Micro-nano satellite group multi-view interactive fusion perception simulation system

Abstract

The invention discloses a micro-nano satellite group multi-view interactive fusion perception simulation system. The system comprises a dynamic data packet analysis module which outputs the number of target satellites, the number of observation satellites, the distance between the satellites and the observation distance between the target satellites and the observation satellites; the interactive interface optical parameter module sets optical parameters such as optical load, imaging resolution and camera focal length; the target characteristic simulation module is used for setting the characteristics of a target satellite; the optical environment simulation module simulates a space environment, generates a target multi-view observation sequence image with dynamically changed illumination, size and position, and transmits the image to the satellite group decision module through the UDP network by the imaging result transmission module; and the star group decision module performs multi-view fusion on the image, senses the target number and the relative orbit in the image, compares the target number and the relative orbit with the target star number and the observation distance in the dynamic data packet analysis module, and judges the sensing accuracy. According to the method, multi-view interactive fusion perception simulation of the micro-nano satellite group is realized, and technical support is provided for space-based deployment of the micro-nano satellite group.

Description

Technical Field

[0001] The present invention relates to a microsatellite constellation multi-view interactive fusion perception simulation system, belonging to the field of multi-satellite collaborative space measurement. Background Art

[0002] The "group-to-group" space game has become the key in the field of space situation awareness. Due to the small volume, mass and envelope of microsatellites, they have many advantages such as flexible control, portable launch, and low cost. The space game based on microsatellite constellations becomes particularly important. Each microsatellite is equipped with a low-cost imaging camera. By taking advantage of the configuration switching, multi-field-of-view, multi-angle, and multi-modal collaborative observations of the game area can be carried out, which can expand the perception ability and range and achieve the ability of refined perception.

[0003] Considering the many advantages of the multi-view interactive fusion perception of microsatellite constellations, which takes into account high-timeliness and high-efficiency observations, simulating and verifying its progress can lay a foundation for future space-based applications. Limited by many constraints such as the large number of microsatellites in the constellation, the space microgravity environment, the complex lighting environment, orbital dynamics, and simulations covering 300Km, the verification of the multi-view interactive fusion perception of microsatellite constellations has become an international problem. The existing semi-physical simulation verification cannot simulate more than 6 satellites and only covers simulations within a range of 20m. Conducting tests takes a long time, is expensive, and the test conditions and scenarios are limited, and it cannot fully meet the needs of simulating complex on-orbit environments. In contrast, digital simulation has low cost, rich set scenarios, and diverse on-orbit conditions, and can provide inputs for ground algorithm testing and verification. However, the simulation systems developed based on traditional Satellite Tool Kit etc. cannot achieve functions such as dynamic data loading, optical parameter setting, target characteristic simulation, space optical environment module, and constellation decision-making closed-loop. There is an urgent need to design a microsatellite constellation multi-view interactive fusion perception simulation system, which is jointly driven by a dynamic data packet analysis module, a target satellite and observation satellite mode setting module, an interactive interface optical parameter setting module, a target characteristic simulation module, an optical environment simulation module, an imaging result transmission module, a constellation decision-making module, etc., to provide realistic physical constraints for the microsatellite constellation multi-view interactive fusion perception simulation system. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: overcoming the deficiencies of the prior art, providing a microsatellite constellation multi-view interactive fusion perception simulation system, developing a constellation collaborative perception imaging simulation system suitable for the demonstration and performance assessment of space situation awareness systems based on the modular design concept, and providing important technical support for the optimal design and capacity improvement of space situation awareness systems.

[0005] The technical solution of the present invention is: a multi-view interactive fusion perception simulation system for a micro-nano satellite constellation, including: a dynamic data packet parsing module, a target star and observation star mode setting module, an interactive interface optical parameter setting module, a target characteristic simulation module, an optical environment simulation module, an imaging result transmission module, and a satellite constellation decision-making module; wherein:

[0006] The dynamic data packet parsing module receives dynamic data, parses out the number of target stars, the number of observation stars, the inter-satellite distance, and the observation distance between the target star and the observation star, and sends them to the target star and observation star mode setting module; parses out the pointing information of the observation camera and sends it to the interactive interface optical parameter setting module;

[0007] The target star and observation star mode setting module receives the output of the dynamic data packet parsing module and provides a micro-nano satellite constellation database, a human-computer interaction interface, and a visual display interface;

[0008] The interactive interface optical parameter setting module uses the pointing information of the observation camera of the dynamic data packet parsing module to set optical parameters through the human-computer interaction interface and sends the above parameters to the optical environment simulation module;

[0009] The target characteristic simulation module sets the characteristics of the target star based on the number of targets and the observation distance determined by the target star and observation star mode setting module;

[0010] The optical environment simulation module, on the one hand, simulates sunlight, starry sky background, and earth background, and on the other hand, receives the observation scene information output by the target star and observation star mode setting module, the imaging information output by the interactive interface optical parameter setting module, and the target brightness information output by the target characteristic simulation module to generate a multi-view observation sequence image of the target with dynamically changing illumination, size, and position;

[0011] The imaging result transmission module receives the multi-view observation sequence image of the target output by the optical environment simulation module and transmits it to the satellite constellation decision-making module through the UDP network;

[0012] After receiving the target observation image, the satellite constellation decision-making module performs multi-view fusion on the image, detects the number of targets and the relative orbit in the image, re-sets the inter-satellite distance and camera pointing of the observation star according to the perception result, and transmits the perception result to the dynamic data packet parsing module through the UDP network.

