Satellite vision detection system and method

Abstract

The embodiment of the invention provides a satellite vision detection system and method. The system comprises a first vision assembly, a second vision assembly, an attitude detection sensor, an attitude adjustment assembly and a spaceborne computer. The spaceborne computer can obtain visual image data and satellite attitude information. And identifying star point features from the visual image data. And calculating three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information, generating an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters, and respectively sending the attitude adjustment instruction and the image acquisition instruction to an attitude adjustment assembly and a first visual assembly or a second visual assembly. According to the system, three-axis attitude detection can be carried out through one of the first visual component and the second visual component and the attitude detection sensor, visual data collection is carried out through the other visual component, the satellite attitude can be accurately controlled in the data collection process, and the problem that the satellite system is low in visual detection result precision is solved.

Description

Technical Field

[0001] The present application relates to the field of intelligent satellite technology, and particularly to a satellite vision detection system and method. Background Art

[0002] A satellite system is a system that uses artificial satellites to orbit the Earth and realizes various functions through cooperation with ground equipment. During operation, the satellite system can perform vision detection. Vision detection is based on the principle of machine vision, using a camera or a camera to collect image information, and processing and analyzing the image information through image processing algorithms and deep learning technologies, so as to realize functions such as detecting the operating state of the satellite system and performing target detection on a specific area.

[0003] To perform vision detection, the satellite system can carry a vision detection component and a data processing device. For example, the satellite system may include vision detection components such as a high-resolution camera, an optical detection sensor, a spectral camera, and a data processing device such as an on-board computer. Among them, the vision detection component can be connected to the data processing device to send the detected image information to the data processing device for analysis and processing to obtain an image processing result.

[0004] However, since the satellite system operates in a space environment, and the gravitational force in the space environment is different from that on the ground, it will cause the satellite system to be in an unstable operating state, that is, the operating attitude of the satellite system is prone to change. Therefore, there is a shooting range error in the image information collected by vision detection, reducing the accuracy of the vision detection result of the satellite system. Summary of the Invention

[0005] In view of this, embodiments of the present application provide a satellite vision detection system and method to solve the problem of low accuracy of the vision detection result of the satellite system.

[0006] According to one aspect of the present application, a satellite vision detection system is provided, and the system includes:

[0007] A first vision component configured to collect first image information;

[0008] A second vision component configured to collect second image information; the shooting angle of the second vision component does not completely coincide with the shooting angle of the first vision component;

[0009] An attitude detection sensor configured to detect satellite attitude information;

[0010] An attitude adjustment component configured to adjust the operating attitude of the satellite;

[0011] A spaceborne computer, connected to the first vision component, the second vision component, the attitude detection sensor, and the attitude adjustment component;

[0012] The spaceborne computer is configured to:

[0013] Obtain visual image data and the satellite attitude information, where the visual image data includes the first image information and the second image information;

[0014] Identify star point features from the visual image data, where the star point features include star point targets and the star point coordinates of the star point targets; the star point targets are sets of pixel points corresponding to specified stars in the starry sky image;

[0015] Calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information;

[0016] Generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters;

[0017] Send the attitude adjustment instruction to the attitude adjustment component, and send the image acquisition instruction to the target vision component, where the target vision component is one of the first vision component and the second vision component.

[0018] Optionally, the first vision component and the second vision component include a light shield, a lens assembly, and an electronics processing unit;

[0019] The lens assembly is arranged inside the light shield; the electronics processing unit includes an imaging processing board and a data processing board, and the imaging processing board and the data processing board are stacked and assembled;

[0020] A photosensitive device is provided on the imaging processing board, and the photosensitive device is configured to convert an optical signal into an electrical signal; the data processing board includes an image processing device and a communication device, the image processing device is connected to the photosensitive device and the communication device, and the image processing device is configured to convert the electrical signal into image information.

[0021] Optionally, when the spaceborne computer executes identifying star point features from the visual image data, it is further configured to:

[0022] Traverse the pixel values of the pixel points in the visual image data;

[0023] Extract star point targets from the visual image data according to the pixel values of the pixel points, where the pixel values of the star point targets are the pixel values corresponding to the foreground color;

[0024] Obtain the star point coordinates of at least three of the star point targets in the visual image data;

[0025] Calculate the shooting angle of the visual image data according to the star point coordinates.

[0026] Optionally, it further includes a navigation module connected to the on-board computer, and the navigation module is configured to obtain satellite position information; the on-board computer executes calculating the shooting angle of the visual image data according to the star point coordinates, and is further configured to:

[0027] Obtain the current time and the satellite position information, where the current time is the time information of the navigation module or the time data annotated on the ground equipment;

[0028] Extract the reference star point layout data under the current task according to the current time and the satellite position information, and the reference star point layout data includes reference star point coordinates and a reference shooting angle; the reference star point coordinates are the coordinate values corresponding to the star point targets in the reference image; the reference image is an image obtained by performing image acquisition on the starry sky at the reference shooting angle;

[0029] Calculate the coordinate difference between the star point coordinates and the reference star point coordinates;

[0030] Calculate the shooting angle of the visual image data according to the coordinate differences corresponding to at least three of the star point targets.

[0031] Optionally, the shooting angle includes the first shooting angle of the first visual component and the second shooting angle of the second visual component; the on-board computer is further configured to:

[0032] Extract the reference shooting angle from the reference star point layout data;

[0033] Calculate the angle deviation between the shooting angle and the reference shooting angle, and the angle deviation includes the first angle deviation between the first shooting angle and the reference shooting angle, and the second angle deviation between the second shooting angle and the reference shooting angle;

[0034] Determine the target visual component according to the angle deviation.

[0035] Optionally, when the on-board computer executes determining the target visual component according to the angle deviation, it is further configured to:

[0036] Compare the first angle deviation and the second angle deviation;

[0037] If the first angle deviation is greater than or equal to the second angle deviation, determine the first visual component as the target visual component;

[0038] If the first angle deviation is less than the second angle deviation, determine the second visual component as the target visual component.

