Experimental design method for multi-view sensing, gaming and planning of micro-nano satellite group

Abstract

The invention provides an experimental design method for multi-view sensing, gaming and planning of a micro-nano satellite group. The experimental design method comprises the following steps: designing a micro-nano satellite group simulator and a target simulator; the ground experiment environment simulation and initialization complete initialization of a space microgravity environment, a complex space illumination environment and a measurement data link; the micro-nano satellite group simulator completes image acquisition and transmission, and the multi-view fusion sensing module of the central processing unit carries out image fusion and pose output; the game decision module predicts satellite group trajectory information through the input pose; the planning control module enables the micro-nano satellite to reach a preset position by controlling the jet flow of the satellite group simulator; the motion capture system evaluates the star group trajectory execution condition in the whole course through a motion capture camera, a visual mark point and the like. The ground experiment design method provided by the invention has the ability of autonomous information collaboration of multiple micro-nano satellites, and realizes full-flow ground experiment verification of multi-view fusion perception, game decision and planning control.

Description

Technical Field

[0001] The present invention relates to an experimental design method for multi - perspective perception, game and planning of a microsatellite constellation, belonging to the field of space multi - satellite collaborative perception and control. Background Art

[0002] Based on the autonomous collaboration of a microsatellite constellation, it has the capabilities of multi - perspective fusion perception, game decision - making and planning control, and has the advantages of short - time fine perception, wide - area large - field - of - view observation, cluster information interaction and fusion, etc. It has become an important development direction in the current domestic and international space perception field, and also a field vigorously developed by commercial spaceflight.

[0003] Simulating the autonomous collaborative information fusion perception of a microsatellite constellation in a ground experimental environment and designing experiments for multi - perspective perception, game and planning of a microsatellite constellation can lay a foundation for future space - based applications. However, due to the comprehensive constraints of the structural configuration of the microsatellite constellation and the target, microgravity environment, space optical environment, imaging camera simulation, central information processing and data transmission link, there is still a lack of a ground physical semi - simulation experimental design method for multi - perspective perception, game and planning of a microsatellite constellation. Therefore, how to conduct multi - perspective fusion perception, game decision - making and planning control of a microsatellite constellation on a ground semi - physical platform remains a difficult problem. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: overcoming the deficiencies of the prior art, providing an experimental design method for multi - perspective perception, game and planning of a microsatellite constellation, which has the ability of autonomous information collaboration of multiple microsatellites and realizes the full - process ground experimental verification of multi - perspective fusion perception, game decision - making and planning control.

[0005] The technical solution of the present invention is: an experimental design method for multi - perspective perception, game and planning of a microsatellite constellation, including:

[0006] Designing a microsatellite constellation simulator, a target simulator, a central processor and a wireless local area network, and arranging a ground experimental environment;

[0007] Initializing the microsatellite constellation simulator, the target simulator and the ground experimental environment;

[0008] Each microsatellite simulator in the microsatellite constellation simulator performs image acquisition from each perspective, screens out key - frame images and transmits them to the central processor for image fusion, and at the same time outputs the pose information of each microsatellite simulator;

[0009] The central processor uses the fused images and the pose information of each microsatellite simulator to re - determine the constellation pose, and converts the re - set pose into a PID control quantity;

[0010] The central processing unit controls the jet flow of each micro-nano satellite simulator to cause its attitude change, and performs feedback regulation at a certain frequency during the change process until each micro-nano satellite simulator reaches the predetermined position;

[0011] The motion capture system in the ground experimental environment evaluates the trajectory execution of each micro-nano satellite simulator throughout the process.

