, control parameter calculation: the tracking and aiming calculation unit calculates the rotation speed, rotation time, pitch angle range and yaw angle range control parameters that need to be adjusted by the servo turntable unit according to the miss distance information, combined with the dynamic performance of the system and the preset tracking strategy;

[0044] S55, command generation: according to the calculated control parameters, the tracking and aiming calculation unit generates specific control commands and sends these commands to the servo turntable unit;

[0045] S56, tracking and aiming command execution: after receiving the control command sent by the tracking and aiming calculation unit, the servo turntable unit immediately drives its mechanism to move according to the command requirements; the servo turntable adopts a high-precision, high-dynamic performance synchronous torque motor direct drive mode, which can respond to the control command quickly and accurately;

[0046] S57, position adjustment: driven by the servo turntable, the system gradually adjusts its direction to reduce the miss distance; this process is a closed-loop feedback process, the tracking and aiming calculation unit continuously monitors the change of the miss distance and adjusts the control instructions as needed until the system reaches the predetermined tracking accuracy;

[0047] S58, continuous tracking: Once the system successfully tracks the target celestial body, the servo turntable will maintain a stable tracking state until the end of the observation mission; during the tracking process, the system adjusts the direction in real time according to the movement laws and attitude changes of the target celestial body to ensure continuous and stable tracking.

[0048] In a preferred solution, in step S51, the information of the multiple sensors includes:

[0049] Time, orbit information and pulse-seconds provided by GNSS: The GNSS global navigation satellite system provides the system with precise time reference and real-time orbital position information of the spacecraft. The pulse-seconds is used to ensure the synchronization of various components of the system;

[0050] Pointing information provided by star sensors: The star sensors determine the attitude of the spacecraft by observing the stars in the sky, providing the system with accurate pointing information;

[0051] Platform attitude information provided by the gyroscope: The gyroscope is installed at the connection between the autonomous tracking and aiming system and the spacecraft, and is used to measure the attitude changes of the spacecraft in real time and provide attitude compensation data for the system;

[0052] Celestial body position information: pre-stored in the task management unit, including the coordinates and motion patterns of the target celestial body;

[0053] Position calculation: The tracking calculation unit uses the above information to calculate the precise position of the tracked celestial body at the current moment through a complex algorithm.

[0054] The beneficial effects achieved by the present invention are:

[0055] First, unlike traditional celestial observation systems that usually rely on the attitude adjustment of the spacecraft platform to maintain accurate tracking of the observed target, the tracking and aiming system of the present invention can achieve high-precision observation of celestial targets without relying on the attitude adjustment of the platform. This high degree of autonomy and adaptability enables the system to respond to different observation tasks more flexibly and improve observation efficiency and reliability.

[0056] Second, the system of the present invention integrates information from multiple sensors such as GNSS, star sensors, and gyroscopes, uses complex algorithms to calculate the precise position of the tracked celestial body, and adjusts the direction of the servo turntable in real time to reduce the amount of miss. This high-precision tracking capability ensures the accuracy and reliability of observation data, providing strong support for scientific research.

[0057] Third, the task management unit of the present invention embeds the basic data information of celestial body position, spacecraft orbit, earth radiation belt model and task calculation model, and can formulate detailed observation plans according to platform instructions and local information. This multi-tasking capability enables the system to handle multiple observation tasks at the same time, improving observation efficiency and flexibility.

[0058] Fourth, during the tracking and aiming process, if an abnormal state occurs and the system needs to be shut down, the servo turntable unit will perform an emergency stop operation while ensuring the safety of the structure, and notify the task management unit to handle it. This intelligent abnormality handling capability ensures the safety and stability of the system and avoids the loss of observation data or equipment damage caused by abnormal conditions.

[0059] Fifth, the present invention designs a thermal control unit to manage the thermal management of the system, ensuring that each component operates within an appropriate temperature range. This thermal management optimization improves the reliability and service life of the system and reduces the risk of equipment failure caused by excessively high or low temperatures.

[0060] Sixth, the power management unit of the present invention converts the platform power supply into the power supply required by each unit of the system and distributes it according to actual needs, thereby reducing the energy consumption of the system, improving energy utilization efficiency, and extending the service life of the spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 Shown is the framework diagram of a high-precision tracking and aiming system that can autonomously formulate observation missions on orbit.

[0062] Figure 2 Shown is a schematic diagram of the working process of the tracking and aiming calculation unit. DETAILED DESCRIPTION

[0063] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the present invention. In addition, the forms of the various structures recorded in the following embodiments are merely illustrative, and the present invention is not limited to the various structures recorded in the following embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present invention.