[0039] Optionally, the attitude detection sensor includes a gyroscope and a magnetometer. The gyroscope is configured to detect angular acceleration information; the magnetometer is configured to detect gravitational acceleration; the on-board computer is configured to calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information, and is further configured to:

[0040] Determine a reference coordinate axis according to the star point features, where the reference coordinate axis includes a first coordinate axis, a second coordinate axis, and a third coordinate axis that are mutually perpendicular in space;

[0041] Obtain the angular acceleration information and the gravitational acceleration;

[0042] Calculate the acceleration components of the angular acceleration information on the reference coordinate axis; the acceleration components include a first acceleration component of the angular acceleration information on the first coordinate axis, a second acceleration component of the angular acceleration information on the second coordinate axis, and a third acceleration component of the angular acceleration information on the third coordinate axis;

[0043] Calculate the three-axis attitude angles according to the angular acceleration information, where the three-axis attitude angles include a pitch angle, a roll angle, and a yaw angle; the pitch angle is calculated based on the first acceleration component, the second acceleration component, and the third acceleration component; the roll angle is calculated based on the first acceleration component and the gravitational acceleration; the yaw angle is calculated based on the first acceleration component and the third acceleration component.

[0044] Optionally, the on-board computer is configured to generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters, and is further configured to:

[0045] Obtain the current task data, where the current task data includes the task phase to which the satellite currently belongs and the reference operating attitude required for the task phase;

[0046] Calculate the attitude deviation between the three-axis attitude parameters and the reference operating attitude;

[0047] Generate an attitude adjustment amount according to the attitude deviation;

[0048] Match the active device of the attitude adjustment component according to the attitude adjustment amount;

[0049] Generate the attitude adjustment instruction applicable to the active device according to the attitude adjustment amount.

[0050] Optionally, the on-board computer is further configured to:

[0051] Determine the non-target visual component according to the target visual component. If the target visual component is the first visual component, the non-target visual component is the second visual component; if the target visual component is the second visual component, the non-target visual component is the first visual component.

[0052] Generate an image verification instruction and send the image verification instruction to the non-target visual component.

[0053] Obtain the verified starry sky image collected by the non-target visual component in response to the image verification instruction.

[0054] Extract the verified star point features from the verified starry sky image.

[0055] When the deviation between the verified star point features and the reference star point coordinates is less than or equal to the verification threshold, send the image acquisition instruction to the target visual component.

[0056] According to another aspect of the present application, there is provided a satellite vision detection method applied to the above satellite vision detection system. The method includes:

[0057] Obtain visual image data and satellite attitude information, where the visual image data includes first image information and second image information.

[0058] Identify star point features from the visual image data. The star point features include star point targets and the star point coordinates of the star point targets; the star point targets are sets of pixel points corresponding to specified stars in the starry sky image.

[0059] Calculate the three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information.

[0060] Generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters.

[0061] Send the attitude adjustment instruction to the attitude adjustment component and send the image acquisition instruction to the target visual component, where the target visual component is one of the first visual component and the second visual component.

[0062] According to yet another aspect of the present application, there is provided a computer device including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the program, the above satellite vision detection method is implemented.

[0063] According to still another aspect of the present application, there is provided a storage medium on which a computer program is stored. When the program is executed by a processor, the above satellite vision detection method is implemented.

[0064] With the above technical solution, the embodiments of the present application provide a satellite vision detection system and method. The system includes: a first vision component, a second vision component, an attitude detection sensor, an attitude adjustment component, and an on-board computer. Among them, the on-board computer can acquire vision image data and satellite attitude information, identify star point features from the vision image data, calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information, and generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters, and send them to the attitude adjustment component and the first vision component or the second vision component respectively. The system can perform three-axis attitude detection through one of the first vision component and the second vision component and the attitude detection sensor, and perform vision data acquisition through the other, and can accurately control the satellite attitude during the data acquisition process to solve the problem of low accuracy of the vision detection result of the satellite system.

[0065] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the following specifically describes the specific embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0067] Figure 1 It is a schematic structural diagram of the satellite system provided by the embodiment of the present application;

[0068] Figure 2 It is a schematic architecture diagram of the payload satellite system provided by the embodiment of the present application;

[0069] Figure 3 It is a schematic structural diagram of a satellite vision detection system provided by the embodiment of the present application;

[0070] Figure 4 It is a schematic structural diagram of the vision component provided by the embodiment of the present application;

[0071] Figure 5 It is a schematic optical path diagram of the catadioptric optical system provided by the embodiment of the present application;

[0072] Figure 6 It is a schematic structural diagram of the electronics part provided by the embodiment of the present application;

[0073] Figure 7 It is an information and timing processing diagram provided by the embodiment of the present application;

[0074] Figure 8Schematic diagram of the detection process of a satellite vision detection system provided by an embodiment of the present application;

[0075] Figure 9 Schematic diagram of the process of a satellite vision detection method provided by an embodiment of the present application. Detailed implementation manners

[0076] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0077] In the embodiment of the present application, the satellite vision detection system can be applied to a payload satellite. The payload satellite, also known as the payload satellite system, abbreviated as the satellite system, is a system that uses artificial satellites to operate in the Earth's orbit and realizes various functions through cooperation with ground equipment.

[0078] Such as Figure 1 shown, in some embodiments, the satellite system may include an energy subsystem, an integrated electronics subsystem, a communication subsystem, a payload subsystem, a thermal control subsystem, and a structure subsystem. Among them, the energy subsystem is used to provide energy input for various devices, mechanisms, and components in the entire satellite system. For example, as Figure 2 shown, the energy subsystem may include a lithium-ion battery pack, an emergency power supply (EPS) main control unit, a solar cell array, etc. The solar cell array can be used as the energy source of the entire satellite system, the lithium-ion battery pack serves as the energy storage unit to provide stable and reliable instantaneous power for the entire satellite, the EPS main control unit uses the maximum power tracking algorithm to charge the lithium-ion battery, and at the same time monitors the state of the lithium-ion battery and the working state of the solar cell array.

[0079] The integrated electronics subsystem is responsible for controlling the operating states of the various functional components of the satellite system, receiving, sending, storing, and processing the data generated during the operation of the satellite system. In some embodiments, the integrated electronics subsystem may include an on-board computer (IOBC). The on-board computer is a computer equipped on the satellite system and is responsible for the control and data processing of the functional components of the satellite system. For example, the on-board computer can realize functions such as attitude control, orbit control, status monitoring, navigation and positioning, and fault diagnosis of the spacecraft.

[0080] The on-board computer can further configure functional modules according to the functional requirements of the satellite system. For example, the on-board computer may be configured with an attitude and orbit control module, a satellite operation module, and a power distribution module. Among them, the attitude and orbit control module is used to adjust the attitude according to the current operating state of the satellite system. The satellite operation module is responsible for satellite time management, on-orbit mission execution, overall satellite state management and monitoring, deployment of components, etc. The power distribution module is used to provide energy for each part of the satellite system and dynamically adjust the energy supply of each part according to the overall power distribution of the current system.