[0012] Preferably, the shape of each micro-nano satellite simulator is a hollow structure frame, and its outer envelope is a hexahedron. The specific configuration includes: a jet propulsion system, a gas supply system, a microcomputer, a power supply system, a vision camera, and a vision camera carrier system; among them:

[0013] The jet propulsion system is designed with four air feet and eight nozzles; the four air feet are installed at the bottom of the micro-nano satellite simulator; the eight nozzles are divided into four groups, and the two nozzles in each group are installed in the middle of the vertical edges of the hollow structure frame;

[0014] The gas supply system is designed as a composite gas cylinder structure, which is vertically installed inside the hollow structure, with the gas outlet nozzle of the gas cylinder facing up and the base of the gas cylinder facing down;

[0015] The microcomputer is installed on the top of the nano-satellite simulator and is connected to the vision camera through a data cable. The microcomputer includes a data transceiver device;

[0016] The power supply system is installed inside the hollow structure, and the output voltages are designed as 12v and 6v;

[0017] The vision camera is installed on the vision camera carrier system; the vision camera carrier system includes a guide rail, a pan-tilt head, and a motor; the guide rail is vertically installed on the outside of the simulator, the pan-tilt head is installed on the guide rail, the vision camera is installed on the pan-tilt head, and the motor is installed at the end of the guide rail.

[0018] Preferably, the target simulator is scaled according to the size of the Chang'e satellite, and is 3D printed using acrylic board material. The outer surface of the model is covered with a coating layer of high-reflection material, and the reflection coefficient is selected as 0.8 ± 0.1. The solar panels on the target simulator are painted alternately in blue and silver;

[0019] The target simulator is installed on a spinning base, and the base can be adjusted in height and rotation speed.

[0020] Preferably, in the design of the central processing unit and the wireless local area network:

[0021] The central processing unit is used for centralized processing and control of all devices and systems;

[0022] All devices and systems are externally connected to a Wifi6 wireless transmission module to form a wireless local area network; all devices and systems communicate with the central processing unit through the wireless local area network.

[0023] Preferably, the content of the ground experimental environment layout includes: marking points, a marble air-bearing platform, a motion capture system, a space darkroom environment, and a space environmental light simulation system. Specifically:

[0024] Marking point layout: Marking points are made of a reflective material that strongly reflects 850 nm light. The marking points are designed as hemispherical shapes with a radius of 5 mm ± 1 mm and are pasted on the tops of each micro-nano satellite simulator and target simulator; the number of marking points on each micro-nano satellite simulator or target simulator is 6 to 8, and the distance between the marking points is greater than 5 cm.

[0025] Marble air-bearing platform: Marble is selected as the supporting platform for microgravity and is used to install the micro-nano satellite cluster simulator and the target simulator.

[0026] Space darkroom environment: At the four vertices of the marble air-bearing platform and the midpoint positions of two sides, a support rod is firmly fixed respectively, and a space darkroom is formed by a light-shielding black cloth.

[0027] Space environmental light simulation system: Inside the space darkroom, two LED lights are used to simulate the environmental light and are installed on the marble air-bearing platform. The illumination directions of the two LED lights are opposite, and the illumination directions are both at a pitch angle of 60° with the marble air-bearing platform.

[0028] Motion capture system: Six Prime 41 motion capture cameras are used to obtain information, and they are all installed above the marble air-bearing platform. The included angle between the observation angles of two adjacent cameras is 60°.

[0029] Preferably, when initializing the micro-nano satellite cluster simulator, the target simulator, and the ground experimental environment:

[0030] Each micro-nano satellite simulator surrounds the target simulator in a circle with a diameter of 2 m.

[0031] Control the guide rail to make the visual cameras of each micro-nano satellite form different perspectives.

[0032] Turn on the space environmental light simulation system to make the light at each point in the system light up alternately.

[0033] Turn on the motion capture system and save the pose at the current moment.

[0034] Turn on the jet propulsion system of the micro-nano satellite simulator to make the micro-nano satellite simulator in a free-floating state.

[0035] Turn on the spin base switch of the target simulator, and set the spin angular velocity to 5° / s; the height of the base alternates between 5 cm and 10 cm at 5 s time intervals.