[0013] Preferably, the dynamic data packet parsing module includes a dynamic parsing unit, a dynamic update unit, and a dynamic data output unit, with a total of two operating states: an initialization state and a closed-loop operating state. Specifically:

[0014] In the initialization state, the kinetic analysis unit receives the externally provided kinetic data, analyzes the number of target stars, the number of observed stars, the inter-star distance, the observed distance between the target star and the observed star, and the pointing information of the observation camera, and uses the kinetic data output unit to output data to the target star and observed star mode setting module and the optical parameter setting module of the interactive interface via the UDP network;

[0015] After completing the initialization state, it enters the closed-loop operation state. The kinetic update unit receives the updated kinetic data from the star cluster decision module via the UDP network, sends it to the kinetic analysis unit and analyzes the number of target stars, the number of observed stars, the inter-star distance, and the observed distance between the target star and the observed star, and uses the kinetic data output unit to output data to the target star and observed star mode setting module and the optical parameter setting module of the interactive interface via the UDP network.

[0016] Preferably, the target star and observed star mode setting module includes: a simulated micro-nano star cluster database, a visual display interface, and a human-computer interaction interface, where:

[0017] The micro-nano star cluster database provides target stars and observed stars for demonstration according to the analysis result of the kinetic data packet; the human-computer interaction interface provides an interface for selecting the number of micro-nano stars, the inter-star distance, and the observed distance; the visual display interface visually displays the selected number of micro-nano stars, the inter-star distance, and the observed distance;

[0018] The target star and observed star mode setting module has two operating states: the initialization state and the closed-loop operation state. Specifically:

[0019] After the human-computer interaction interface is opened in the initialization state, the number of micro-nano stars, target stars, and observed stars provided by the micro-nano star cluster database, as well as the observed distance and inter-star distance between the target star and the observed star, are initialized, and the visual display interface displays the initial state;

[0020] After the initialization state, it enters the closed-loop operation state. The target star and observed star mode setting module receives the number of target stars, the number of observed stars, the inter-star distance, and the observed distance between the target star and the observed star output by the kinetic data packet analysis module; the micro-nano star cluster database provides the number of target stars and observed stars, the observed distance and inter-star distance between the target star and the observed star according to the information input by the kinetic data packet analysis module, and the above content is displayed through the visual display interface.

[0021] Preferably, the optical parameter setting module of the interactive interface receives the pointing information of the observation camera from the kinetic data packet analysis module via the UDP network, and sets the type of optical payload, imaging resolution, sensitivity, field of view, aperture, pixel, gain, entrance pupil, camera focal length, and optical film response through the human-computer interaction interface, and sends the above parameters to the optical environment simulation module.

[0022] Preferably, the target characteristic simulation module receives the target quantity and the observation distance output by the target star and observation star mode setting module through the UDP network; the content for setting the characteristics of the target star includes: target size, attributes at different distances, attachments carried by the target, and the material of the target surface;

[0023] Outputs target characteristic simulation information to the optical environment simulation module through the UDP network.

[0024] Preferably, the optical environment simulation module further includes a sunlight simulation unit, a starry sky background simulation unit, and an earth background simulation unit, which are respectively used to simulate sunlight, starry sky background, and earth background; among them:

[0025] The sunlight simulation unit simplifies solar radiation into blackbody radiation at 5900K, and the solar constant is taken as 1353W / m 2 ;

[0026] The starry sky background simulation unit selects the Hipparcos Catalog as the reference star catalog, and selects stars with magnitudes greater than 0 and less than 8 to form the starry sky background;

[0027] The earth background simulation unit assumes the earth as a diffuse reflection and follows the Lambert cosine law, and the reflectivity of the earth is selected as the average reflectivity of the earth's atmospheric system, 0.367.

[0028] Preferably, the imaging result transmission module includes a storage unit and a sending unit; among them:

[0029] The storage unit receives the target observation image output by the optical environment simulation module;

[0030] The sending unit encodes and compresses the image using software interface instructions and sends it to the star cluster decision-making module through the UDP network.

[0031] Preferably, the star cluster decision-making module includes an image receiving unit, an image fusion unit, a target perception unit, a star cluster configuration calculation unit, and a data sending unit, among which:

[0032] The image receiving unit receives the target observation image through the UDP network, decodes and decompresses it, and transmits it to the image fusion unit using software interface instructions;

[0033] The image fusion unit superimposes and fuses the multi-view images of the observed star cluster and sends them to the target perception unit using software interface instructions;

[0034] The target perception unit receives the fused image, uses the Yolo target detection method to identify and detect the target quantity, uses the angle-only positioning method to calculate the relative position information of the target, that is, the relative orbit, and sends the above calculation results to the star cluster configuration calculation unit using software interface instructions;

[0035] After receiving the above solution results, the constellation configuration calculation unit recalculates the configuration of the observed constellation, the inter-satellite distance, and the camera pointing information, and sends them to the data sending unit through software interface instructions;

[0036] The data sending unit compresses the information of the observed constellation into dynamic data, transmits it to the dynamic data packet parsing module through the UDP network, and compares it with the number of target stars and the observed distance initially parsed in the dynamic data packet parsing module to judge the perception accuracy.