[0064] Reference Figure 1-Figure 2The present invention provides a high-precision tracking and aiming system that can autonomously formulate observation tasks on orbit, which includes an information processing unit that receives platform instructions and starts a power management unit and a task management unit; a power management unit that converts the platform power supply into the power supply required by each unit of the system; a task management unit that self-embeds basic data information on celestial body positions, spacecraft orbits, and earth radiation belt models and a task calculation model, and formulates detector observation tasks based on platform instructions, local time, position, and attitude information provided by GNSS, star sensors, and gyros; a thermal control unit that is responsible for the thermal management of the system to ensure that each component operates within a suitable temperature range; a GNSS unit that provides a time reference and orbital position information for the autonomous tracking and aiming system; and a star sensor unit that provides attitude information. The gyro unit measures the attitude information of the spacecraft for compensation and correction of the miss amount. The tracking and aiming calculation unit calculates the miss amount based on the information provided by GNSS, star sensors and gyroscopes and the mission observation target position, and converts the miss amount into the actuation amount of the servo turntable. The servo turntable unit is a high-precision servo turntable used to achieve tracking and aiming of the target celestial body. The information processing unit is connected to the power management unit and the mission management unit, and sends a start signal to them after receiving the platform command. The power management unit is connected to the information processing unit, the mission management unit, the thermal control unit, the GNSS unit, the star sensor unit, the gyro unit, the tracking and aiming calculation unit and the servo turntable unit to provide them with power.

[0065] The task management unit is connected with the information processing unit, GNSS unit, star-sensitive unit, gyro unit, tracking and aiming calculation unit and servo turntable unit, receives platform instructions and local information, formulates observation tasks and distributes instructions; the thermal control unit is connected with the power management unit, receives electric energy to work, and controls the system temperature through internal circulation; the GNSS unit is connected with the task management unit, sends time packets, second pulses and orbital position information; the star-sensitive unit is connected with the task management unit and the tracking and aiming calculation unit, sends attitude information and solution results; the gyro unit is connected with the task management unit and the tracking and aiming calculation unit, sends attitude information; the tracking and aiming calculation unit is connected with the task management unit, star-sensitive unit, gyro unit and servo turntable unit, receives information and sends control instructions; the servo turntable unit is connected with the power management unit and the tracking and aiming calculation unit, receives electric energy and control instructions, and rotates and tracks and aims.

[0066] The specific process of the high-precision tracking and aiming system of the present invention that can autonomously formulate observation tasks on orbit includes:

[0067] 1. Startup and initialization;

[0068] System startup: When the spacecraft platform sends a work instruction, the information processing unit of the autonomous tracking and aiming system receives the instruction and enters the power-on working state.

[0069] Initialization: The information processing unit automatically formulates a series of initialization instructions and sends them to the task management unit. Based on these instructions, the task management unit formulates a power-on instruction sequence and sends it to the power management unit. The power management unit then powers on the thermal control unit, GNSS unit, star-sensing unit, and gyro system components to put them into normal working state.

[0070] 2. Observation mission formulation;

[0071] Information collection: After all components of the system are powered on and working normally, GNSS, star sensors, and gyroscopes begin to collect local time, platform position, and attitude information in real time, and send this information to the task management unit.

[0072] Mission planning: The mission management unit uses this real-time information, combined with the embedded celestial body position, spacecraft orbit, Earth radiation belt model basic data information and mission calculation model, to develop a detailed observation plan. The observation plan includes key information such as observation target, observation start time, and observation end time.

[0073] 3. Prepare for tracking and aiming mode;

[0074] System switching: After the observation task is formulated, the system automatically switches from the observation task formulation mode to the autonomous tracking mode.

[0075] Power-on preparation: The task management unit generates a power-on instruction and sends it to the power management unit. The power management unit powers on the tracking and aiming calculation unit and the servo turntable unit to put them into working state.

[0076] 4.Aiming direction correction;

[0077] The servo turntable performs aiming direction correction, usually using a recognized celestial body (such as the North Star) as the calibration aiming object to ensure the pointing accuracy of the system.

[0078] 5. Observe target, track and aim;

[0079] Information integration: The tracking and aiming calculation unit integrates information from multiple sensors such as GNSS, star sensors, and gyroscopes, including the time, orbit information, and second pulses provided by GNSS, the pointing information provided by star sensors, the platform attitude information provided by the gyroscope, and the celestial position information pre-stored in the mission management unit.