[0036] Preferably, each micro-nano satellite simulator collects images from each perspective, screens out key-frame images and transmits them to the central processor for image fusion, and outputs the pose information of each micro-nano satellite simulator. Specifically:

[0037] S3.1. Start the vision cameras mounted on each micro-nano satellite simulator and continuously collect images from each perspective;

[0038] S3.2. The microcomputer of the micro-nano satellite simulator detects the feature points in the image. If the difference in the number of feature points between the current frame and the previous frame is greater than 50, the current frame is saved as a key-frame image, and the current timestamp and the perspective to which it belongs are recorded;

[0039] S3.4. The microcomputer on the micro-nano satellite simulator transmits the key frames to the central processor through the wireless network; the central processor fuses all the key-frame images to form a panoramic refined image of the target to be measured;

[0040] S3.5. The central processor uses the key frames to calculate the poses of each micro-nano satellite simulator, establishes a global coordinate system between the micro-nano satellite cluster simulator and the target simulator, and inversely calculates the relative pose relationship between the satellites in the cluster according to the perspective and timestamp of the key frames.

[0041] Preferably, the central processor uses the fused image and the pose information of each micro-nano satellite simulator to re-determine the pose of the satellite cluster, and converts the re-set pose into a PID control quantity. Specifically:

[0042] S4.1. Input the poses of each micro-nano satellite simulator and the fused panoramic refined image into the central processor;

[0043] S4.2. Expand the fused panoramic refined image and search for missing segments; lock the key frames through the missing segments, lock the corresponding micro-nano satellite simulator according to the perspective and timestamp information of the key frames, and thus obtain the pose relationship between the micro-nano satellite simulator and the missing image;

[0044] S4.3. Based on the pose between the micro-nano satellite simulator and the missing image and the perspective of the missing image, re-set the pose for each micro-nano satellite simulator, and convert the re-allocated pose into a PID control quantity.

[0045] Preferably, the central processor controls the jet flow rate of each micro-nano satellite simulator to change its pose:

[0046] S5.1. The central processor turns on the gas reservoir and nozzle of the micro-nano satellite simulator;

[0047] S5.2. Adjust the jet gas volume of the gas reservoir of the micro-nano satellite simulator through PID control to make the micro-nano satellite simulator move along the planned pose;

[0048] S5.3. During the movement process, perform planned pose feedback adjustment at a frequency of 1 s.

[0049] Among them, the planned pose feedback adjustment is specifically as follows:

[0050] Each micro-nano satellite simulator performs image acquisition from each perspective, screens out key frame images and transmits them to the central processing unit for image fusion to obtain a panoramic refined image, and at the same time outputs the pose information of each micro-nano satellite simulator.

[0051] The central processing unit uses the fused panoramic refined image and the pose information of each micro-nano satellite simulator to re-determine the constellation pose, and converts the re-set pose into a PID control quantity.

[0052] Preferably, the motion capture system evaluates the trajectory execution of each micro-nano satellite simulator throughout the process, specifically as follows:

[0053] The motion capture system real-time identifies the landmark points of each micro-nano satellite simulator, calculates the relative pose between the landmark points and the motion capture system through the PnP algorithm, and obtains the actual pose of each micro-nano satellite simulator in the global coordinate system.

[0054] The central processing unit compares the planned pose with the actual pose to evaluate the experimental accuracy.

[0055] The present invention has the following advantages compared with the prior art:

[0056] (1) The present invention designs the micro-nano satellite constellation simulator and the target simulator by adopting the principles of equivalent mechanical structure, mechanical size and material, fully simulates the geometric characteristics of the spacecraft in the real space, and restores the real material characteristics of the spacecraft in the largest proportion, providing a basis for the authenticity and reproducibility of experimental data.

[0057] (2) The present invention uses a marble air-bearing platform, gas cylinders and jet systems to simulate the space microgravity environment, which has many advantages such as controllability, operability, long-term simulation, low cost and safety, and overcomes the complexity and coupling of traditional microgravity simulations (such as floating in a pool and rapid elevator descent).

[0058] (3) The present invention simulates the space environment illumination, and at the same time, through the guide rails, pan-tilt heads and cameras carried on the simulator, realizes flexible and lightweight single-satellite multi-perspective perception, overcomes the defects of traditional cameras and large-swing attitude adjustment of the simulator, and saves the energy of the spacecraft.

