Target searching and tracking semi-physical simulation system and method thereof

Abstract

The invention discloses a target searching and tracking semi-physical simulation system and method, and the system comprises a dynamics simulation system which simulates the operation states of a satellite, a fixed star and a target in a space; the two optical simulators are electrically connected with the dynamics simulation system and respectively simulate and present satellites in the two view fields and fixed stars and targets near satellite operation orbits; the two optical search assemblies are used for respectively obtaining target image information in the two view fields; the two intermediate-frequency signal simulators are electrically connected with the dynamics simulation system and simulate and generate intermediate-frequency signals; the radio detector is electrically connected with the two intermediate-frequency signal simulators, and detects the moving speed and position information of the target relative to the satellite after receiving the intermediate-frequency signal; and the target searching and information tracking processor is used for receiving and processing information from the optical searching assembly and the radio detector. According to the invention, the problems of small detection coverage and low detection precision in the detection of the space debris target around the satellite can be solved.

Description

Technical Field

[0001] The invention relates to the technical field of semi-physical simulation, in particular to a target searching and tracking semi-physical simulation system and method thereof. Background Art

[0002] The existing target search and tracking system only detects the azimuth, elevation and relative distance of the target through radar, and the accuracy is low. In the improvement of the existing target search and tracking system, it is found that the application of optical search components and radio detectors to the target search and tracking system can better achieve the role of target search and tracking. Among them, after the optical search component finds the target, it guides the radio detector to track the target and performs high-precision azimuth and elevation angle measurements on the target; the radio detector can measure the distance between the target and the satellite, perform relative navigation, and fill in the blind spots of the optical search component's field of view and the areas affected by stray light.

[0003] Therefore, the present invention proposes a solution to the problem that the azimuth, pitch and relative distance of a target are detected only by radar in the prior art, but the detection accuracy is low. Summary of the invention

[0004] The purpose of the present invention is to provide a target search and tracking semi-physical simulation system and method thereof, which can solve the problems of small detection coverage and low detection accuracy in detecting space debris targets around satellites.

[0005] To achieve the above object, the present invention provides a target search and tracking semi-physical simulation system and method thereof, comprising:

[0006] A dynamic simulation system that simulates the operating states of satellites, stars, and targets in space; wherein the stars are used to determine the orbit and on-orbit attitude of the satellite;

[0007] Two optical simulators, both electrically connected to the dynamic simulation system, are used to simulate and present satellites in two fields of view, and stars and targets near the satellite orbits;

[0008] Two optical search components, respectively used to capture stars and target images in corresponding fields of view presented on the optical simulator, and obtain target image information after removing the stars;

[0009] Two intermediate frequency signal simulators, both electrically connected to the dynamic simulation system, for simulating and generating intermediate frequency signals in front of and behind the satellite;

[0010] A radio detector, electrically connected to the two intermediate frequency signal simulators, for receiving intermediate frequency signals in front of and behind the satellite, so as to detect and obtain the moving speed and position information of the target relative to the satellite;

[0011] The target search and information tracking processor is electrically connected to the optical search component and the radio detector, receives and processes the target image information, the moving speed and position information of the target from the optical search component and the radio detector, so as to perform detection and tracking of the target.

[0012] Optionally, a single optical simulator simulates and presents the stars and targets in half the field of view of the satellite's orbit, and two optical simulators are used to simulate and present the stars and targets in the full field of view of the satellite's orbit.

[0013] Optionally, a single optical search component obtains target image information of half the field of view of the satellite orbit, and two optical search components are used to obtain target image information of the full field of view of the satellite orbit; wherein the target image information includes: high-precision azimuth and pitch angle of the target.

[0014] Optionally, the optical search component includes:

[0015] The search camera takes images of stars and targets, and removes the star images to obtain target image information;

[0016] The optical driving mechanism is connected to the search camera, and the search camera is driven to rotate by the rotation of the optical driving mechanism.

[0017] Optionally, the radio detector comprises: 2 radio transceiver components and a radio wave information processor electrically connected to the radio transceiver components;

[0018] The two radio transceiver components are connected to the two intermediate frequency signal simulators in a one-to-one communication manner to collect the intermediate frequency signals of the transmission waves and echoes in front of and behind the satellite;

[0019] The radio wave information processor is used to receive the intermediate frequency signal to perform distance detection and moving speed analysis on targets near the satellite.