[0081] The communication subsystem is used to establish a communication connection between the satellite system and the ground monitoring system, send data to the ground monitoring system, or receive data from the ground monitoring system. The communication subsystem may include an antenna assembly and a data conversion circuit. For the data sending process, the data in the satellite system is processed by the integrated electronic subsystem and then transmitted to the data conversion circuit. The data conversion circuit converts the data into radio signals, and the radio signals are sent to ground equipment or other satellite systems through the antenna assembly. For the data receiving process, the radio signals sent by ground equipment or other satellite systems are sensed by the antenna assembly, and the sensed signals can be transmitted to the data conversion circuit. The data conversion circuit converts the radio signals into data recognizable by the integrated electronic subsystem and transmits it to the integrated electronic subsystem.

[0082] The payload subsystem is used to perform specific on-orbit missions according to the design requirements of the satellite system. In some embodiments, the payload subsystem may include on-board sensors and acquisition signal processing circuits. Among them, the on-board sensors are sensors for collecting specific information in the space environment according to the design requirements of the satellite system. For example, the on-board sensors are multi-spectral payload cameras for collecting multi-spectral information of specific ground areas in the space environment. The acquisition signal processing circuit can convert the information collected by the on-board sensors into data recognizable by the integrated electronic subsystem and transmit it to the integrated electronic subsystem.

[0083] The thermal control subsystem is used to control the internal temperature of the satellite system so that the internal components of the satellite system can operate within the designed operating temperature range. The temperature control methods of the thermal control subsystem may include active thermal control and passive thermal control. Active thermal control is to adjust the temperature of a specific area through temperature control devices such as thin film heating elements. Passive thermal control is to isolate the temperature of a specific area through temperature control materials such as heat insulation materials and thermal insulation materials, so that the isolated area is maintained within the set temperature range.

[0084] Such as Figure 2As shown, the structural subsystem includes mechanical structures such as support structure, stack, flywheel, star sensor, stand-alone bracket, skin, solar panel, panel deployment mechanism, antenna, camera, etc., which are used to provide support for various functional components in the satellite system and cooperate with the control circuit in the satellite system to form an actuator. For example, the structural subsystem may include an deployment mechanism for realizing the flipping of the solar panel and a separation mechanism for realizing the separation of the satellite and the rocket. Among them, the deployment mechanism can use wires to fix the solar cell array, and burn the connecting wires by heating the wire burning resistance to achieve the purpose of panel deployment. The separation mechanism can use the principle of memory alloy to separate the satellite from the rocket.

[0085] In addition to the subsystems described in the above embodiments, the satellite system may also include other types of subsystems according to specific design requirements. For example, the satellite system may also include a propulsion subsystem, an electrical subsystem, etc., which may be applicable to different on-orbit missions. It should be understood that other subsystems that can be associated with the subsystems described in the above embodiments by those skilled in the art also fall within the scope of protection of this application and are not listed here one by one.

[0086] Some subsystems in the satellite system can be visually inspected. Visual inspection refers to the collection of image information based on the principle of machine vision using visual inspection devices such as cameras, and the processing and analysis of image information through image processing algorithms and deep learning technology, thereby realizing functions such as satellite system operation status detection and target detection in specific areas.

[0087] In some embodiments, the visual detection system may belong to an integrated electronic subsystem, that is, the integrated electronic subsystem may include devices for performing visual detection, so that the operating status of the satellite system can be controlled through the visual detection results.

[0088] For example, the attitude and orbit control module of the integrated electronic subsystem may include a star sensor. A star sensor is a high-precision space attitude measurement device that provides accurate space orientation and reference for the satellite by detecting stars at different positions in the starry sky and performing calculations. The star sensor can obtain star point images through complementary metal oxide semiconductor (CMOS) imaging and field programmable gate array (FPGA) image processing, and transmit the star point images to the onboard computer so that the onboard computer can determine the current satellite operating attitude based on the star point images. When the satellite operating attitude does not meet the current mission requirements, a control instruction for adjusting the attitude is sent to the attitude adjustment component to adjust the satellite operating attitude.

[0089] In some embodiments, the vision detection system can also belong to the payload subsystem. That is, the payload subsystem can include devices for vision detection, such as payload cameras, multispectral cameras, etc. The vision detection devices belonging to the payload subsystem can be designed according to the satellite payload tasks and start running when vision signal detection is required, so as to perform vision signal detection on specific task areas.

[0090] For example, the payload subsystem can be built with a multispectral payload camera for collecting multispectral signals in the task area. According to the design requirements of the multispectral signal collection task, when the satellite orbits over the task area, it will switch to the in-orbit measurement and control task during entry. In the in-orbit measurement and control task during entry, the satellite will activate the multispectral payload camera to perform spectral detection on the task area, thereby obtaining the multispectral data of the task area. Then, the collected multispectral data will be sent to the on-board computer so that the on-board computer can send, process, store, etc. the multispectral data.

[0091] Since the satellite system operates in the space environment, and the gravitational effect in the space environment is different from that on the ground, which will cause the satellite system to be in an unstable operating state, that is, the operating attitude of the satellite system is prone to change. Therefore, there are shooting range errors in the image information collected by vision detection, reducing the accuracy of the vision detection results of the satellite system.

[0092] To solve the problem of low accuracy of the vision detection results of the satellite system, in this embodiment, a satellite vision detection system is provided, as Figure 3 shown, the system can include a first vision component, a second vision component, an attitude detection sensor, an attitude adjustment component, and an on-board computer.

[0093] Among them, the first vision component and the second vision component are devices or combinations of devices for performing vision signal collection. The satellite system can deploy different types of vision components according to specific vision collection and detection needs. The first vision component and the second vision component can be respectively used to collect image information of different types, ranges, and angles. For this reason, the first vision component is configured to collect the first image information; the second vision component is configured to collect the second image information.

[0094] In some embodiments, the first vision component and the second vision component can belong to the same subsystem according to specific vision detection purposes. For example, if both the first vision component and the second vision component are used for satellite attitude adjustment, then both the first vision component and the second vision component belong to the integrated electronics subsystem.

[0095] In some embodiments, the first vision component and the second vision component may belong to different subsystems according to specific vision detection applications. For example, if the first vision component is a star sensor, then the first vision component belongs to the attitude and orbit control module of the integrated electronics subsystem. If the second vision component is a payload camera, then the second vision component belongs to the payload subsystem.