[0059] (4) By establishing a multi-perspective screening mechanism for constellation construction and using key frames for information interaction in constellation construction, the present invention improves the transmission efficiency and stability of image information, and overcomes many problems faced by traditional methods, such as image redundancy and information congestion. Through the design scheme of guide rails and pan-tilt heads, the micro-nano satellite constellation realizes distributed multi-angle observation, overcomes many adapters or additional processing mechanical interfaces in traditional methods, and improves the flexibility and stability of perception;

[0060] (5) The present invention transfers multi-perspective images to the central processing station for feature extraction and fusion, which is equivalent to obtaining all the features of the observed target at one time, and the data processing is timely and comprehensive;

[0061] (6) Based on the joint judgment mechanism of pose and incomplete perspective, the present invention provides a basis for reallocating paths for each micro-nano satellite, greatly reducing the computational amount and realizing the free interaction between perception and decision-making;

[0062] (7) By means of the motion capture system and the visual landmark points on the surface of the micro-nano satellite simulator, the present invention jointly establishes a global coordinate system, realizes the unification of the coordinate systems of the micro-nano satellite and the target, provides a simple conversion relationship for path planning, and greatly reduces the computational amount of data interaction. By timely obtaining the actual trajectory information of the micro-nano satellite simulator through the motion capture system and comprehensively comparing it with the preset trajectory information of the micro-nano satellite simulator, the accuracy evaluation of the whole process is realized, and the scientific nature of the experiment is improved. This achievement has important guiding significance for the development of multi-satellite collaborative space operation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a ground experiment design method for multi-perspective fusion perception, game decision-making and planning control of a micro-nano satellite constellation provided by the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0064] The purpose of the present invention is to overcome the technical defects in the ground experiment process of multi-perspective fusion perception, game decision-making and planning control of existing micro-nano satellite constellations, such as the mechanical size and structure of micro-nano satellites, microgravity simulation, space lighting environment, information interaction and fusion, and full-process evaluation and verification, and propose a multi-perspective space target perception method for micro-nano satellite constellations, which can realize the full-process ground experiment verification of multi-perspective fusion perception, game decision-making and planning control.

[0065] An experimental design method for multi - perspective perception, game and planning of a microsatellite constellation. Through the design of a microsatellite constellation simulator and a target simulator, the simulation and initialization of the ground experimental environment, the multi - perspective image acquisition by the cameras carried on the microsatellite constellation simulator, the collected images are transmitted to the central processor through a wireless local area network after key - frame screening. The multi - perspective fusion perception module of the central processor completes image fusion and pose output. The game decision - making module of the central processor predicts the constellation trajectory information based on the input pose, and the planning and control module of the central processor controls the jet flow rate of the constellation simulator to make the microsatellites reach the predetermined positions. The motion capture system evaluates the whole process, making up for the above - mentioned defects, realizing the full - process verification of multi - perspective fusion perception, game decision - making and planning control, having the demonstration and verification ability of autonomous information collaboration of more than 6 microsatellites, and providing technical support for the field of space multi - satellite collaborative perception and control.

[0066] To achieve the above objectives, as Figure 1 shown, the present invention is realized through the following technical solutions:

[0067] 1. An experimental design method for multi - perspective perception, game and planning of a microsatellite constellation, characterized by comprising the following steps:

[0068] S1. Design of a microsatellite constellation simulator, a target simulator, a central processor and a wireless local area network, and layout of the ground experimental environment. The layout content of the ground experimental environment includes: fiducial points, a marble air - bearing platform, a motion capture system, a space darkroom environment, and a space environmental light simulation system;

[0069] S2. Initialization of the microsatellite constellation simulator, the target simulator and the ground experimental environment;

[0070] S3. Each microsatellite simulator performs multi - perspective image acquisition, screens out key - frame images and transmits them to the central processor for image fusion, and simultaneously outputs the pose information of each microsatellite simulator;

[0071] S4. The central processor uses the fused images and the pose information of each microsatellite simulator to re - determine the constellation pose, and converts the re - set pose into a PID control quantity;

[0072] S5. The central processor controls the jet flow rate of each microsatellite simulator to make it change its pose, and performs feedback regulation at a certain frequency during the change process until it reaches the predetermined position;

[0073] S6. The motion capture system evaluates the execution of the constellation trajectory throughout the process.