[0020] Optionally, the intermediate frequency signal generated by a single intermediate frequency signal simulator covers the front or rear of the satellite operation, and two intermediate frequency signal simulators are used to generate intermediate frequency signals that simultaneously cover the front and rear of the satellite operation.

[0021] Optionally, a single radio transceiver component detects a target ahead or behind the satellite, and two radio transceiver components detect targets ahead and behind the satellite.

[0022] The present invention also provides a target searching and tracking method, comprising the following steps:

[0023] S1, simulating the running states of satellites, stars and targets in space through the dynamic simulation system;

[0024] S2, simulating the satellite, and the stars and targets near the satellite orbit through the optical simulator; and simulating the intermediate frequency signals in front of and behind the satellite through the intermediate frequency signal simulator;

[0025] S3, obtaining a target and target information through the optical search component and the radio detector;

[0026] S4, uploading the target and target information to the target search and information tracking processor for security analysis and continuous tracking.

[0027] Optionally, step S3 includes:

[0028] Expose and obtain the star and target images in the corresponding field of view presented on the optical simulator through the search camera in the optical search component, and remove the star image to obtain the azimuth and elevation angle information of the target image;

[0029] The radio detector is used to fill in the blind spots in the field of view and the areas affected by stray light in the shooting of the search camera, so as to detect more target images; and the radio detector uses the intermediate frequency signal generated by the intermediate frequency signal simulator to detect the relative distance and relative moving speed between the targets and the satellite.

[0030] Optionally, step S4 includes:

[0031] The targets are divided into targets in the target library and targets outside the library, and safety analysis is performed on the targets in the library and targets outside the library according to the obtained azimuth, pitch angle, relative distance, and relative moving speed information;

[0032] The targets within the library and outside the library are continuously tracked.

[0033] In summary, compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The target search and tracking semi-physical simulation system and method provided by the present invention can integrate the information obtained by the optical search component and the radio detector, thereby improving the accuracy of target positioning;

[0035] 2. The present invention provides a target search and tracking semi-physical simulation system and method, which can quickly achieve full-range coverage search in the entire orbital plane by superimposing the field of view of the optical search component and the field of view of the radio detector. It can promptly detect targets such as space debris that collide with the satellite and avoid them in time, thereby fully ensuring the safety of the satellite. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the semi-physical simulation system of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the attached Figure 1 , the technical content, structural features, objectives achieved and effects of the present invention are described in detail through preferred embodiments.

[0038] It should be noted that the drawings are in a very simplified form and use non-precise proportions. They are only used to conveniently and clearly assist in explaining the embodiments of the present invention, and are not used to limit the conditions for the implementation of the present invention. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical content disclosed by the present invention.

[0039] In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The present invention provides a target search and tracking semi-physical simulation system, such as Figure 1As shown, the target search and tracking semi-physical simulation system includes: a dynamic simulation system 100, which is used to simulate the operating status of satellites, stars and targets in space; two optical simulators 200, which are both electrically connected to the dynamic simulation system 100 and are respectively used to simulate and present satellites in two fields of view, as well as stars and targets near the satellite orbit; two optical search components 300, which are respectively used to capture the images of stars and targets in the corresponding fields of view presented on the optical simulator 200, and obtain target image information after removing the stars; two intermediate frequency signal simulators 400, which are both electrically connected to the dynamic simulation system 100 and are used to simulate the generation of intermediate frequency signals; a radio detector 500, which is electrically connected to the two intermediate frequency signal simulators 400 and is used to receive intermediate frequency signals in front of and behind the satellite to detect targets near the satellite; a target search and information tracking processor 600, which is electrically connected to the optical search component 300 and the radio detector 500, receives and processes data from the optical search component 300 and the radio detector 500, and performs detection and tracking of targets.

[0042] The stars are used as reference points to determine the orbit and on-orbit attitude of the satellite; the targets mainly include space debris; and the satellite is a spacecraft.

[0043] Among them, a single optical simulator 200 can only simulate and present the stars and targets in the half field of view (180°) of the satellite orbit, while using two optical simulators 200 can simulate and present the stars and targets in the full field of view (360°) of the satellite orbit. Further, only the target image information in the half field of view (180°) of the satellite orbit can be obtained through a single optical search component 300, while the target image information in the full field of view (360°) of the satellite orbit can be obtained through two optical search components 300.

