Hardware-in-loop remote space target sensing ground equivalent test system

Abstract

The invention relates to a hardware-in-the-loop remote space target sensing ground equivalent test system, and belongs to the technical field of space target detection and identification. The system comprises a dynamics simulation machine, a motion control upper computer, a comprehensive control system, a relative motion simulation system, a system calibration machine, an information processing system and an application evaluation machine. According to the invention, rapid and stable acquisition and precision evaluation of the mass center position of the long-distance space target are realized by adopting a double-arm collaborative visual perception motion system based on dynamic driving, ground test verification of a detection tracking technology of a long-distance point target in a typical space task scene is completed, and the method has the advantages of high simulation precision, high reliability and the like.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of space target detection and identification, and relates to a hardware-in-the-loop long-distance space target perception ground equivalent test system. BACKGROUND

[0002] With the rapid development of space technology, the demand for space situation awareness is increasingly urgent, and the detection and tracking of space targets is the data source of space situation awareness and an important guarantee for obtaining future space advantage. Spacecraft in-orbit flight experiment is difficult and costly, and ground simulation and test technology can provide an optimal means for spacecraft verification and test, and can comprehensively test the whole system of the spacecraft without any physical flight. Therefore, in order to ensure the successful execution of the in-orbit tasks such as space target detection and identification, it is urgent to develop a long-distance space target perception ground equivalent test system to provide condition guarantee for ground test verification of long-distance point target detection and tracking technology in typical space mission scenarios. SUMMARY

[0003] The application solves the technical problem of overcoming the shortcomings of the prior art, and provides a hardware-in-the-loop long-distance space target perception ground equivalent test system.

[0004] The technical solution of the application is: a hardware-in-the-loop long-distance space target perception ground equivalent test system, comprising a dynamics simulation machine, a motion control host computer, a comprehensive control system, a relative motion simulation system, a system calibration machine, an information processing system, and an application evaluation machine; the dynamics simulation machine combines a space mission scenario, maps and equivalently forms a ground test system through space-ground consistency, and generates relative motion instructions sent to the motion control host computer; the motion control host computer receives the relative motion instructions in real time and generates expected motion trajectories and sends them to the comprehensive control system and the system calibration machine; the comprehensive control system receives the expected motion trajectories and synchronously sends them to the relative motion simulation system, the relative motion simulation system realizes real-time simulation of the hardware-in-the-loop relative motion according to the received expected motion trajectories, generates corresponding motion feedback to the comprehensive control system, and the comprehensive control system generates actual motion trajectories and sends them to the system calibration machine; the system calibration machine receives the actual motion trajectories sent by the comprehensive control system, completes the precision compensation correction of the relative motion simulation system, and obtains the nominal value of the target mass center position by loading the hand-eye calibration result; the information processing system obtains the images of the relative motion simulation system in real time during the simulation process, performs target detection and tracking processing, and further obtains the measurement value of the target mass center position; the application evaluation machine simultaneously receives the nominal value obtained by the system calibration machine and the measurement value obtained by the information processing system, and outputs the mass center positioning error to complete the evaluation of the target perception precision.

[0005] Furthermore, the relative motion simulation system includes an illumination system, a target satellite, an active end system, a probe camera, a passive end system, a motion system, and an environment simulation system. The illumination system is a light source with dynamically adjustable intensity and angle, located inside the target satellite, used to simulate changes in the space light field. The target satellite is fixedly mounted on the passive end system, and the probe camera is fixedly mounted on the active end system. The motion system is fixedly connected to the active end system, driving the active end system to move on a linear guide rail with two degrees of freedom in the longitudinal and lateral directions. The active end system, passive end system, and motion system synchronously receive the desired motion trajectory transmitted by the integrated control system, realize the relative motion between the probe camera and the target satellite, and generate corresponding motion feedback to the integrated control system, completing the hardware-in-the-loop real-time simulation of relative motion. The environment simulation system is a constructed darkroom used to simulate the space environment.

[0006] Furthermore, both the active end system and the passive end system are implemented by a six-degree-of-freedom robotic arm. The detection camera is fixedly installed at the end of the six-degree-of-freedom robotic arm of the active end system, and the target satellite is fixedly installed at the end of the six-degree-of-freedom robotic arm of the passive end system. The motion state of the detection camera and the target satellite is simulated by the linkage of the robotic arms.