[0074] Furthermore, the step S1 includes the following steps:

[0075] S1.1. Design of the micro-nano satellite constellation simulator. The size envelope of each micro-nano satellite simulator is designed to be 40 cm (length) × 40 cm (width) × 80 cm (height). Its outer shape is a hollow structure frame, with a hexahedron outer envelope, and is divided into upper and lower layers inside by partitions. Each micro-nano satellite simulator includes: a jet propulsion system, a gas supply system, a microcomputer, a power supply system, a vision camera, and a vision camera carrier system; the weight of the micro-nano satellite simulator is designed to be 20 Kg, and the payload is designed to be 10 Kg.

[0076] S.1.2. The jet propulsion system is designed with 4 air feet and 8 nozzles. The 4 air feet are installed at the four corners of the bottom of the micro-nano satellite simulator; the 8 nozzles are divided into four groups, and two nozzles in each group are symmetrically installed at the edge of the hollow structure frame (at the middle position of a vertical edge). Two nozzles are installed on each vertical edge, and the installation distance between the two nozzles is 2 cm. The gas supply system is designed as a composite gas cylinder structure, vertically installed inside the hollow structure, with the gas cylinder base facing down (the bottom of the micro-nano satellite simulator where the air feet are located), and the gas cylinder outlet nozzle facing up (the upper part of the micro-nano satellite simulator). The microcomputer is installed on the top of the nano-satellite simulator and is connected to the vision camera through a data cable. The microcomputer includes a data transceiver device. The power supply system is installed inside the hollow structure, and the output voltages are designed to be 12V and 6V;

[0077] S1.3. Design of the target simulator. The target is scaled down at a ratio of 1:5 based on the size of the Chang'e satellite. Only two types of payloads, the docking ring and the observation camera, are retained. It is 3D printed using acrylic board material, and the outer surface of the model is covered with a coating layer of highly reflective material, with the reflection coefficient selected as 0.8 ± 0.1. The solar panels are painted alternately in blue and silver. The target is installed on a spin base, and its base has functions of height adjustment and rotation speed adjustment.

[0078] S1.4. Design of the marker point layout. Marker points are made of a reflective material that strongly reflects light at 850 nm. The marker points are designed as hemispherical shapes with a radius of 5 mm ± 1 mm and are directly pasted on the tops of the micro-nano satellite constellation simulator and the target simulator. The number of marker points on each micro-nano satellite simulator or target simulator is about 6 to 8, and the distance between the marker points is greater than 5 cm.

[0079] S1.5. Design of the vision camera layout. The vision camera is installed on the vision camera carrier system. The vision camera carrier system includes a 1.2 m rail, a pan-tilt head, and a motor. The rail is vertically installed outside the simulator, the pan-tilt head is installed on the rail, the vision camera is installed on the pan-tilt head, and the motor is installed at the end of the rail.

[0080] S1.6. Design of the marble air-bearing platform. A 6 m × 6 m × 0.5 m marble is selected as the micro-gravity support platform. A darkroom is built around the platform with an iron frame and light-shielding black cloth. The height of the iron frame is 5 m.

[0081] S1.7. Design of motion capture system. Information is obtained using Prime 41 motion capture cameras. Six cameras are installed 10 m above the marble air-bearing platform, and the viewing angle between adjacent two cameras is 60°.

[0082] S1.8. Design of spatial darkroom environment. Six support rods are firmly fixed at the four vertices of the marble air-bearing platform and the midpoints of two sides respectively, and a darkroom is formed by light-shielding black cloth.

[0083] S1.9. Design of spatial ambient light simulation system. Inside the darkroom, two LED lights are simulated and installed on the marble air-bearing platform, and the illumination directions of the two LED lights are opposite. The emission direction of the LED light forms a pitch angle of 60° with the marble air-bearing platform, and spatial illumination is simulated by the way of cross-lighting.