[0044] Furthermore, the target image information includes: high-precision azimuth and elevation angle of the target.

[0045] The optical search component 300 is a lightweight search component with a simple design, low resource consumption, and easy integration and deployment. It includes: a search camera that can capture star images and target images, and remove star images to obtain target image information; an optical drive mechanism that is connected to the search camera and drives the search camera to rotate through the rotation of the optical drive mechanism, thereby achieving full-field-of-view shooting of the orbital plane.

[0046] The radio detector 500 includes: two radio transceiver components 501 and a radio wave information processor 502 electrically connected to the radio transceiver components 501. The two radio transceiver components 501 are communicated one-to-one with the two intermediate frequency signal simulators 400 to collect the intermediate frequency signals of the transmission waves and echoes in front of and behind the satellite; the radio wave information processor 502 is used to receive the intermediate frequency signals to perform distance detection and moving speed analysis on targets near the satellite.

[0047] Among them, the intermediate frequency signal generated by a single intermediate frequency signal simulator 400 can only cover the front or rear of the satellite operation, and the use of two intermediate frequency signal simulators 400 can generate intermediate frequency signals that cover both the front and rear of the satellite operation. Further, a single radio transceiver component 501 can only detect targets in front of or behind the satellite operation, while two radio transceiver components 501 can detect targets in front of and behind the satellite operation.

[0048] Furthermore, the radio detector 500 can detect the moving speed and position information of the target.

[0049] The present invention also provides a method for searching and tracking a target through the semi-physical simulation system, comprising the following steps:

[0050] S1, simulating the operating states of satellites, stars and targets in space through the dynamics simulation system 100.

[0051] S2, through the optical simulator 200, simulate and present the satellite, as well as the stars and targets near the satellite orbit; and through the intermediate frequency signal simulator 400, simulate and generate the intermediate frequency signals in front of and behind the satellite.

[0052] S3, obtaining the target and target information through the optical search component 300 and the radio detector 500.

[0053] S3.1, exposing and obtaining the star and target images in the corresponding field of view presented on the optical simulator 200 through the search camera in the optical search component 300, and removing the star image to obtain the azimuth and elevation angle information of the target image;

[0054] S3.2, the radio detector 500 is used to fill in the blind spots in the field of view and the areas affected by stray light in the shooting of the search camera, so as to detect more target images; and the radio detector 500 uses the intermediate frequency signal generated by the intermediate frequency signal simulator 400 to detect and obtain the relative distance and relative moving speed between the targets and the satellite.

[0055] S4, uploading the target and target information to the target search and information tracking processor 600 for security analysis and continuous tracking.

[0056] S4.1, the targets are divided into in-library targets and out-library targets in the target library, and safety analysis is performed on the in-library targets and out-library targets according to the obtained azimuth, pitch angle, relative distance, and relative moving speed information.

[0057] S4.1.1, performing trajectory association on the target information of multiple consecutive shots detected by the optical search component 300 and the radio detector 500, and determining the target as the final target when the number of consecutive detections reaches a threshold;

[0058] S4.1.2, match the determined final target with the target library one by one, and define the matched final target as the target in the library, and define the unmatched final target as the target out of the library;

[0059] The above-mentioned target database is a database of known celestial bodies in orbit in aerospace;

[0060] S4.1.3, performing collision prediction analysis with the satellite according to the azimuth, pitch angle, relative distance, and relative moving speed information of the target inside the warehouse and the target outside the warehouse;

[0061] Among them, the safety of the targets in the library is relatively higher, that is, the possibility of collision with other targets is lower.

[0062] S4.2, continuously track the targets, including those inside and outside the library.

[0063] In summary, the target search and tracking semi-physical simulation system and method provided by the present invention can detect and continuously track target information such as known and unknown space debris in the orbital plane, and perform orbital recursion and management on the discovered targets, and timely avoid targets that may collide and threaten satellites, thereby improving the protection of satellite safety.

[0064] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the invention. After reading the above content, it will be obvious to those skilled in the art for various modifications and substitutions of the present invention. Therefore, the protection scope of the present invention should be limited by the attached claims.