[0080] Miss distance calculation: The tracking calculation unit uses this information to calculate the current position of the tracked celestial body, compares it with the current pointing of the servo turntable, and calculates the deviation between the two (miss distance).

[0081] Control command generation and execution: The tracking and aiming calculation unit calculates the control parameters such as the rotation speed, rotation time, pitch angle range, and yaw angle range that the servo turntable needs to adjust based on the miss distance information, combined with the system's dynamic performance and the preset tracking strategy, and generates specific control commands to send to the servo turntable unit. After receiving the control command, the servo turntable unit drives its mechanism to move according to the command requirements.

[0082] Position adjustment and continuous tracking: Driven by the servo turntable, the system gradually adjusts its pointing direction to reduce the miss distance. The tracking and aiming calculation unit continuously monitors the change of the miss distance and adjusts the control instructions as needed until the system reaches the predetermined tracking accuracy. Once the system successfully tracks the target celestial body, the servo turntable will maintain a stable tracking state until the observation mission is completed. During the tracking process, the system adjusts the pointing direction in real time according to the movement law and attitude changes of the target celestial body to ensure continuous and stable tracking.

[0083] 6. Exception handling;

[0084] During the tracking and aiming process, if an abnormal condition occurs and shutdown is required (such as power failure, sensor failure, etc.), the servo turntable unit will perform an emergency stop operation while ensuring structural safety, and notify the task management unit for processing.

[0085] When the observation task is completed, the system automatically stops tracking and aiming according to the preset end conditions and waits for the start of the next observation task. At this time, the task management unit can save the observation data and perform necessary subsequent processing and analysis.

[0086] Example 1, through a specific implementation case, introduces the working process of a high-precision tracking and aiming system that can autonomously formulate observation tasks on orbit.

[0087] Case scenario: Pulsar Crab observation on the space station platform.

[0088] Implementation process:

[0089] Start the observation task:

[0090] The space station sends instructions: The space station control center sends instruction 1 "Start pulsar timing observation" to the information processing unit of the autonomous tracking and aiming system.

[0091] Information processing and task allocation:

[0092] The information processing unit receives the instruction: After receiving the instruction 1, the information processing unit enters the power-on working state and automatically formulates a series of initialization instructions.

[0093] The task management unit receives the instruction: the information processing unit distributes and sends the instruction to the task management unit.

[0094] The power management unit responds: The task management unit generates a power-on instruction 2 according to the received instruction and sends it to the power management unit.

[0095] System power-on and self-test:

[0096] Power on each unit: After receiving the power-on command, the power management unit powers on the thermal control unit, GNSS unit, star-sensing unit, gyro unit, tracking and aiming calculation unit and servo turntable unit respectively, so that they enter normal working state.

[0097] System self-check: After each unit is powered on, it starts self-checking to ensure that all components are working properly.

[0098] Observation mission formulation:

[0099] Information collection: After the self-check is completed, the information processing unit automatically formulates instruction 3 and sends it to the mission management unit. According to the requirements of instruction 3, GNSS, star sensors, and gyroscopes begin to collect local time, space station platform position, and attitude information in real time, and send this information to the mission management unit.

[0100] Mission planning: After receiving this information, the mission management unit automatically analyzes the visibility of Crab and the interference of the radiation belt by combining the self-embedded celestial body position (including the position of the pulsar Crab), the spacecraft orbit, the basic data information of the Earth radiation belt model and the mission calculation model. Based on the analysis results, the mission management unit formulates a detailed observation plan, including the number of observation orbits, the observation target of each orbit (i.e., the pulsar Crab), the observation start time of each orbit, and the observation end time of each orbit.

[0101] Prepare to enter tracking mode:

[0102] System mode switching: After the observation task is completed, the system automatically switches from the observation task formulation mode to the autonomous tracking mode.

[0103] Power-on preparation: The task management unit generates a power-on instruction 4 and sends it to the power management unit. The power management unit powers on the tracking and aiming calculation unit and the servo turntable unit to put them into working state.

[0104] Aiming direction correction:

[0105] Servo table calibration: After receiving the power-on command, the servo table unit performs aiming direction calibration. This step uses a recognized celestial body (such as the North Star) as the calibration aiming object to ensure the pointing accuracy of the system.

[0106] Observation target tracking and aiming:

[0107] Multi-source information integration: The tracking and aiming calculation unit begins to integrate information from multiple sensors such as GNSS, star sensors, and gyroscopes, including the time, orbit information, and second pulses provided by GNSS, the pointing information provided by star sensors, the platform attitude information provided by the gyroscope, and the celestial position information pre-stored in the mission management unit.