[0084] S1.10. A central processor is set inside the darkroom for centralized processing and control of all devices and systems. All devices and systems are externally connected with Wifi6 wireless transmission modules to form a wireless local area network. By using the wireless local area network, data communication between all devices and systems and the central processor is realized.

[0085] Further, the step S2 includes the following steps:

[0086] S2.1. Initialization of the positions of the nano-satellites, visual cameras, motion capture system and spatial environment. The nano-satellites orbit around the target in a circle with a diameter of 2 m. Through controlling the guide rails, the viewing angles of the visual cameras of each nano-satellite form different viewing angles. The spatial ambient light simulation system is turned on, and the alternating lighting time of the ambient light (two LED lights) is designed to be 5 s. The motion capture system is turned on, and the pose at the current moment is saved. The jet propulsion system of the nano-satellites is turned on to make the nano-satellites in a free-floating state. The spin base switch of the target simulator is turned on, and the spin angular velocity is set to 5° / s. The height of the base is between 5 cm and 10 cm and is alternately changed at intervals of 5 s.

[0087] Further, the step S3 includes the following steps:

[0088] S3.1. Start the visual cameras carried on each nano-satellite simulator and continuously collect images from each viewing angle.

[0089] S3.2. The microcomputer on the nano-satellite simulator screens key-frame images and records the viewing angles and timestamps to which the key-frame images belong. The ORB feature points are used to detect the targets in the images. If the difference in the number of ORB feature points between the current frame and the previous frame is greater than 50, the current frame is saved as a key-frame image, and the current timestamp and the belonging viewing angle are recorded.

[0090] S3.4. The microcomputer on the micro-nano satellite simulator transmits the key frames to the central processing unit via a wireless network. The central processing unit fuses all the key frame images to form a panoramic and refined image of the target under test.

[0091] S3.5. The central processing unit performs pose solution for all the key frames respectively. The poses of each micro-nano satellite simulator are calculated through the key frame solution, and a global coordinate system between the micro-nano satellite cluster and the target is established. According to the perspective and timestamp of the key frame, the relative pose relationship between the satellite clusters is inversely calculated.

[0092] Further, the step S4 includes the following steps:

[0093] S4.1. Input the poses of each micro-nano satellite simulator and the fused panoramic and refined image into the game decision-making module of the central processing unit. The game decision-making module includes an image defect visual judgment mechanism and a pose allocation mechanism.

[0094] S4.2. Design an image defect visual judgment mechanism. For the panoramic and refined image formed after the central processing unit performs multi-perspective fusion, search for the defective segments. Through the defective segments, lock the key frames, and lock the corresponding micro-nano satellite simulator according to the perspective and timestamp information of the key frames. Furthermore, obtain the pose relationship between the micro-nano satellite simulator and the defective image.

[0095] S4.3. Design a pose allocation mechanism. Based on the pose and the incomplete perspective, re-allocate the pose for the nano-satellite simulator with an incomplete perspective. Convert the re-allocated pose into a PID control quantity.

[0096] Further, the step S5 includes the following steps:

[0097] S5.1. The central processing unit turns on the air feet and nozzles of the micro-nano satellite simulator.

[0098] S5.2. Adjust the jet volume of the air feet through PID control to make the micro-nano satellite simulator move along the planned pose.

[0099] S5.3. During the movement process, at a frequency of 1 s, perform planned pose feedback adjustment through steps S3 and S4.

[0100] Further, the step S6 includes the following steps:

[0101] S6.1. Feature point recognition. The Motive software of the motion capture system real-time recognizes the feature points of each micro-nano satellite simulator, and calculates the relative pose between the feature points and the motion capture system through the PnP algorithm.

[0102] S6.2. The central processor calculates the pose of each micro-nano satellite simulator in the global coordinate system. By repeatedly using S6.1, the pose relationship between each micro-nano satellite simulator and the motion capture system is solved, so as to obtain the actual pose of each micro-nano satellite simulator in the global coordinate system.