[0096] In the satellite vision detection system described in the embodiments of the present application, whether the first vision component and the second vision component belong to the same subsystem or not, they can be used to detect the first image information and the second image information, so that the satellite can control the satellite operation state and / or transmit payload data according to the first image information and the second image information.

[0097] Therefore, the shooting angle of the second vision component does not completely coincide with the shooting angle of the first vision component. For example, one of the shooting directions of the first vision component and the second vision component can face the starry sky area for star sensor attitude positioning, and the other can face the ground area for ground area image acquisition.

[0098] In some embodiments, as Figure 4 shown, the first vision component and the second vision component include a light shield, a lens assembly, and an electronics processing unit. The lens assembly is disposed within the light shield; the electronics processing unit includes an imaging processing board and a data processing board, and the imaging processing board and the data processing board are stacked and assembled.

[0099] The imaging processing board is provided with a photosensitive device configured to convert an optical signal into an electrical signal; the data processing board includes an image processing device and a communication device, the image processing device is connected to the photosensitive device and the communication device, and the image processing device is configured to convert the electrical signal into image information.

[0100] For example, one of the first vision component and the second vision component can be a star sensor. The star sensor includes a light shield, a lens assembly, and an electronics processing unit. In order to miniaturize the satellite system, the electronics processing unit adopts an assembly method of stacking two processing boards, and the two processing boards are respectively used for CMOS imaging and FPGA image processing and communication.

[0101] According to the working characteristics of the star sensor, a new optical design method can be adopted for the star sensor. Aberrations that affect the star point and measurement accuracy are corrected preferentially, while the tolerances of other aberrations are appropriately relaxed to meet the measurement accuracy requirements. The baffle design can adopt the finite element analysis recurrence algorithm. Based on the design parameters, the initial values of the initial structure and surface reflection characteristics are given. The extinction ability is recalculated through finite element analysis, and the design parameters are adjusted until the extinction ability meets the requirements. The lens assembly adopts an integrated optical, mechanical, and thermal design. The methods of optical, structural, and material matching, as well as processing and assembly, are determined through simulation analysis and engineering analysis to ensure that the total defocus of the lens is within the range allowed by the measurement accuracy within a certain temperature range.

[0102] The electronics processing unit can also be used to implement circuit conversion, electrical signal processing, etc. For example, the satellite system can supply 5V power to the star sensor. The output circuit can include a direct current to direct current converter (DCDC), an ideal diode, a load switch, an electronic fuse, a voltage and current acquisition circuit, a diagnostic circuit, etc. The power modulation part of the electronics processing unit can adopt a redundant design of double DCDC plus an ideal diode. The output part is composed of an electronic fuse with a load integrated switch and an overvoltage and overcurrent protection circuit. The voltage acquisition circuits all use a parallel resistor voltage division design. The analog-to-digital converter (ADC) circuit monitors the voltage and current of the star sensor. The system performs fault handling and isolation through real-time monitoring of the voltage, current, and power supply status.

[0103] It can be seen that the circuit part of the electronics processing unit can adopt an ultra-compact and highly reliable circuit design architecture. The high-precision design concept of combining rigidity and flexibility with integrated core components. The system aerospace adaptability design principle of radiation-resistant components and single-event-resistant circuits fully meets the design requirements with multiple interfaces.

[0104] To meet the task requirements of operating state adjustment and visual signal detection, in some embodiments, the first visual component and the second visual component can include an optical part and an electronics part. Among them, the optical part can form a collection mechanism for optical signals based on the designed optical structure design specifications. For example, the system solutions for the optical part can include refractive, catadioptric, and reflective types, etc. To obtain an optical part that is insensitive to environmental temperature and has a simple structure, the payload camera adopts a catadioptric design. As Figure 5 shown, the catadioptric optical system places an afocal aberration correction lens group in front of and behind the reflector, and realizes aberration correction in the full field of view and the full spectral range through two groups of correction mirrors. Since the reflector can use glass with a low coefficient of thermal expansion, therefore, the catadioptric optical system. In addition, the structure of the catadioptric optical system is simpler than that of the refractive system.

[0105] Exemplarily, the focal length f of the optical part is 443.325 mm, the aperture coefficient or aperture value F / # is 5.1, the spectral range is 450 - 900 nm; the resolution is 3.45 m / px; the swath width is 10.9 km; the orbital altitude H is 500 km; the pixel size α is 3.2 μm.

[0106] According to the calculation formula of camera resolution:

[0107]

[0108] Wherein, GSD is the camera resolution, with the unit of m / px; H is the satellite operating orbital altitude, with the unit of km; α is the sensor pixel size, with the unit of μm; f is the camera focal length, with the unit of mm. Then, based on the above formula, the camera resolution can be calculated as (500 × 3.2) / 460 = 3.45 m / px, which is better than 4 m / px.

[0109] And according to the swath width calculation formula, it can be calculated that at the satellite operating orbital altitude of 500 km, the theoretical design value of the swath width is 2 × 500 × tan(0.625) = 10.9 km, which is better than 10 km.

[0110] As Figure 6 shown, the electronics part may include an imaging core module. For example, the payload processor powers the 3.2 - μm imaging core module, and the FPGA main controller actively loads the data in the non - volatile memory. After the data loading is completed, the payload processor sends various instructions such as power - on, imaging, and power - off to the 3.2 - μm imaging core module through the Controller Area Network (CAN) communication interface. After receiving the instructions, the FPGA controller drives the detector to perform various operations such as power - on, imaging, and power - off. During imaging, the detector continuously transmits the collected raw data to the FPGA main controller. The FPGA main controller receives the raw data of the detector, processes the data, then packages it in the Cameralink format and sends it to the payload processor through the Cameralink interface chip.

[0111] The power supply for the electronics part can split the externally input +5V power supply into two paths to power the system. One path is converted into multiple power supplies through a DC-DC module to power the FPGA. Among them, one 1.5V path not only powers the FPGA but also generates a 0.75V voltage as the reference power supply for the Double Data Rate Synchronous Dynamic Random Access Memory (DDR). The other path steps down the voltage through a Low Dropout Regulator (LDO) to generate multiple power supplies to power the detector.

[0112] As Figure 7 shown, the electronics part uses the FPGA as the main controller to achieve the control of the detector, image acquisition, and image data packet sending, and is responsible for the image data interface, second pulse, and communication interface with the payload processor. The main controller can also complete the power-on timing control of the detector, register initialization configuration, and sampling scan of each data channel to obtain the best sampling position. The channel sampling scan can use the IODelay resources inside the FPGA to sample and scan the data of each data channel, and obtain the best stable state by statistically analyzing the sampling values of specific byte codes at different sampling positions.