[0037] The present invention has the following advantages compared with the prior art:

[0038] (1) In the present invention, the multi-view interactive fusion perception simulation system of micro-nano satellite constellations is jointly driven by a dynamic data packet parsing module, a target star and observed star mode setting module, an interactive interface optical parameter setting module, a target characteristic simulation module, an optical environment simulation module, an imaging result transmission module, a constellation decision module, etc., and can dynamically and real-time simulate imaging images including starry sky background, earth background and solar illumination changes, with the advantages of high fidelity and scene demonstrability.

[0039] (2) The multi-view interactive fusion perception simulation system of micro-nano satellite constellations converts the scene simulation image into a digital signal through the UDP protocol and outputs it to the physical computer, and inputs the generated image through the physical computer test port at a fixed frequency. The physical computer processes the star map and calculates information such as the orbit corresponding to the star map, and analyzes the target information, so as to achieve the purpose of real-time dynamically simulating the working process of the micro-nano satellite simulator, with the advantage of dynamic demonstrability.

[0040] (3) The target simulation covers the range from 300 km to 20 m from far to near, and the resolution of the visible light image gradually increases, realistically simulating the imaging characteristics of space targets.

[0041] (4) The multi-view interactive fusion perception simulation system of micro-nano satellite constellations adopts the modular design concept, and each module can be independently fine-tuned for algorithms, which is convenient for the later update and iteration of the perception simulation system, with the advantage of strong portability.

[0042] (5) The material simulation of the satellite surface uses physically based rendering, which refers to a collection of rendering techniques that are all based to some extent on basic theories that are more consistent with the physical principles of the real world. This rendering method uses a more physically consistent way to simulate light, and this rendering method is more realistic.

[0043] (6) The target characteristic simulation module simulates the target size of the target star, the attributes of the target at different distances, the attachments carried by the target, and the material of the target surface. Through the physical rendering method, the spatial state of the satellite is realistically restored, increasing the fidelity of the scene.

[0044] (7) The optical environment simulation module highly realistically restores the positions of sunlight, star positions, and Earth background positions, etc., based on the orbital information obtained through dynamic analysis, increasing the realism of the scene. At the same time, by simplifying solar radiation, selecting magnitudes, setting the Earth background reflectivity, etc., the authenticity of the spatial illumination in the simulation environment is increased.

[0045] (8) The imaging result transmission module encodes and compresses the images, and the star cluster decision-making module decodes and decompresses them, increasing the stability of the sequential image transmission and reducing the congestion of the UDP network.

[0046] (9) The interaction between the star cluster decision-making module and the dynamic data packet analysis module, the target star and observation star mode setting module, and the interactive interface optical parameter setting module forms a system closed-loop, forming a full-process simulation. Description of the Drawings

[0047] Figure 1 It is a schematic diagram of the system composition of the present invention. Detailed Embodiments

[0048] In order to effectively achieve the index demonstration, scheme design, performance optimization of the multi-star collaborative perception system, as well as the assessment, evaluation, and verification of the information processing ability, while deeply understanding the system working mode, based on orbital dynamics and the imaging mechanism of the optical system, a full-link imaging simulation model that comprehensively considers the mutual coupling relationships of the target, background, payload, and platform, etc., is constructed. Based on the modular design concept, a star cluster collaborative perception imaging simulation system applicable to the demonstration and performance assessment of the space situation awareness system is developed, providing important technical support for the optimized design and capacity improvement of the space situation awareness system.

[0049] A micro-nano satellite cluster multi-view interactive fusion perception simulation system, characterized by including: a dynamic data packet analysis module, a target star and observation star mode setting module, an interactive interface optical parameter setting module, a target characteristic simulation module, an optical environment simulation module, an imaging result transmission module, and a star cluster decision-making module; wherein:

[0050] The dynamic data packet analysis module includes an initialization state and a closed-loop operation state. In the initialization state, the dynamic data packet analysis module receives the dynamic data in txt format provided externally, and analyzes the number of target stars, the number of observation stars, the inter-satellite distance, and the observation distance between the target star and the observation star. After completing the initialization state, it enters the closed-loop operation state. The dynamic data packet analysis module receives the updated dynamic data from the star cluster decision-making module through the UDP network, and analyzes the number of target stars, the number of observation stars, the inter-satellite distance, and the observation distance between the target star and the observation star.