[0007] Furthermore, the integrated control system includes a motion trajectory receiving module, a system motion controller, and an actual motion trajectory generation module. The motion trajectory receiving module receives the desired motion trajectory generated by the motion control host computer and sends it to the system motion controller. The motion controller receives the desired motion trajectory and sends it to the mobile system, the active end system, and the passive end system, while simultaneously receiving motion information fed back from the three. The actual motion trajectory generation module generates the actual motion trajectory based on the feedback motion information.

[0008] Furthermore, the system motion controller includes a moving guide rail system motion controller, an active end system motion controller, a passive end system motion controller, and a PLC synchronous system motion controller.

[0009] The motion controller of the moving guide rail system receives the active end motion command sent by the motion controller of the PLC synchronization system, converts it into a guide rail translation motion command, and sends it to the moving system; at the same time, it receives the guide rail translation motion feedback information and outputs it to the active end system motion controller.

[0010] The active end system motion controller receives the active end motion command sent by the PLC synchronous system motion controller, converts it into an active arm joint motion command, and sends it to the active end system; at the same time, it receives the active arm joint motion feedback information and the guide rail translation motion feedback information sent by the moving guide rail system motion controller, and feeds them back to the motion trajectory generation module together.

[0011] The passive end system motion controller receives the passive end motion command sent by the PLC synchronous system motion controller, converts it into a passive arm joint motion command, and sends it to the passive end system; at the same time, it receives the passive arm joint motion feedback information, converts it into passive end motion feedback and sends it to the motion trajectory generation module.

[0012] After receiving the desired motion trajectory, the motion controller of the PLC synchronous system converts it into an active motion command and sends it to the motion controller of the moving guide rail system. On the other hand, it converts it into a passive motion command and sends it to the passive motion controller.

[0013] Furthermore, the aforementioned sky-ground consistency mapping equivalence includes visual size equivalence, target surface material property equivalence, spatial light field equivalence, and task time equivalence; visual size equivalence achieves equivalence of camera spatial resolution, scene task working range, and target size through scaling; target surface material property equivalence includes equivalence of target body thermal control coating material and solar panel solar cell material properties; spatial light field element equivalence includes equivalence of target's own light intensity and changes in sunlight intensity at different observation angles; task time element equivalence includes equivalence of spatial task acceleration and sampling adjustment.

[0014] Furthermore, the system calibration machine includes a system error correction module and a hand-eye calibration module; the system error correction module receives the desired motion trajectory from the motion control host computer and the actual motion trajectory from the integrated control system, and loads the system error for correction; the hand-eye calibration module completes the dynamic calibration of the target perception ground equivalent test system by loading the hand-eye calibration results, and obtains the nominal value of the target centroid position.

[0015] Furthermore, the hand-eye calibration module uses dual-arm collaborative hand-eye calibration to determine the transformation relationship between the active-end detection camera and the active-end robotic arm end effector, as well as the transformation relationship between the passive-end target satellite and the passive-end robotic arm end effector.

[0016] Furthermore, the information processing system includes an image acquisition module and an image processing module; the image acquisition module acquires images of the relative motion simulation system in real time; the image processing module performs background filtering, image enhancement, threshold segmentation, connected component extraction, and star centroid calculation based on the images acquired by the image acquisition module, thereby completing the detection and tracking processing of the target sequence image and obtaining the measured value of the target centroid position.

[0017] Furthermore, if the target centroid positioning error does not exceed 0.5 pixels, the system is deemed to have the capability of target detection and tracking.

[0018] The advantages of this invention compared to the prior art are:

[0019] This invention achieves rapid and stable acquisition and accuracy assessment of the centroid position of distant spatial targets by employing a dynamically driven dual-arm collaborative visual perception motion system. It completes ground-based experimental verification of the detection and tracking technology of distant point targets in typical space mission scenarios, and has the advantages of high simulation accuracy and high reliability. Attached Figure Description

[0020] Figure 1 This is a diagram showing the composition of the ground equivalent test system of the present invention;

[0021] Figure 2 This is an information flow diagram of the ground equivalent test system of the present invention;

[0022] Figure 3 This is a schematic diagram of the relative motion simulation system of the present invention;

[0023] Figure 4 This is a diagram showing the coordinate relationship between the inertial frame and the orbital frame in this invention;

[0024] Figure 5 This is an information interaction diagram between the integrated control system and the relative motion simulation system of the present invention;

[0025] Figure 6 Image showing the measurement results of the target's centroid position;

[0026] Figure 7 The image shows the results of the real-time accuracy assessment for target detection and tracking. Detailed Implementation

[0027] The present invention will be further explained and described below with reference to the accompanying drawings and specific embodiments.