[0113] The electronics part can perform byte alignment on the acquired data, that is, on the basis of stable sampling, align the multi-channel data so that the corresponding byte codes of each channel are aligned, and complete the alignment of the starting positions of the pixels. This process is processed through the bit shift resources inside the FPGA.

[0114] The electronics part can also perform image caching and recombination on the acquired data. Since the detector image output uses 56 parallel channels to output, and each channel outputs 170 adjacent pixels, it is necessary to splice internally and recombine the pixels to achieve the pixel rearrangement of 56 channels and form a required pixel row of 9520. The specific arrangement method can be changed according to the actual usage. When the electronics part performs image output, it can re-frame the image data after radiation correction and output the image data to the satellite platform according to the Low Voltage Differential Signaling (LVDS) interface data protocol.

[0115] The attitude detection sensor is configured to detect satellite attitude information. For example, a satellite system may include attitude detection sensors such as gyroscopes and magnetometers. Among them, the gyroscope can be used to measure the angular velocity or attitude change of the satellite, ensuring that the satellite can fly along a predetermined trajectory and maintain a stable attitude. By transmitting attitude data in real time, the gyroscope helps the satellite's control system adjust the attitude to complete tasks such as earth observation and communication. The magnetometer is used to measure the intensity and direction of the geomagnetic field at the location of the satellite. By comparing with the geomagnetic field model, the attitude information of the satellite can be deduced.

[0116] The attitude adjustment component is configured to adjust the operating attitude of the satellite. The attitude adjustment component refers to the execution device used to perform attitude adjustment. For example, the attitude adjustment component includes reaction wheels, momentum wheels, magnetic torque actuators, thrusters, etc.

[0117] The on-board computer is connected to the first vision component, the second vision component, the attitude detection sensor, and the attitude adjustment component. The on-board computer can receive the data collected by the first vision component, the second vision component, and the attitude detection sensor, that is, receive the first image information, the second image information, and the satellite attitude information. And process the received data to generate control instructions for attitude adjustment, data transmission, task switching, etc., and send the control instructions to the corresponding execution components to achieve the control of the corresponding processes.

[0118] In some embodiments, the on-board computer is configured to execute a satellite vision detection method, as Figure 8 shown, the method includes:

[0119] S101. Obtain visual image data and the satellite attitude information.

[0120] Among them, the visual image data includes the first image information and the second image information. After the first vision component and the second vision component start detection with the operating state of the satellite, they can respectively collect the image information in the shooting area, that is, obtain the first image information and the second image information. Then, send the first image information and the second image information to the on-board computer respectively, so that the on-board computer can obtain the visual image data.

[0121] Similarly, after the attitude detection sensor starts detection according to the operating state of the satellite, it can detect and obtain satellite attitude information based on a specific attitude detection principle. For example, the satellite system may include a gyroscope assembly. The gyroscope assembly uses dual Micro Electro Mechanical Systems (MEMS) gyroscopes. The dual MEMS gyroscopes are symmetrically installed, which not only serves as a thermal backup but also can correct the gyro zero bias. The symmetrical installation of the dual gyroscopes means that the X-axis of gyroscope A is in the same direction as the -X axis of gyroscope B, and the Y-axis of gyroscope A is in the same direction as the -Y axis of gyroscope B. The symmetrical installation of the dual gyroscopes can effectively reduce the interference caused by vibration to the gyroscopes.

[0122] The gyroscopes can be powered by 3.3V. The power supplies are all taken from the 5V bus of the multi-rail power supply and are controlled by an LDO with an integrated switch. This chip has a diagnostic pin for monitoring the power supply status of the gyroscopes, and the integrated electronics can perform fault monitoring and handling. Each gyroscope is powered independently to ensure that in case of any problem with a gyroscope, fault isolation can be achieved by powering it down.

[0123] The communication of the gyroscopes uses Serial Peripheral Interface (SPI) communication. The dual gyroscopes use independent SPI communication to ensure that the communication of one gyroscope is not affected in case of a fault in the other gyroscope. After the gyroscopes detect and obtain the attitude information, the satellite attitude information can be sent to the on-board computer through the SPI communication channel.

[0124] To obtain visual image data and satellite attitude information, the on-board computer can send data acquisition instructions to the first visual component, the second visual component, and the attitude detection sensor according to the monitoring requirements of the current mission phase. After receiving the data acquisition instructions, the first visual component, the second visual component, and the attitude detection sensor can send visual image data and satellite attitude information to the on-board computer.

[0125] S102. Identify the star point features from the visual image data.

[0126] After obtaining the visual image data, the on-board computer can perform feature extraction on the visual image data to identify the star point features in the visual image data. Among them, the star point features include the star point target and the star point coordinates of the star point target; the star point target is a set of pixel points corresponding to a specified star in the starry sky image.

[0127] In some embodiments, in order to identify star point features, the on-board computer may traverse the pixel values of the pixel points in the visual image data, and then extract star point targets from the visual image data according to the pixel values of the pixel points. Among them, the pixel value of the star point target is the pixel value corresponding to the foreground color. For example, if the foreground color is white, the on-board computer may read the white star target in the visual image data. Correspondingly, the pixel points that are not star targets may be the background color, that is, black.

[0128] The on-board computer may obtain the star point coordinates of at least three star point targets in the visual image data from the visual image data, and the three star point targets are not on the same straight line, and then calculate the shooting angle of the visual image data according to the star point coordinates.

[0129] In order to calculate the shooting angle of the visual image data, the on-board computer may compare the reference star point coordinates with the coordinates of the star point targets in the visual image data to determine the coordinate deviation, so as to reverse the shooting angle according to the coordinate deviation.

[0130] For example, the on-board computer takes the shooting angle corresponding to the reference star point coordinates as a reference, and calculates the shooting angle of the visual image according to the coordinate difference and the optical parameters of the visual component. For example, the on-board computer may obtain the internal parameters and distortion coefficients of the camera through camera calibration. The internal parameters of the camera may include focal length, optical center coordinates, etc., and are represented by the internal parameter matrix K. The distortion coefficient is used to correct lens distortion.

[0131] Then, the pixel point coordinates in the visual image data are converted into the camera coordinate system. Assuming that the coordinates of the pixel points corresponding to the star point targets in the image are (u, v), the pixel points can be first corrected for distortion using functions such as undistortPoints in OpenCV. Then, the pixel coordinates are converted into the normalized camera coordinate system, that is:

[0132]

[0133] where, (c x , c y ) is the optical center coordinate; f x and f y are the focal lengths.