[0051] The target star and observation star mode setting module receives the number of target stars, the number of observation stars, the inter-star distance, and the observation distance between the target star and the observation star output by the dynamic data packet parsing module. The target star and observation star mode setting module includes a simulated micro-nano satellite constellation database, a visual display interface, and a human-computer interaction interface. The micro-nano satellite constellation database provides target stars and observation stars for demonstration. According to the parsing result of the dynamic data packet, the number of target stars, the number of observation stars, the inter-star distance, and the observation distance are selected through the human-computer interaction interface, and the visual display interface performs visual display on the selected number of target stars, the number of observation stars, the inter-star distance, and the observation distance;

[0052] The interactive interface optical parameter setting module receives the pointing information of the observation camera output by the dynamic data packet parsing module, and sets parameters such as optical payload, imaging resolution, and camera focal length by providing a human-computer interaction interface, and sends the above parameters to the optical environment simulation module;

[0053] The target characteristic simulation module receives the number of targets and the observation distance output by the target star and observation star mode setting module, and sets the characteristics of the target star, including target size, attributes at different distances, attachments carried by the target, and target surface material;

[0054] The optical environment simulation module simulates sunlight, starry sky background, and earth background. The optical environment simulation module receives the observation scene information output by the target star and observation star mode setting module, receives the imaging information output by the interactive interface optical parameter setting module, receives the target brightness information output by the target characteristic simulation module, and generates multi-view observation sequence images of the target with dynamically changing illumination, size, and position.

[0055] The imaging result transmission module receives the multi-view observation sequence images of the target output by the optical environment simulation module and transmits them to the satellite constellation decision module through the UDP network;

[0056] After receiving the target observation images, the satellite constellation decision module performs multi-view fusion on the images, perceives the number of targets and the relative orbit in the images, re-sets the inter-star distance and camera pointing of the observation stars according to the perception result, and transmits the perception result to the dynamic data packet parsing module, the target star and observation star mode setting module, and the interactive interface optical parameter setting module through the UDP network, and compares with the number of target stars and the observation distance in the dynamic data packet parsing module to judge the perception accuracy.

[0057] I. Dynamic data packet parsing module:

[0058] It includes a dynamic parsing unit, a dynamic update unit, and a dynamic data output unit.

[0059] The operating mode includes an initialization state and a closed-loop operating state.

[0060] In the initialization state, the dynamics analysis unit receives the dynamics data in txt format provided externally, parses the number of target stars, the number of observation stars, the inter-star distance, the observation distance between the target star and the observation star, and the pointing information of the observation camera, and uses the dynamics data output unit to output data to the target star and observation star mode setting module and the optical parameter setting module of the interactive interface via the UDP network.

[0061] After completing the initialization state and entering the closed-loop operation state, the dynamics update unit receives the updated dynamics data from the star cluster decision module via the UDP network, sends it to the dynamics analysis unit and parses the number of target stars, the number of observation stars, the inter-star distance, and the observation distance between the target star and the observation star, and uses the dynamics data output unit to output data to the target star and observation star mode setting module and the optical parameter setting module of the interactive interface via the UDP network.

[0062] II. Target star and observation star mode setting module

[0063] It includes a simulated micro-nano star cluster database, a visual display interface, and a human-computer interaction interface. The micro-nano star cluster database provides target stars and observation stars for demonstration. According to the parsing result of the dynamics data packet, the number of micro-nano stars, the inter-star distance, and the observation distance are selected through the human-computer interaction interface, and the visual display interface displays the selected number of micro-nano stars, the inter-star distance, and the observation distance.

[0064] The operating mode includes an initialization state and a closed-loop operation state.

[0065] In the initialization state, after the human-computer interaction interface is opened, the micro-nano star cluster database provides 100 micro-nano stars. The initial number of target stars is 50, the initial number of observation stars is 50, the observation distance between the target star and the observation star is set to 100 Km, and the inter-star distance is all set to 100 m, which is displayed through the visual display interface.

[0066] After completing the initialization state and entering the closed-loop operation state, the target star and observation star mode setting module receives the number of target stars, the number of observation stars, the inter-star distance, and the observation distance between the target star and the observation star output by the dynamics data packet parsing module. The micro-nano star cluster database provides the number of target stars and observation stars, the observation distance between the target star and the observation star, and the inter-star distance according to the information input by the dynamics data packet parsing module, and displays it through the visual display interface.

[0067] III. Optical parameter setting module of the interactive interface:

[0068] The interactive interface optical parameter setting module receives the pointing information of the observation camera from the kinetic data packet parsing module through the UDP network, and sets the types of optical payloads, imaging resolutions, sensitivities, field of view angles, apertures, pixels, gains, entrance pupils, camera focal lengths, and optical film responses through the human-computer interaction interface, and sends the above parameters to the optical environment simulation module;

[0069] IV. Target characteristic simulation module:

[0070] The target characteristic simulation module receives the number of targets and the observation distance output by the target star and observation star mode setting module through the UDP network, and sets the characteristics of the target star, including the target size, the attributes of the target at different distances, the accessories carried by the target, and the material of the target surface;

[0071] The target size is set to 2m × 2m × 2m;

[0072] The accessories carried by the target are set to solar panels, docking rings, sailboards, observation cameras, and antennas;

[0073] The material of the target surface is set to aluminum alloy, the sailboard is made of gallium arsenide material, and the surfaces of the other accessories are covered with gold-plated aluminized polyethylene film;

[0074] The target is set to be a point target for imaging at 300 - 15 km, a volume target for imaging at 15 km - 2 km, and a planar target for imaging at 2 km - 20 m;

[0075] Output the target characteristic simulation information to the optical environment simulation module through the UDP network.