[0028] like Figure 1As shown, a hardware-in-the-loop long-range space target perception ground equivalent test system includes a dynamics simulator 1, a motion control host computer 2, an integrated control system 3, a relative motion simulation system 4, a system calibration machine 5, an information processing system 6, and an application evaluation machine 7. The dynamics simulator 1 can generate equivalent motion commands for the ground test system in conjunction with the space mission scenario and send them to the motion control host computer 2. The motion control host computer 2 receives relative motion commands in real time and generates the desired motion trajectory, which is then sent to the integrated control system 3 and the system calibration machine 5. The integrated control system 3 receives the desired motion trajectory generated by the motion control host computer 2 and simultaneously sends it to the relative motion simulation system 4. The system achieves information interaction with the relative motion simulation system 4; the relative motion simulation system 4 realizes real-time hardware-in-the-loop simulation of relative motion based on the received motion trajectory information; the system calibration machine 5 receives the actual motion trajectory sent by the integrated control system 3, completes the accuracy compensation and correction of the relative motion simulation system, and obtains the nominal value of the target centroid position by loading the hand-eye calibration results; the information processing system 6 receives the images acquired in real time by the relative motion simulation system 4 for target detection and tracking processing, and then obtains the measured value of the target centroid position; the application evaluation machine 7 simultaneously receives the measured value and nominal value obtained by the information processing system 6 and the system calibration machine 5, and completes the evaluation of the target perception accuracy.

[0029] like Figure 2 As shown, the dynamics simulator 1 includes a relative motion command generation module 101 and a timestamp motion command sending module 102. The relative motion command generation module 101 generates timestamp relative motion commands by achieving equivalence between the space scene and the motion state of the ground test system through the equivalent mapping of the space and ground consistent scenarios based on typical task scenarios. The timestamp motion command sending module 102 sends the commands to the motion control host computer 2 via UDP (User Datagram Protocol).

[0030] The motion control host computer 2 includes an instruction receiving module 201 and a desired motion trajectory generation module 202. The instruction receiving module 201 receives the timestamp relative motion instruction in real time, and the desired motion trajectory generation module 202 filters it using the Kalman filter method to generate a smooth desired motion trajectory and sends it to the integrated control system 3 and the system calibration machine 5 via UDP.

[0031] The integrated control system 3 includes a motion trajectory receiving module 301, a system motion controller 302, and an actual motion trajectory generation module 303. The motion trajectory receiving module 301 receives the desired motion trajectory generated by the motion control host computer 2 and sends it sequentially to the system motion controller 302 and the relative motion simulation system 4 via UDP. The relative motion simulation system 4 responds to the received instructions and generates corresponding motion feedback to the motion controller 302, thus completing the information interaction between the integrated control system 3 and the relative motion simulation system 4, realizing the real-time simulation of the relative motion trajectory in the hardware-in-the-loop, and generating the actual motion trajectory.

[0032] The system calibration machine 5 includes a system error correction module 501 and a hand-eye calibration module 502. It receives the desired motion trajectory from the motion control host computer 2 and the actual motion trajectory from the integrated control system 3 via UDP, loads the system error correction and hand-eye calibration results, completes the accuracy compensation correction of the relative motion simulation system 4, establishes the conversion relationship between the active and passive systems, completes the dynamic calibration of the target perception ground equivalent test system, and then obtains the nominal value of the target's centroid position.