[0134] Then, according to the point (x′, y′) in the normalized camera coordinate system, its angle relative to the camera optical axis can be calculated, that is: horizontal angle θ x = arctan(x′); vertical angle θ y = arctan(y′). The calculated angle unit is radians, and it can be converted to degrees by multiplying by π / 180.

[0135] After calculating the shooting angle, it can be compared with the shooting angle corresponding to the reference star point coordinates, so as to determine the deflection of the visual image data relative to the shooting angle corresponding to the reference star point coordinates. Since different requirements for the satellite's operating attitude exist in different mission phases, attitude determination can be performed using different reference star point coordinates when calculating the shooting angle.

[0136] That is, in some embodiments, the satellite system further includes a navigation module connected to the on-board computer, such as a GNSS module. The navigation module is configured to obtain satellite position information. The on-board computer can obtain the current time and the satellite position information. Wherein, the current time is the time information of the navigation module or the time data annotated on the ground equipment. Then, the reference star point layout data for the current task is extracted according to the current time and the satellite position information. The reference star point layout data includes reference star point coordinates and a reference shooting angle; the reference star point coordinates are the coordinate values corresponding to the star point targets in the reference image; the reference image is an image obtained by performing image acquisition on the starry sky at the reference shooting angle.

[0137] Then, calculate the coordinate difference between the star point coordinates and the reference star point coordinates, and calculate the shooting angle of the visual image data according to the coordinate differences corresponding to at least three of the star point targets. For example, in the star point image, there may be pixel points corresponding to three star point targets, namely: P 1 (u 1 , v 1 ), P 2 (u 2 , v 2 ), P 3 (u 3 , v 3 ); then extract the coordinate values corresponding to the star point targets of the same star point in the reference image from the reference star point layout data, that is, P b1 (u b1 , v b1 ), P b2 (u b2 , v b2 ), P b3 (u b3 , v b3 ). After calculating the coordinate differences respectively, and determine the shooting angle of the visual image data in combination with the coordinate differences. That is, the shooting angle is arctan((u 1 - u b1 ) / f x ). The shooting angle components on the x-axis, y-axis, and z-axis can be calculated respectively through three or more star point coordinates, so as to determine the overall shooting angle.

[0138] S103. Calculate the three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information.

[0139] After obtaining the star point features through calculation, the on-board computer can calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information. In some embodiments, the on-board computer can adopt an attitude determination algorithm combining a star sensor and a gyroscope. By integrating the functions of the star sensor and the gyroscope, and observing the position of the star points and combining with the output of the gyroscope, the three-axis attitude determination of the satellite can be achieved. For this purpose, the attitude detection sensor includes a gyroscope and a magnetometer. The gyroscope is configured to detect angular acceleration information; the magnetometer is configured to detect gravitational acceleration.

[0140] When calculating the three-axis attitude parameters of the satellite, the on-board computer can determine the reference coordinate axes according to the star point features. Among them, the reference coordinate axes include a first coordinate axis, a second coordinate axis, and a third coordinate axis that are mutually perpendicular in space. Then, obtain the angular acceleration information and the gravitational acceleration, and calculate the acceleration components of the angular acceleration information on the reference coordinate axes. The acceleration components include a first acceleration component of the angular acceleration information on the first coordinate axis, a second acceleration component of the angular acceleration information on the second coordinate axis, and a third acceleration component of the angular acceleration information on the third coordinate axis.

[0141] Then, calculate the three-axis attitude angles according to the angular acceleration information. The three-axis attitude angles include a pitch angle, a roll angle, and a yaw angle; the pitch angle is calculated based on the first acceleration component, the second acceleration component, and the third acceleration component; the roll angle is calculated based on the first acceleration component and the gravitational acceleration; the yaw angle is calculated based on the first acceleration component and the third acceleration component.

[0142] For example, the on-board computer can use an accelerometer (gyroscope) and a magnetometer to calculate the attitude angles. Among them, the pitch angle can be calculated according to the following formula:

[0143]

[0144] The roll angle can be calculated according to the following formula:

[0145]

[0146] The yaw angle can be calculated according to the following formula:

[0147]

[0148] Where A x 、A y 、Az are the readings of the accelerometer on three axes, and g is the acceleration due to gravity.

[0149] It can be seen that the on-board computer can fuse the measurement results of the star sensor and the gyroscope through a specific attitude determination algorithm, thereby improving the accuracy of attitude determination.

[0150] S104. Generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters.

[0151] After calculating the three-axis attitude parameters, the on-board computer can generate an attitude adjustment instruction and an image acquisition instruction according to the three-axis attitude parameters. Among them, the attitude adjustment instruction is used to control the attitude adjustment component to adjust the satellite's running attitude so that the adjusted satellite running attitude meets the attitude requirements of the current mission phase. The image acquisition instruction is used to control the first vision component or the second vision component to perform image acquisition to meet the task requirements of in-orbit determination during entry.

[0152] In some embodiments, in order to generate an attitude adjustment instruction and an image acquisition instruction, the on-board computer can obtain the current mission data. Among them, the current mission data includes the mission phase to which the satellite currently belongs and the reference running attitude required for the mission phase. Then calculate the attitude deviation between the three-axis attitude parameters and the reference running attitude, and generate an attitude adjustment amount according to the attitude deviation. Then match the active devices of the attitude adjustment component according to the attitude adjustment amount, and generate the attitude adjustment instruction applicable to the active devices according to the attitude adjustment amount.

[0153] When performing attitude adjustment, the on-board computer can determine the reference running attitude A according to the current mission phase tb . Then compare the three-axis attitude parameter A t with the reference running attitude A tb to calculate the attitude deviation, that is, the attitude deviation Ad = |A t - A tb |. Then generate an attitude adjustment amount according to the attitude deviation. The adjustment amount can be calculated from the deviation components of the attitude deviation on the three coordinate axes, and then match the active devices of the attitude adjustment component according to the attitude adjustment amount. For example, for a deviation with a small adjustment amount, attitude adjustment can be performed through a reaction wheel, a momentum wheel, and a magnetic torque actuator, that is, the active devices are a reaction wheel, a momentum wheel, and a magnetic torque actuator; while for a deviation with a large adjustment amount, attitude adjustment can be performed through a thruster, that is, the active device is a thruster.