[0076] V. Optical environment simulation module,

[0077] The optical environment simulation module receives the observation scene information output by the target star and observation star mode setting module, the imaging information output by the interactive interface optical parameter setting module, and the target brightness information output by the target characteristic simulation module through the UDP network, and generates a multi-view sequence of images of the target with dynamically changing illumination, size, and position;

[0078] The optical environment simulation module mainly includes a solar light simulation unit, a starry sky background simulation unit, and an earth background simulation unit. Among them, in the solar light simulation unit, the solar radiation is simplified to blackbody radiation at 5900K, and the solar constant is taken as 1353W / m 2 ; The starry sky background simulation unit selects the Hipparcos catalog as the reference catalog, and selects stars with magnitudes greater than 0 and less than 8 to form the starry sky background; The earth background simulation unit assumes that the earth is a diffuse reflector and follows the Lambert cosine law, and the reflectivity of the earth is selected as the average reflectivity of the earth's atmosphere system, which is 0.367.

[0079] VI. Imaging result transmission module:

[0080] The imaging result transmission module includes a storage unit and a sending unit. The storage unit is set to 30G of memory, receives the target observation image output by the optical environment simulation module, and uses the software interface instruction to send it to the sending unit. The sending unit encodes and compresses the image and sends it to the constellation decision-making module via UDP.

[0081] VII. Constellation Decision-making Module

[0082] The constellation decision-making module includes an image receiving unit, an image fusion unit, a target perception unit, a constellation configuration calculation unit, and a data sending unit.

[0083] The image receiving unit receives the target observation image through the UDP network, decodes and decompresses it, and uses the software interface instruction to transmit it to the image fusion unit.

[0084] The image fusion unit superimposes and fuses the multi-view images of the observed constellation and uses the software interface instruction to send it to the target perception unit.

[0085] The target perception unit receives the fused image, uses the Yolo target detection method to identify the number of detected targets, uses the angle-only positioning method to calculate the relative position information of the targets, that is, the relative orbit, and uses the software interface instruction to send the above calculation results to the constellation configuration calculation unit.

[0086] After receiving the above calculation results, the constellation configuration calculation unit recalculates the configuration of the observed constellation, the inter-star distance, and the camera pointing information, and uses the software interface instruction to send it to the data sending unit.

[0087] The data sending unit compresses the configuration of the observed constellation, the inter-star position, and the camera pointing information into txt format dynamic data, transmits it to the dynamic data packet parsing module, the target star and observed star mode setting module, and the interactive interface optical parameter setting module via the UDP network, and compares the number of target stars and the observed distance in the dynamic data packet parsing module to judge the perception accuracy.

[0088] The present invention discloses a multi-view interactive fusion perception simulation system for a micro-nano satellite constellation, including: a dynamic data packet parsing module, a target satellite and observation satellite mode setting module, an interactive interface optical parameter setting module, a target characteristic simulation module, an optical environment simulation module, a satellite constellation decision-making module, an imaging result transmission module, and a satellite constellation decision-making module; among them, the dynamic data packet parsing module outputs the number of target satellites, the number of observation satellites, the inter-satellite distance, and the observation distance (relative orbit) between the target satellite and the observation satellite to the target satellite and observation satellite mode setting module, and outputs the observation camera pointing information to the interactive interface optical parameter setting module; the interactive interface optical parameter module receives the observation camera pointing information from the dynamic data packet parsing module and sets optical parameters such as optical payload, imaging resolution, and camera focal length; the target characteristic simulation module sets the characteristics of the target satellite, including target size, target brightness at different distances, accessories carried by the target, and target surface material, etc.; the optical environment simulation module receives the observation scene information output by the target satellite and observation satellite mode setting module, receives the imaging information output by the interactive interface optical parameter module, and receives information such as the target brightness output by the target characteristic simulation module, and generates a multi-view observation sequence image of the target with dynamically changing illumination, size, and position; the imaging result transmission module receives the multi-view observation sequence image of the target output by the optical environment simulation module and transmits it to the satellite constellation decision-making module through the UDP network; after receiving the multi-view observation sequence image of the target, the satellite constellation decision-making module performs multi-view fusion on the image, perceives the number of targets and the relative orbit in the image, re-sets the satellite constellation configuration, inter-satellite distance, and camera pointing of the observation satellites according to the perception result, and transmits the result to the dynamic data packet parsing module, the target satellite and observation satellite mode setting module, and the interactive interface optical parameter setting module through the UDP network, and compares it with the number of target satellites and the observation distance in the dynamic data packet parsing module to judge the perception accuracy. The present invention realizes the multi-view interactive fusion perception simulation of the micro-nano satellite constellation and provides technical support for the space-based deployment of the micro-nano satellite constellation.

[0089] The following further elaborates on the system setting process of the present invention.