[0103] S6.3. The central processor compares the planned pose with the actual pose to evaluate the experimental accuracy.

[0104] The content not detailed in the specification of the present invention belongs to the prior art well-known to those skilled in the art.

Claims

1. An experimental design method for multi-perspective perception, game and planning of micro-nano star clusters, characterized by include: Design micro-nano star cluster simulator, target simulator, central processor and wireless local area network, and arrange ground experimental environment; Initialization of micro-nano constellation simulator, target simulator and ground experimental environment; Each micro-nano satellite simulator in the micro-nano satellite cluster simulator collects images from various perspectives, selects key frame images and transmits them to the central processor for image fusion, and outputs the position and posture information of each micro-nano satellite simulator at the same time; The central processor uses the fused image and the position and posture information of each micro-nano satellite simulator to redetermine the position and posture of the star cluster and convert the reset position and posture into PID control quantity; The central processor controls the jet flow of each micro-nano satellite simulator to change its position and posture, and performs feedback adjustment at a certain frequency during the change process until each micro-nano satellite simulator reaches the predetermined position; The motion capture system in the ground experimental environment evaluates the trajectory execution of each micro-nano satellite simulator throughout the process.

2. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: Each micro-nano satellite simulator has a hollow structure frame, and its outer envelope is a hexahedron. The specific configuration includes: jet propulsion system, air supply system, microcomputer, power supply system, visual camera and visual camera carrying system; among which: The jet propulsion system is designed with four gas feet and eight nozzles; the four gas feet are installed at the bottom of the micro-nano satellite simulator; the eight nozzles are divided into four groups, and the two nozzles in each group are installed in the middle of the vertical edge of the hollow structure frame; The gas supply system is designed as a composite gas cylinder structure, which is installed vertically inside the hollow structure, with the gas cylinder outlet facing upward and the gas cylinder base facing downward; The microcomputer is installed on the top of the nanosatellite simulator and connected to the visual camera through a data line. The microcomputer includes a data transceiver; The power supply system is installed inside the hollow structure, and the output voltage is designed to be 12v and 6v; The visual camera is installed on the visual camera supporting system; the visual camera supporting system includes a guide rail, a gimbal and a motor; the guide rail is vertically installed on the outside of the simulator, the gimbal is installed on the guide rail, the visual camera is installed on the gimbal, and the motor is installed at the end of the guide rail.

3. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: The target simulator is scaled down according to the size of the Chang'e satellite and is 3D printed using acrylic board material. The surface of the model is covered with a coating of highly reflective material with a reflection coefficient of 0.8±0.

1. The solar panels on the target simulator are alternately painted blue and silver. The target simulator is mounted on a spinning base, the base of which can be adjusted in height and rotation speed.

4. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: In the design of CPU and wireless LAN: The central processing unit is used for centralized processing and control of all devices and systems; All devices and systems are connected to Wifi6 wireless transmission modules to form a wireless local area network; all devices and systems communicate data with the central processor through the wireless local area network.

5. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1, characterized in that: The layout of the ground experimental environment includes: landmarks, marble air flotation platform, motion capture system, space darkroom environment, and space ambient light simulation system. Specifically: Marking point layout: The marking points are made of reflective materials with strong reflection of 850nm. The marking points are designed to be hemispherical with a radius of 5mm±1mm and are pasted on the top of each micro-nano satellite simulator and target simulator. The number of marking points on each micro-nano satellite simulator or target simulator is 6 to 8, and the distance between marking points is greater than 5cm. Marble air flotation platform: marble is used as the microgravity support platform for installing micro-nano star cluster simulator and target simulator; Darkroom environment: A support rod is fixed at each of the four vertices and the midpoints of the two sides of the marble air flotation platform, and a darkroom is formed by a black cloth to block out light; Space ambient light simulation system: In the dark room, two LED lights are installed on the marble air-floating platform to simulate ambient light. The two LED lights shine in opposite directions, and both are at a pitch angle of 60° to the marble air-floating platform. Motion capture system: Six Prime 41 motion capture cameras are used to obtain information. They are all installed above the marble air-floating platform, and the observation angle between two adjacent cameras is 60°.

6. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: When the micro-nano constellation simulator, target simulator and ground experiment environment are initialized: Each micro-nano satellite simulator surrounds the target simulator in a circle with a diameter of 2m; Control the guide rails to enable each micro-nano satellite's visual camera to form a differentiated viewing angle; Turn on the space ambient light simulation system so that the lights at each point in the system light up alternately; Start the motion capture system and save the current position and posture; Turn on the jet propulsion system of the micro-nano satellite simulator to put the micro-nano satellite simulator in a free-floating state; The spinning base switch of the target simulator was turned on, and the spinning angular velocity was set to 5° / s; the base height was alternately changed between 5 cm and 10 cm at a time interval of 5 s.

7. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: Each micro-nano satellite simulator collects images from each perspective, selects key frame images and transmits them to the central processor for image fusion, and outputs the position and posture information of each micro-nano satellite simulator, specifically: S3.

1. Start the visual cameras on each micro-nano satellite simulator to continuously collect images from various viewing angles; S3.2, the microcomputer of the micro-nanostar simulator detects the feature points in the image. If the difference between the number of feature points in the current frame and the previous frame is greater than 50, the current frame is saved as a key frame image, and the current timestamp and the viewing angle are recorded; S3.4, the microcomputer on the micro-nano satellite simulator transmits the key frame to the central processor through the wireless network; the central processor fuses all the key frame images to form a panoramic and refined image of the measured target; S3.

5. The central processing unit uses the key frames to solve the position and posture of each micro-nano satellite simulator, establishes the global coordinate system between the micro-nano satellite cluster simulator and the target simulator, and reversely calculates the relative position and posture relationship between the star clusters based on the perspective and timestamp of the key frames.

8. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1 is characterized by: The central processor uses the fused image and the pose information of each micro-nano satellite simulator to redetermine the constellation pose and convert the reset pose into the PID control quantity, specifically: S4.1, input the position and posture of each micro-nano satellite simulator and the fused panoramic refined image to the central processor; S4.2, unfold the fused panoramic refined image and search for missing fragments; lock the key frame through the missing fragments, and lock it to the corresponding micro-nano satellite simulator according to the viewing angle and timestamp information of the key frame, so as to obtain the posture relationship between the micro-nano satellite simulator and the missing image; S4.

3. Based on the pose between the micro-nano satellite simulator and the defective image and the view angle of the defective image, the pose of each micro-nano satellite simulator is reset, and the reallocated pose is converted into a PID control quantity.

9. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1, characterized in that: The central processor controls the jet flow of each micro-nano satellite simulator to make it change its position and posture: S5.1, the central processing unit turns on the gas foot and nozzle of the micro-nano satellite simulator; S5.2, adjusting the air jet volume of the micro-nano satellite simulator through PID control, so that the micro-nano satellite simulator moves along the planned posture; S5.3, during the moving process, the planned posture feedback adjustment is performed at a frequency of 1s; The planning posture feedback adjustment is specifically as follows: Each micro-nano satellite simulator collects images from each viewing angle, selects key frame images and transmits them to the central processor for image fusion to obtain a panoramic refined image, and outputs the position and posture information of each micro-nano satellite simulator at the same time; The central processing unit uses the fused panoramic refined image and the posture information of each micro-nano satellite simulator to redetermine the posture of the star cluster and convert the reset posture into a PID control quantity.

10. The experimental design method for multi-perspective perception, game and planning of micro-nano star clusters according to claim 1, characterized in that: The motion capture system evaluates the trajectory execution of each micro-nano satellite simulator throughout the process, specifically: The motion capture system identifies the landmarks of each micro-nano satellite simulator in real time, calculates the relative pose between the landmarks and the motion capture system through the PnP algorithm, and obtains the actual pose of each micro-nano satellite simulator in the global coordinate system; The central processing unit compares the planned pose with the actual pose to evaluate the experimental accuracy.

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