[0033] The information processing system 6 includes an image acquisition module 601 and an image processing module 602; it responds to the synchronization controller signal of the integrated control system 3 to realize the synchronous processing of the current image and the system motion state, and acquires the images acquired in real time by the relative motion simulation system 4 to complete the detection and tracking processing of the target sequence image, thereby obtaining the measurement value of the target centroid position;

[0034] The application evaluation unit 7 includes a nominal data receiving module 701, a measurement data receiving module 702, and a target centroid positioning error evaluation module 703. The nominal data receiving module 701 and the measurement data receiving module 702 simultaneously receive nominal values ​​and measurement values ​​sent by the system calibrator 5 and the information processing system 6 via UDP, and perform target centroid positioning error evaluation through the target centroid positioning error evaluation module 703 to determine whether the system has the capability of target detection and tracking.

[0035] like Figure 3As shown, the relative motion simulation system 4 includes an illumination system 401, a target satellite 402, an active system 403, a detection camera 404, a passive system 405, a movement system 406, and an environment simulation system 407. Both the active and passive systems 403 and 405 are implemented using six-degree-of-freedom robotic arms. The detection camera 404 is fixedly mounted at the end of the six-degree-of-freedom robotic arm of the active system 403, and the target satellite 402 is fixedly mounted at the end of the six-degree-of-freedom robotic arm of the passive system 405. The motion states of the detection camera 404 and the target satellite 402 can be simulated through the coordinated movement of the robotic arms. The movement system 406 is implemented using longitudinal and lateral two-degree-of-freedom linear guide rails and is fixedly connected to the active system 403, simulating the approximation motion between the detection camera 404 and the target satellite 402. The environment simulation system 407 simulates the space environment by constructing a darkroom. The illumination system 401 simulates changes in the space light field by installing a dynamically adjustable light source with adjustable intensity and angle inside the target satellite 402.

[0036] Based on the time and absolute orbital dynamics data of the target satellite and the probe camera in the inertial frame under typical mission scenarios, the dynamics simulator 1 obtains the relative position, relative velocity, relative attitude, and relative angular velocity of the target satellite relative to the probe camera through coordinate transformation between the inertial frame and the orbital frame. Through the equivalent mapping between the space and ground, it converts the relative position, relative velocity, relative attitude, and relative angular velocity of the target satellite relative to the probe camera in the world coordinate system of the equivalent ground test system, realizes the equivalence between the space scene and the motion state of the ground test system, and generates motion commands of the relative motion simulation system under typical scenarios with timestamps.

[0037] The timeframe for typical mission scenarios includes the current year, month, day, hour, minute, second, and millisecond; the absolute orbital dynamics data of the target satellite and the probe camera in their inertial frames of reference include the target satellite's absolute position along the X-axis, Y-axis, and Z-axis, as well as the absolute velocity along the X-axis, Y-axis, and Z-axis of the probe camera's inertial frame of reference. Through coordinate transformation between the inertial and orbital frames of reference, the relative position, relative velocity, relative attitude, and relative angular velocity of the target satellite relative to the probe camera are obtained.

[0038] like Figure 4 The figure shows the coordinate transformation between the inertial frame and the orbital frame. e -x e y e z e For the geocentric inertial coordinate system, o c-x c y c z c To detect the camera's orbital coordinate system, x c To detect the camera's flight direction, z c Pointing to the Earth's center, y c A right-handed system is formed perpendicular to the orbital plane. t -x t y t z t Let x be the target satellite's orbital coordinate system. t For the target satellite's flight direction, z t Pointing to the Earth's center, y t A right-handed system is formed perpendicular to the track plane.

[0039] and For the orbital perturbation of the target satellite and the detection camera, To detect the projection of the camera's orbital angular velocity onto its orbital frame, and These represent the radius vectors of the detection camera and the target satellite, respectively. This represents the relative distance vector between the lines of sight of the two stars.

[0040]

[0041] According to the two-body motion:

[0042]

[0043] According to the relative kinematics of rigid bodies:

[0044]

[0045] The CW equation is obtained by simplifying the equations of relative motion, i.e.

[0046]

[0047] The acceleration generated by the thrust of the Earth-pointing tracking spacecraft is f = [f x f y f z ], f x f y f z These are the three-axis components: x, y, z. These represent the relative position, relative velocity, and relative acceleration of the target satellite within the orbital system of the detection camera, ω. c The magnitude of the angular velocity of the probe camera's orbit after approximation by a circular orbit;

[0048] The consistent mapping between heaven and earth effectively takes into account factors such as visible size, target surface material properties, spatial light field, and mission time.