[0090] As Figure 1 shown, the present invention provides a multi-view interactive fusion perception simulation system for a micro-nano satellite constellation, including the following steps:

[0091] Step S1, setting the target satellite and observation satellite mode.

[0092] Step S2, setting the optical parameters and detection distance of the interactive interface.

[0093] Step S3, parsing the dynamic data packet.

[0094] Step S4, the satellite constellation decision-making unit.

[0095] Step S5, simulating the optical environment.

[0096] Step S6, target characteristic simulation.

[0097] Step S7, imaging result transmission and storage.

[0098] Furthermore, the step S1 of target star and observation star mode setting includes the following steps:

[0099] S1.1 After the interactive interface is opened, a large group of 102 micro-nano satellites is simulated in the scene, in a state of waiting for initialization, and all are equipped with visible light cameras.

[0100] S1.2 Click the quantity selection on the interactive interface. When only 6 micro-nano satellites are selected for demonstration, the remaining micro-nano satellites are still in a state of waiting for initialization.

[0101] S1.3 Click the quantity selection on the interactive interface. When all 102 micro-nano satellites are selected for demonstration, the satellite group is formed into 17 small groups with 6 in each group. The visual display only randomly shows one of the groups, which has the same demonstration effect as that described in S1.2. When switching to other visual scenes, any one of the 17 groups can be cut out to show a scene similar to that in S1.2, and other functions are the same as those in S1.2.

[0102] Furthermore, the step S2 of optical parameter and detection distance setting on the interactive interface includes the following steps:

[0103] S2.1 The interactive interface has camera parameter settings, including resolution, sensitivity, field of view angle, aperture, optical system, pixel, gain, entrance pupil, focal length, optical film response, and transfer function.

[0104] S2.2 The interactive interface has detection distance selection, and the distance selection types are "greater than 300 Km", "300 km to 200 km", "200 km to 100 km", "100 km to 15 km", "15 km to 20 m", and "300 km~20 m".

[0105] Furthermore, the step S3 of dynamic data packet parsing includes the following steps:

[0106] S3.1 After the orbital dynamics data is calculated through external game decision-making, a data packet in txt format is formed.

[0107] S3.2 In the form of reading the data packet, using the UDP protocol of wired network communication, it is sent to the multi-view interactive fusion perception simulation system of the micro-nano satellite group. The multi-view interactive fusion perception simulation system of the micro-nano satellite group parses the data packet, and the orbital dynamics parameters in the data packet should be consistent with the number of micro-nano satellites set on the interactive interface.

[0108] S3.3. After parsing the kinetic data packet, complete the corresponding constellation kinetic initialization and drive the motion of the nano-satellites through the parsed data.

[0109] S3.4. Based on the results of the orbital dynamics initialization, the camera parameter settings on the interactive interface, and the detection distance settings on the interactive interface, estimate the positions of the nano-satellites relative to the sun and the earth, and refresh the starry sky background.

[0110] Further, the constellation decision unit in step S4 includes the following steps:

[0111] S4.1. Initialize the configuration of 6 nano-satellites with a natural fly-around configuration covering a distance beyond 300 km, and set the inter-satellite safe collision avoidance distance to 1 km.

[0112] S4.2. Cover a distance of 300 km - 200 km, and simulate 6 nano-satellites to cooperate in searching for 6 targets within a specified celestial area. The configuration is a wide-area search configuration, such as a linear shape.

[0113] S4.3. Cover a distance of 200 km - 100 km, and simulate 6 nano-satellites to cooperate in performing a line-of-sight tracking task on the 6 targets that have been searched. The constellation configuration switches to a line-of-sight tracking configuration, such as a hexagonal shape.

[0114] S4.4. Cover a distance of 100 km - 15 km, and simulate 6 nano-satellites to cooperate in warning about 1 threatening target. The constellation configuration switches to a warning configuration, such as a triangular shape.

[0115] S4.5. Cover a distance of 15 km - 20 m, and simulate 6 nano-satellites to cooperate in approaching the threatening target, and construct a fly-around configuration centered on the target.

[0116] Further, the optical environment simulation in step S5 includes the following steps:

[0117] S5.1. Simulation of stars such as the sun.

[0118] S5.2. Simulation of sunlight. Solar radiation is the most important radiation source for satellite targets. In engineering calculations, solar radiation is simplified to blackbody radiation at 5900 K, and 99.99% of its energy is concentrated in the wavelength range of 0.18 μm to 40 μm. The solar radiation flux density at the average sun-earth distance is a solar constant, and the solar constant value is used in the calculation of solar radiation. In the calculation, the solar constant is taken as 1353 W / m².

[0119] S5.3. Material simulation of the target surface, such as the sailboard, docking ring, sailboard, observation camera, and antenna. The geometric shape of the target satellite was modeled using Maya 3D modeling software. The satellite surface is covered with a gold aluminized polyethylene film, the upper surface of the cylinder is covered with a white paint thermal control coating, and the remaining surfaces are covered with aluminized polyethylene film. The sailboard is made of gallium arsenide material. The material simulation of the target surface is based on physical rendering, and the simulation is completed by jointly constraining the microplane-based surface model and energy conservation.