Claims

1. A target search and tracking semi-physical simulation system, characterized in that: Include: A dynamic simulation system (100) simulates the operating states of satellites, stars and targets in space; wherein the stars are used to determine the orbit and on-orbit attitude of the satellite; Two optical simulators (200), both electrically connected to the dynamic simulation system (100), are used to simulate and present satellites within two fields of view, and stars and targets near the satellite orbits; Two optical search components (300), respectively used to photograph stars and target images in corresponding fields of view presented on the optical simulator (200), and to obtain target image information after removing the stars; Two intermediate frequency signal simulators (400), both electrically connected to the dynamics simulation system (100), for simulating and generating intermediate frequency signals in front of and behind the satellite operation; A radio detector (500) is electrically connected to the two intermediate frequency signal simulators (400) and is used to receive intermediate frequency signals in front of and behind the satellite to detect and obtain the moving speed and position information of the target relative to the satellite; The target search and information tracking processor (600) is electrically connected to the optical search component (300) and the radio detector (500), receives and processes the target image information, the moving speed and position information of the target from the optical search component (300) and the radio detector (500), so as to perform detection and tracking of the target.

2. The target search and tracking semi-physical simulation system according to claim 1, characterized in that: A single optical simulator (200) simulates and presents the stars and targets in a half field of view of the satellite orbit, and two optical simulators (200) are used to simulate and present the stars and targets in a full field of view of the satellite orbit.

3. The target search and tracking semi-physical simulation system as claimed in claim 2, characterized in that: A single optical search component (300) obtains target image information of a half field of view of the satellite orbit, and two optical search components (300) are used to obtain target image information of a full field of view of the satellite orbit; wherein the target image information includes: a high-precision azimuth and pitch angle of the target.

4. The target search and tracking semi-physical simulation system according to claim 1, characterized in that: The optical search component (300) comprises: The search camera takes images of stars and targets, and removes the star images to obtain target image information; The optical driving mechanism is connected to the search camera, and the search camera is driven to rotate by the rotation of the optical driving mechanism.

5. The target search and tracking semi-physical simulation system according to claim 1, characterized in that: The radio detector (500) comprises: two radio transceiver components (501) and a radio wave information processor (502) electrically connected to the radio transceiver components (501); The two radio transceiver components (501) are connected to the two intermediate frequency signal simulators (400) in a one-to-one communication manner to collect intermediate frequency signals of the transmission waves and echoes in front of and behind the satellite; The radio wave information processor (502) is used to receive the intermediate frequency signal to perform distance detection and moving speed analysis on targets near the satellite.

6. The target search and tracking semi-physical simulation system according to claim 5, characterized in that: The intermediate frequency signal generated by a single intermediate frequency signal simulator (400) covers the front or back of the satellite operation, and two intermediate frequency signal simulators (400) are used to generate intermediate frequency signals that simultaneously cover the front and back of the satellite operation.

7. The target search and tracking semi-physical simulation system according to claim 6, characterized in that: A single radio transceiver assembly (501) detects a target ahead or behind the satellite, and two radio transceiver assemblies (501) detect targets ahead and behind the satellite.

8. A target search and tracking method, implemented by using the target search and tracking semi-physical simulation system according to any one of claims 1 to 7, characterized in that: The following steps are included: S1, simulating the operating states of satellites, stars and targets in space through the dynamics simulation system (100); S2, simulating the satellite, stars and targets near the satellite orbit through the optical simulator (200); and simulating the generation of intermediate frequency signals in front of and behind the satellite through the intermediate frequency signal simulator (400); S3, obtaining a target and target information through the optical search component (300) and the radio detector (500); S4, uploading the target and target information to the target search and information tracking processor (600) for security analysis and continuous tracking.

9. The target search and tracking method as claimed in claim 8, characterized in that: The step S3 comprises: Exposing and obtaining the star and target images in the corresponding field of view presented on the optical simulator (200) through a search camera in the optical search component (300), and removing the star image to obtain the azimuth and elevation angle information of the target image; The radio detector (500) is used to fill in the blind area of ​​the field of view and the area affected by stray light in the shooting of the search camera, so as to detect more target images; and the radio detector (500) uses the intermediate frequency signal generated by the intermediate frequency signal simulator (400) to detect and obtain the relative distance and relative moving speed between the targets and the satellite.

10. The target search and tracking method according to claim 9, characterized in that: The step S4 comprises: The targets are divided into targets in the target library and targets outside the library, and safety analysis is performed on the targets in the library and targets outside the library according to the obtained azimuth, pitch angle, relative distance, and relative moving speed information; The targets within the library and outside the library are continuously tracked.

Images