[0108] Miss distance calculation: The tracking calculation unit uses this information to calculate the current position of the pulsar Crab and compares it with the current pointing direction of the servo turntable to calculate the miss distance.

[0109] Control command generation and execution: The tracking and aiming calculation unit sends the miss distance information to the servo turntable unit, and calculates the control parameters such as the rotation speed, rotation time, pitch angle range, and yaw angle range that the servo turntable needs to adjust. Subsequently, a specific control command is generated and sent to the servo turntable unit. After the servo turntable unit receives the control command, the drive mechanism moves according to the command requirements and gradually adjusts the direction to reduce the miss distance.

[0110] Continuous tracking and monitoring: Driven by the servo turntable, the system gradually adjusts its pointing direction until it accurately tracks the pulsar Crab. During the tracking process, the tracking and aiming calculation unit continuously monitors the changes in the miss distance and adjusts the control instructions as needed to ensure continuous and stable tracking. At the same time, the navigation camera unit also sends its own telemetry information to the mission management unit for system status monitoring and performance evaluation.

[0111] Exception handling and task completion:

[0112] Exception handling: During the tracking process, if an abnormal state occurs and shutdown is required (such as power failure, sensor failure, etc.), the servo turntable unit will perform an emergency stop operation while ensuring structural safety, and notify the task management unit for processing.

[0113] Mission end: When the observation mission is completed, the system automatically stops tracking and aiming according to the preset end conditions and waits for the next observation mission to start. At this time, the mission management unit can save the observation data and perform necessary follow-up processing and analysis.

[0114] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-precision tracking and aiming system that can autonomously formulate observation tasks on orbit, characterized in that: It includes: An information processing unit receives platform instructions and starts a power management unit and a task management unit; The power management unit converts the platform power supply into the power supply required by each unit of the system; The mission management unit embeds basic data information on celestial body positions, spacecraft orbits, and the Earth radiation belt model, as well as mission calculation models, and formulates the probe observation mission based on platform instructions, local time, position, and attitude information provided by GNSS, star sensors, and gyroscopes; The thermal control unit is responsible for the thermal management of the system to ensure that all components operate within the appropriate temperature range; GNSS unit, which provides time reference and orbit position information for the autonomous tracking and aiming system; The star-sensing unit provides attitude information and combines the orbital position information and pulsar position information to calculate the turntable adjustment position information; The gyro unit measures the attitude information of the spacecraft for miss compensation; The tracking and aiming calculation unit calculates the miss distance based on the information provided by GNSS, star sensors and gyroscopes and the position of the mission observation target, and converts the miss distance into the actuation amount of the servo turntable; Servo turntable unit, high-precision servo turntable, used to achieve tracking and aiming of target celestial bodies; The information processing unit is connected to the power management unit and the task management unit, and after receiving the platform instruction, sends a start signal to them; The power management unit is connected to the information processing unit, the task management unit, the thermal control unit, the GNSS unit, the star sensing unit, the gyro unit, the tracking and aiming calculation unit and the servo turntable unit to provide them with power; The mission management unit is connected to the information processing unit, GNSS unit, star-sensing unit, gyro unit, tracking and aiming calculation unit and servo turntable unit, receives platform instructions and local information, formulates observation tasks and distributes instructions; The thermal control unit is connected to the power management unit, receives electrical energy to work, and controls the system temperature through internal circulation; The GNSS unit is connected to the mission management unit to send time packets, second pulses and orbital position information; The star-sensing unit is connected to the mission management unit and the tracking and aiming calculation unit to send attitude information and solution results; The gyro unit is connected to the mission management unit and the tracking and aiming calculation unit to send attitude information; The tracking and aiming computing unit is connected to the mission management unit, star-sensing unit, gyro unit and servo turntable unit to receive information and send control instructions; The servo turntable unit is connected to the power management unit and the tracking and aiming calculation unit, receives electrical energy and control instructions, and performs rotation and tracking and aiming.