[0120] S5.4. Starry sky background simulation. The starry sky background simulation mainly consists of three parts: star point simulation, target simulation, and noise simulation.

[0121] The Hipparcos Catalog is selected as the reference catalog for star selection. This catalog contains the magnitude and azimuth information of each star. Since the catalog contains a large amount of star data, and only the magnitude and position information of candidate star points are concerned in the star chart simulation process, the catalog is usually preprocessed before the simulation. Stars with magnitudes greater than 0 and less than 8 are selected to form a sub-catalog, and the star chart simulation is completed based on the sub-catalog.

[0122] In the star point simulation, the pointing of the optical axis is determined according to the attitude information provided by the orbital dynamics simulation computer, and the star points within the field of view centered on the optical axis are found. The star points within the field of view are searched in a partitioned manner. The star points within the field of view are searched, and other sub-regions are ignored. Only the 3×3 sub-region is searched.

[0123] The target simulation is divided into three steps: satellite position calculation, satellite attitude description, and satellite characteristic simulation.

[0124] The noise is designed in two superposition methods. One is to take pictures of the star chart in the stray light laboratory and use it as the basis for star point superposition. The other method is to use the taken stray light star chart, calculate the background and variance of the star chart, and then fit the starry sky background noise according to the normal distribution.

[0125] S5.5. Earth background simulation. The variability of the Earth-atmosphere system makes the Earth's albedo radiation relatively complex. To simplify the solution process, the Earth is assumed to be a diffuse reflector and follow Lambert's cosine law. When calculating the Earth's albedo radiation, the reflectivity of the Earth is selected as the average reflectivity of the Earth-atmosphere system, and the value of the Earth's average reflectivity is 0.367.

[0126] Furthermore, the step S6 target characteristic simulation includes the following steps:

[0127] S6.1. Taking a typical satellite as the target, its typical size is 2m×2m×2m, carrying a 1m - 2m solar sailboard, made of aluminum alloy. The target approaching direction is along the orbital plane, within the range of ±15°×360, and the maximum speed is 100m / s for rendezvous and approach.

[0128] S6.2. The target covers a range from 300 km to 20 m in the order of decreasing distance, and the resolution of the visible light image gradually increases; among them, 300 - 15 km are dim weak targets, 15 km - 2 km are point targets, and 2 km - 20 m are surface targets.

[0129] S6.3. The target exhibits the characteristics of a dim weak target at a distance and is easily submerged in a large number of natural celestial bodies or backgrounds.

[0130] S6.4. The accessories carried by the target include a docking ring, a solar panel, an observation camera, and an antenna.

[0131] Furthermore, the step S7 of imaging result transmission and storage includes the following steps:

[0132] S7.1. Provide a realistic visible light imaging image.

[0133] S7.2. The imaging frequency is greater than 15 Hz.

[0134] S7.3. The image resolution is not lower than 1024 * 1024.

[0135] S7.4. The imaging result is saved locally. The imaging result is input into a physical computer through a network data serial port for image processing. The processed result of the image is input into the star cluster decision computer described in S3.1 to obtain the decision information of the star cluster. The decision information is communicated through the UDP protocol of a wired network port and then returned to the interaction interface described in S3.2.

[0136] The content not described in detail in the specification of the present invention belongs to the prior art well-known to those skilled in the art.

Claims

1. A micro-nano constellation multi-perspective interactive fusion perception simulation system, characterized in that include: Dynamics data packet parsing module, target star and observation star mode setting module, interactive interface optical parameter setting module, target characteristic simulation module, optical environment simulation module, imaging result transmission module, star cluster decision module; Among them: The dynamics data packet parsing module receives the dynamics data, parses out the number of target stars, the number of observed stars, the distance between stars, and the observed distance between the target star and the observed star, and sends it to the target star and observed star mode setting module; parses out the observation camera pointing information and sends it to the interactive interface optical parameter setting module; The target star and observation star mode setting module receives the output of the dynamics data packet parsing module and provides a micro-nano star cluster database, a human-computer interaction interface, and a visual display interface; The interactive interface optical parameter setting module uses the observation camera pointing information of the dynamic data packet parsing module to set the optical parameters through the human-computer interactive interface, and sends the above parameters to the optical environment simulation module; The target characteristic simulation module sets the characteristics of the target star based on the number of targets and the observation distance determined by the target star and observation star mode setting module; The optical environment simulation module simulates sunlight, starry sky background and earth background on the one hand, and receives the observation scene information output by the target star and observation star mode setting module, the imaging information output by the interactive interface optical parameter setting module and the target brightness information output by the target characteristic simulation module on the other hand, and generates a multi-view observation sequence image of the target with dynamically changing illumination, size and position; The imaging result transmission module receives the target multi-view observation sequence images output by the optical environment simulation module and transmits them to the constellation decision module through the UDP network; After receiving the target observation image, the constellation decision module performs multi-perspective fusion on the image, detects the number of targets and relative orbits in the image, resets the inter-star distance and camera pointing of the observed stars according to the perception results, and transmits the perception results to the dynamic data packet parsing module through the UDP network.