[0154] S105. Send the attitude adjustment instruction to the attitude adjustment component, and send the image acquisition instruction to the target vision component.

[0155] After generating the attitude adjustment instruction and the image acquisition instruction, the on-board computer can determine the target vision component, which is the vision component used for image acquisition. That is, the target vision component can be used as the payload camera for the in-orbit determination task of the satellite system. Therefore, the target vision component is one of the first vision component and the second vision component.

[0156] In some embodiments, to determine the target vision component, when calculating the shooting angle, the on-board computer can determine the target vision component according to the shooting angle. For this purpose, the shooting angle includes the first shooting angle of the first vision component and the second shooting angle of the second vision component. The on-board computer can extract the reference shooting angle from the reference star point layout data and calculate the angle deviation between the shooting angle and the reference shooting angle. Wherein, the angle deviation includes the first angle deviation between the first shooting angle and the reference shooting angle, and the second angle deviation between the second shooting angle and the reference shooting angle, and then determine the target vision component according to the angle deviation.

[0157] When the on-board computer determines the target vision component according to the angle deviation, it can compare the first angle deviation and the second angle deviation. If the first angle deviation is greater than or equal to the second angle deviation, it is determined that the first vision component is the target vision component. If the first angle deviation is less than the second angle deviation, it is determined that the second vision component is the target vision component.

[0158] By comparing the angle deviations, the first vision component or the second vision component with a smaller deviation from the reference shooting angle can be determined as the target vision component. Therefore, the adjustment amount of the attitude adjustment component can be reduced, enabling the satellite system to quickly complete the attitude adjustment and saving energy consumption.

[0159] It should be noted that when determining the target vision component, the first vision component or the second vision component can also be set as the target vision component according to the specific types of the first vision component and the second vision component, and the data acquisition requirements of the current task phase. For example, when the first vision component is an optical camera and the second vision component is a multispectral camera, and the current task phase requires multispectral image acquisition of the ground, the second vision component can be set as the target vision component to meet the need for multispectral image acquisition.

[0160] After determining the target vision component, the on-board computer can send the image acquisition instruction to the target vision component. At the same time, the attitude adjustment instruction is sent to the attitude adjustment component to control the attitude adjustment component to perform attitude adjustment.

[0161] In some embodiments, after determining the target vision component, the on-board computer may further determine non-target vision components according to the target vision component. Wherein, if the target vision component is the first vision component, the non-target vision component is the second vision component; if the target vision component is the second vision component, the non-target vision component is the first vision component.

[0162] Generate an image verification instruction again, and send the image verification instruction to the non-target vision component. Then obtain the verified starry sky image collected by the non-target vision component in response to the image verification instruction, and extract the verified star point features from the verified starry sky image. When the deviation between the verified star point features and the reference star point coordinates is less than or equal to the verification threshold, send the image acquisition instruction to the target vision component.

[0163] After attitude adjustment, the first vision component and the second vision component can perform image acquisition in a predetermined satellite attitude. In order to determine whether the satellite attitude is adjusted properly, the on-board computer can obtain the verified starry sky image collected by the non-target vision component. If the satellite attitude is adjusted to the required attitude in the mission phase, the deviation between the star point coordinates in the verified starry sky image collected by the non-target vision component and the reference starry sky image should be small. Therefore, by comparing the deviation between the verified star point features and the reference star point coordinates, when the deviation between the verified star point features and the reference star point coordinates is less than or equal to the verification threshold, send the image acquisition instruction to the target vision component to drive the target vision component to perform image acquisition.

[0164] By applying the technical solutions provided in the above embodiments, the satellite vision detection system can perform three-axis attitude detection through one of the first vision component and the second vision component and the attitude detection sensor, and perform visual data acquisition through the other, and can accurately control the satellite attitude during the data acquisition process to solve the problem of low accuracy of the visual detection results of the satellite system.

[0165] Furthermore, an embodiment of the present application further provides a satellite vision detection method, which is applied to the satellite vision detection system provided in the above embodiments, as Figure 9 shown, the method includes:

[0166] S100. Obtain visual image data and satellite attitude information, where the visual image data includes first image information and second image information;

[0167] S200. Identify star point features from the visual image data, where the star point features include star point targets and the star point coordinates of the star point targets; the star point targets are sets of pixel points corresponding to specified stars in the starry sky image;

[0168] S300. Calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information;

[0169] S400. Generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters;

[0170] S500. Send the attitude adjustment instruction to the attitude adjustment component, and send the image acquisition instruction to the target vision component, where the target vision component is one of the first vision component and the second vision component.

[0171] By applying the technical solutions provided in the above embodiments, after obtaining the visual image data and the satellite attitude information, the satellite vision detection method can identify the star point features from the visual image data. Then, calculate the three-axis attitude parameters of the satellite based on the star point features and the satellite attitude information, and generate an attitude adjustment instruction and an image acquisition instruction based on the three-axis attitude parameters, so as to send them to the attitude adjustment component and the first vision component or the second vision component respectively. The method can perform three-axis attitude detection through one of the first vision component and the second vision component and the attitude detection sensor, and perform visual data acquisition through the other, and can accurately control the satellite attitude during the data acquisition process to solve the problem of low accuracy of the visual detection result of the satellite system.

[0172] The embodiment of the present application further provides a computer device, which may specifically be a personal computer, a server, a network device, etc. The computer device includes a bus, a processor, a memory, and a communication interface, and may further include an input / output interface and a display device. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store location information. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, the steps in the method embodiments are implemented.

[0173] Those skilled in the art can understand that the structure of the above computer device is only a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components, or combine some components, or have different component arrangements.

[0174] In one embodiment, a computer-readable storage medium is further provided. The computer-readable storage medium may be non-volatile or volatile, and stores a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0175] In one embodiment, a computer program product is further provided, including a computer program which, when executed by a processor, implements the steps in the above method embodiments.

[0176] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0177] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the above method embodiments.

[0178] Among them, any reference to a memory, database, or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memories. Non-volatile memory can include Read-Only Memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc.

[0179] Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0180] The database involved in the embodiments provided in this application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on blockchain, etc., without limitation. The processor involved in the embodiments provided in this application can be a general-purpose processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without limitation.