2. The working method of a high-precision tracking and aiming system capable of autonomously formulating observation tasks on orbit as claimed in claim 1, characterized in that: It includes the following steps: S1, system startup and initialization: S11, system startup: when the spacecraft platform sends a working instruction, the information processing unit of the autonomous tracking and aiming system receives the instruction and enters the power-on working state; S12, initialization: the information processing unit automatically formulates a series of initialization instructions and sends them to the task management unit; Based on these instructions, the task management unit formulates a power-on instruction sequence and sends it to the power management unit. The power management unit then powers on the thermal control unit, GNSS, star sensor, and gyro system components respectively to put them into normal working state. S2, observation task formulation: S21, information collection: After all components of the system are powered on and working normally, GNSS, star sensors, and gyros begin to collect local time, platform position, and attitude information in real time, and send this information to the task management unit; S22, Mission Planning: The mission management unit uses this real-time information, combined with self-embedded celestial body positions, spacecraft orbits, Earth radiation belt model basic data information and mission calculation models, to develop a detailed observation plan; The observation plan includes key information such as observation target, observation start time, and observation end time; S3, follow-up aiming mode preparation: S31, system switching: after the observation task is formulated, the system automatically switches from the observation task formulation mode to the autonomous tracking mode; S32, power-on preparation: the task management unit generates a power-on instruction and sends it to the power management unit, which then powers on the tracking and aiming calculation unit and the servo turntable unit to put them into working state; S4, aiming direction correction: The servo turntable performs aiming direction correction. This step usually uses a recognized celestial body as the calibration aiming object to ensure the pointing accuracy of the system. S5, tracking and aiming at the observed target: the tracking and aiming calculation unit calculates the miss distance using multi-source information, generates a control instruction and sends it to the servo turntable unit to drive it to adjust its position to accurately track and aim at the observed target; S6, exception handling: During the tracking and aiming process, if an abnormal condition occurs and shutdown is required, the servo turntable unit will perform an emergency stop operation while ensuring structural safety; when the observation task is completed, the system will stop tracking and aiming according to the preset end conditions and wait for the start of the next observation task.

3. The working method according to claim 2, characterized in that: The specific process of step S5 includes: S51, information integration: the tracking and aiming computing unit integrates information from multiple sensors; S52, miss distance calculation: after determining the position of the tracked celestial body, the tracking and aiming calculation unit compares this position with the current orientation of the servo turntable and calculates the deviation between the two, i.e., the miss distance; the miss distance is a key parameter, which reflects the angle or displacement that the servo turntable needs to adjust to ensure accurate tracking of the target; S53, sending the miss distance information: after calculating the miss distance, the tracking and aiming calculation unit immediately sends this information to the servo turntable unit; at the same time, it also receives its own telemetry information from the navigation camera unit, which helps the tracking and aiming calculation unit to more accurately evaluate the status and performance of the system; S54, control parameter calculation: the tracking and aiming calculation unit calculates the rotation speed, rotation time, pitch angle range and yaw angle range control parameters that need to be adjusted by the servo turntable unit according to the miss distance information, combined with the dynamic performance of the system and the preset tracking strategy; S55, command generation: according to the calculated control parameters, the tracking and aiming calculation unit generates specific control commands and sends these commands to the servo turntable unit; S56, tracking and aiming command execution: after receiving the control command sent by the tracking and aiming calculation unit, the servo turntable unit immediately drives its mechanism to move according to the command requirements; the servo turntable adopts a high-precision, high-dynamic performance synchronous torque motor direct drive mode, which can respond to the control command quickly and accurately; S57, position adjustment: driven by the servo turntable, the system gradually adjusts its direction to reduce the miss distance; this process is a closed-loop feedback process, the tracking and aiming calculation unit continuously monitors the change of the miss distance and adjusts the control instructions as needed until the system reaches the predetermined tracking accuracy; S58, continuous tracking: Once the system successfully tracks the target celestial body, the servo turntable will maintain a stable tracking state until the end of the observation mission; during the tracking process, the system adjusts the direction in real time according to the movement laws and attitude changes of the target celestial body to ensure continuous and stable tracking.

4. The working method according to claim 2, characterized in that: In step S51, the information of the multiple sensors includes: Time, orbit information and pulse-seconds provided by GNSS: The GNSS global navigation satellite system provides the system with precise time reference and real-time orbital position information of the spacecraft. The pulse-seconds is used to ensure the synchronization of various components of the system; Pointing information provided by star sensors: The star sensors determine the attitude of the spacecraft by observing the stars in the sky, providing the system with accurate pointing information; Platform attitude information provided by the gyroscope: The gyroscope is installed at the connection between the autonomous tracking and aiming system and the spacecraft, and is used to measure the attitude changes of the spacecraft in real time and provide attitude compensation data for the system; Celestial body position information: pre-stored in the task management unit, including the coordinates and motion patterns of the target celestial body; Position calculation: The tracking calculation unit uses the above information to calculate the precise position of the tracked celestial body at the current moment through a complex algorithm.

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