2. According to claim 1, a micro-nano star cluster multi-perspective interactive fusion perception simulation system is characterized by: The dynamics data package parsing module includes a dynamics parsing unit, a dynamics update unit and a dynamics data output unit. There are two operating states: initialization state and closed-loop operation state. Specifically: In the initialization state, the dynamics analysis unit receives the dynamics data provided by the outside, analyzes the number of target stars, the number of observed stars, the distance between stars, the observed distance between the target star and the observed star, and the pointing information of the observation camera, and uses the dynamics data output unit to output data to the target star and observation star mode setting module and the interactive interface optical parameter setting module via the UDP network; After completing the initialization state, it enters the closed-loop operation state. The dynamics update unit receives the dynamics data updated by the star cluster decision module through the UDP network, sends it to the dynamics analysis unit and analyzes the number of target stars, the number of observed stars, the inter-satellite distance, and the observed distance between the target star and the observed star. The dynamics data output unit outputs data to the target star and observed star mode setting module and the interactive interface optical parameter setting module through the UDP network.

3. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1 is characterized by: The target star and observation star mode setting module includes: simulated micro-nano star cluster database, visual display interface and human-computer interaction interface, among which: The micro-nano star cluster database provides target stars and observation stars for demonstration, according to the analysis results of the dynamics data package; the human-computer interaction interface provides an interface for selecting the number of micro-nano stars, the distance between stars and the observation distance; the visual display interface displays the selected number of micro-nano stars, the distance between stars and the observation distance; The target star and observation star mode setting module has two operating states: initialization state and closed-loop operation state. Specifically: After the human-computer interaction interface is opened in the initialization state, the number of micro-nano stars, target stars, and observed stars provided by the micro-nano star cluster database, as well as the observed distance between the target star and the observed star and the inter-satellite distance are initialized, and the visual display interface shows the initial state; After the initialization state, it enters the closed-loop operation state. The target star and observation star mode setting module receives the number of target stars, the number of observation stars and the inter-star distance, and the observation distance between the target star and the observation star output by the dynamic data packet parsing module; the micro-nano star cluster database provides the number of target stars and observation stars, the observation distance between the target star and the observation star, and the inter-star distance based on the information input by the dynamic data packet parsing module. The above content is displayed through the visual display interface.

4. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1, characterized in that: The interactive interface optical parameter setting module receives the observation camera pointing information from the dynamic data packet parsing module through the UDP network, and sets the optical load type, imaging resolution, sensitivity, field of view, aperture, pixel, gain, entrance pupil, camera focal length, and light film response through the human-computer interactive interface, and sends the above parameters to the optical environment simulation module.

5. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1, characterized in that: The target characteristic simulation module receives the target number and observation distance output by the target star and observation star mode setting module through the UDP network; The contents of setting the characteristics of the target star include: target size, target attributes at different distances, accessories carried by the target and target surface material; Output the target characteristic simulation information to the optical environment simulation module through the UDP network.

6. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1, characterized in that: The optical environment simulation module also includes a sunlight simulation unit, a starry sky background simulation unit, and an earth background simulation unit, which are used to simulate sunlight, starry sky background, and earth background respectively; among which: The solar simulation unit simplifies solar radiation into 5900K blackbody radiation, and the solar constant is 1353W / m 2 ; The starry sky background simulation unit uses the Hipparcos star catalog as a reference star catalog, and selects stars with magnitudes greater than 0 and less than 8 to form the starry sky background; The earth background simulation unit assumes that the earth is diffuse and follows Lambert's cosine theorem. The reflectivity of the earth is the average reflectivity of the earth's atmosphere system, which is 0.

367.

7. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1, characterized in that: The imaging result transmission module includes a storage unit and a sending unit; wherein: The storage unit receives the target observation image output by the optical environment simulation module; The sending unit compresses the image encoding using software interface instructions and sends it to the constellation decision module using the UDP network.

8. The micro-nano star cluster multi-perspective interactive fusion perception simulation system according to claim 1, characterized in that: The constellation decision module includes an image receiving unit, an image fusion unit, a target sensing unit, a constellation configuration calculation unit, and a data sending unit, wherein: The image receiving unit receives the target observation image through the UDP network, decodes and decompresses it, and transmits it to the image fusion unit using software interface instructions; The image fusion unit superimposes and fuses the multi-view images of the observed star cluster and sends them to the target perception unit using software interface instructions; The target perception unit receives the fused image, uses the Yolo target detection method to identify the number of detected targets, uses the angle-only positioning method to solve the target relative position information, that is, the relative orbit, and uses the software interface instructions to send the above solution results to the constellation configuration calculation unit; After receiving the above solution results, the constellation configuration calculation unit recalculates the configuration of the observed constellation, the inter-satellite distance, and the camera pointing information, and sends them to the data sending unit using software interface instructions; The data sending unit compresses the information of the observed star cluster into dynamic data, transmits it to the dynamic data packet parsing module through the UDP network, and compares it with the number of target stars and the observation distance initially parsed in the dynamic data packet parsing module to determine the perception accuracy.

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