[0181] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0182] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. A satellite visual detection system, characterized in that: The system comprises: A first visual component is configured to collect first image information; A second visual component is configured to collect second image information; a shooting angle of the second visual component does not completely overlap with a shooting angle of the first visual component; An attitude detection sensor is configured to detect satellite attitude information; An attitude adjustment component, configured to adjust the satellite's operating attitude; an onboard computer, connected to the first visual component, the second visual component, the attitude detection sensor, and the attitude adjustment component; The onboard computer is configured as follows: Acquire visual image data and the satellite attitude information, the visual image data including the first image information and the second image information; Identifying star point features from the visual image data, the star point features including star point targets and star point coordinates of the star point targets; the star point targets are sets of pixels corresponding to designated stars in the starry sky image; Calculating the three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information; Generate a posture adjustment instruction and an image acquisition instruction based on the three-axis posture parameters; The posture adjustment instruction is sent to the posture adjustment component, and an image acquisition instruction is sent to a target visual component, where the target visual component is one of the first visual component and the second visual component.

2. The system according to claim 1, characterized in that The first visual component and the second visual component include a light shield, a lens assembly and an electronic processing unit; The lens assembly is arranged in the light shield; the electronic processing unit comprises an imaging processing board and a data processing board, and the imaging processing board and the data processing board are stacked and assembled; The imaging processing board is provided with a photosensitive device, and the photosensitive device is configured to convert an optical signal into an electrical signal; the data processing board includes an image processing device and a communication device, the image processing device is connected to the photosensitive device and the communication device, and the image processing device is configured to convert the electrical signal into image information.

3. The system according to claim 1, characterized in that The onboard computer performs the step of identifying star point features from the visual image data, and is further configured to: Traversing pixel values ​​of pixel points in the visual image data; Extracting a star point target from the visual image data according to the pixel value of the pixel point, wherein the pixel value of the star point target is the pixel value corresponding to the foreground color; Acquire the star point coordinates of at least three of the star point targets in the visual image data; The shooting angle of the visual image data is calculated according to the star point coordinates.

4. The system according to claim 3, characterized in that The onboard computer further comprises a navigation module connected to the onboard computer, wherein the navigation module is configured to obtain satellite position information; the onboard computer calculates the shooting angle of the visual image data according to the star point coordinates, and is further configured to: Acquire the current time and the satellite position information, wherein the current time is the time information of the navigation module or the time data recorded on the ground device; Extracting reference star point layout data for the current task according to the current time and the satellite position information, wherein the reference star point layout data includes reference star point coordinates and reference shooting angles; The reference star point coordinates are coordinate values ​​corresponding to the star point target in the reference image; The reference image is an image obtained by performing image acquisition on the starry sky at the reference shooting angle; Calculating the coordinate difference between the star point coordinates and the reference star point coordinates; The shooting angle of the visual image data is calculated according to the coordinate difference values ​​corresponding to at least three of the star point targets.

5. The system according to claim 4, characterized in that The shooting angle includes a first shooting angle of the first visual component and a second shooting angle of the second visual component; the onboard computer is further configured as: Extracting a reference shooting angle from the reference star point layout data; Calculating an angle deviation between the shooting angle and the reference shooting angle, wherein the angle deviation includes a first angle deviation between the first shooting angle and the reference shooting angle, and a second angle deviation between the second shooting angle and the reference shooting angle; The target vision component is determined based on the angular deviation.

6. The system according to claim 5, characterized in that The onboard computer executes the determination of the target vision component according to the angle deviation, and is further configured to: comparing the first angle deviation and the second angle deviation; If the first angle deviation is greater than or equal to the second angle deviation, determining that the first visual component is the target visual component; If the first angle deviation is smaller than the second angle deviation, the second vision component is determined to be the target vision component.

7. The system according to claim 1, characterized in that The attitude detection sensor includes a gyroscope and a magnetometer, wherein the gyroscope is configured to detect angular acceleration information; the magnetometer is configured to detect gravity acceleration; the onboard computer calculates the three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information, and is also configured to: Determine reference coordinate axes according to the star point features, the reference coordinate axes comprising a first coordinate axis, a second coordinate axis, and a third coordinate axis that are in a spatially perpendicular relationship with each other; Acquiring the angular acceleration information and the gravitational acceleration; Calculating the acceleration component of the angular acceleration information on the reference coordinate axis; The acceleration components include a first acceleration component of the angular acceleration information on the first coordinate axis, a second acceleration component of the angular acceleration information on the second coordinate axis, and a third acceleration component of the angular acceleration information on the third coordinate axis; The three-axis attitude angles are calculated according to the angular acceleration information, and the three-axis attitude angles include a pitch angle, a roll angle, and a heading angle; the pitch angle is calculated according to the first acceleration component, the second acceleration component, and the third acceleration component; the roll angle is calculated according to the first acceleration component and the gravitational acceleration; and the heading angle is calculated according to the first acceleration component and the third acceleration component.

8. The system according to claim 1, characterized in that The onboard computer generates attitude adjustment instructions and image acquisition instructions based on the three-axis attitude parameters, and is further configured to: Acquire current mission data, wherein the current mission data includes the mission phase to which the satellite currently belongs and a reference operating attitude required by the mission phase; Calculating the posture deviation between the three-axis posture parameters and the reference running posture; generating a posture adjustment amount according to the posture deviation; matching the movable device of the posture adjustment assembly according to the posture adjustment amount; The posture adjustment instruction applicable to the movable device is generated according to the posture adjustment amount.

9. The system according to claim 1, characterized in that The onboard computer is further configured to: Determine a non-target visual component according to the target visual component, if the target visual component is the first visual component, the non-target visual component is the second visual component; if the target visual component is the second visual component, the non-target visual component is the first visual component; generating an image verification instruction, and sending the image verification instruction to the non-target visual component; Acquire a verification starry sky image acquired by the non-target visual component in response to the image verification instruction; Extracting verification star point features from the verification star sky image; When the deviation between the check star point feature and the reference star point coordinates is less than or equal to a check threshold, the image acquisition instruction is sent to the target vision component.

10. A satellite visual detection method, characterized in that: Applied to the satellite vision detection system according to any one of claims 1 to 9, the method comprising: Acquire visual image data and satellite attitude information, wherein the visual image data includes first image information and second image information; Identifying star point features from the visual image data, the star point features including star point targets and star point coordinates of the star point targets; the star point targets are sets of pixels corresponding to designated stars in the starry sky image; Calculating the three-axis attitude parameters of the satellite according to the star point features and the satellite attitude information; Generate a posture adjustment instruction and an image acquisition instruction based on the three-axis posture parameters; The posture adjustment instruction is sent to the posture adjustment component, and the image acquisition instruction is sent to the target visual component, where the target visual component is one of the first visual component and the second visual component.

Images