[0049] The visible size factors include camera spatial resolution, scene task working range, and target size. Given that the ground-based test camera has a pixel size of 6.5μm and a focal length of 23.5mm, its spatial resolution is 27.66m@100km. Given that the space-based on-orbit test camera has a spatial resolution of 0.3m@100km, the scaling factor between the space-based on-orbit camera and the ground-based test camera is 0.3 / 27.66 = 1 / 92.2. The ground-based test system has a working range of 10m×4m×4m, and the typical space scene task working range is 100km~20km. Therefore, the equivalence factor between space and ground is 10000 times, meaning the ground-based test system at 10m~2m can simulate the approach phase of a 100km~20km distance. To achieve visible size equivalence, the scaling factor between the space target and the ground-based simulated target model is 10000 / 92.2 = 108.5 times. If the space target satellite body is a 1m cube and the solar panel size is 0.9m × 2.7m, then by scaling down by 108.5 times, the ground target satellite body is scaled down to 9mm and the ground target satellite solar panel is scaled down to 8mm × 25mm.

[0050] The target surface material characteristics include the multi-layer thermal control coating material of the target body and the material characteristics of the solar panel solar cells; the spatial light field characteristics include the target's own light intensity and the changes in sunlight intensity at different observation angles; by dynamically adjusting the intensity and angle of the light source installed inside the target, the equivalent simulation of the dynamic changes in the reflected light intensity of the target surface under different observation angles and different sunlight conditions in typical mission lighting scenarios is achieved.

[0051] The mission time elements include acceleration and sampling adjustments for the space mission. The control cycle of the experimental system is t = 1 ms, and the control cycle of a typical space mission scenario is T = 0.2 s. It has a maximum acceleration simulation capability of K = T / t = 200 times. Considering the reliability of the experimental system, based on the constraints of the typical space mission and the ground test site, the time data t′ = 12 * 60 * 60 / 200 / 2 = 108 s is sampled from the scenario at a 2:1 ratio, achieving the ability to simulate a maximum of 12 hours of operation for the space mission scenario.

[0052] like Figure 5As shown, the system motion controller 302 of the integrated control system 3 includes a moving guide rail system motion controller 3021, an active end system motion controller 3022, a passive end system motion controller 3023, and a PLC (Programmable Logic Controller) synchronous system motion controller 3024. The motion trajectory receiving module 301, through the PLC synchronous system motion controller 3024, completes the synchronous trigger response of the moving guide rail system motion controller 3021, the active end system motion controller 3022, and the passive end system motion controller 3023, and sends the active end motion command to the moving guide rail system motion controller 3021 and the active end system motion controller 3022 via UDP, and sends the passive end motion command to the passive end system motion controller 3023 via UDP. The moving guide rail system motion controller 3021, the active end system motion controller 3022, and the passive end system motion controller 3023 respectively convert their received motion commands into guide rail translation motion commands. Active arm joint motion commands and passive arm joint motion commands are sent to the mobile system 406, active end system 403, and passive end system 405 of the relative motion simulation system 4 via UDP. Each system responds to the received motion commands and generates corresponding motion feedback to the system motion controller 302, completing the information interaction between the integrated control system 3 and the relative motion simulation system 4. The system motion controller 302 receives the motion feedback and converts it into active end motion feedback and passive end motion feedback to realize the real-time simulation of the relative motion trajectory in the hardware-in-the-loop, and generates the corresponding motion trajectory through the motion trajectory generation module. The active end motion commands include active arm joint motion commands and guide rail translation motion commands.

[0053] The system calibration machine 5 receives the actual motion trajectory via UDP, loads the system error correction and hand-eye calibration results, completes the accuracy compensation correction of the relative motion simulation system 4, establishes the conversion relationship between the active and passive systems, completes the dynamic calibration of the target perception ground equivalent test system, and then obtains the nominal value (x,y) of the target's centroid position.

[0054] The hand-eye calibration module 502 uses a checkerboard-based calibration board to determine the transformation relationship between the active end detection camera / active end robotic arm end and the passive end target satellite / passive end robotic arm end through dual-arm collaborative hand-eye calibration, which is based on the "eye on the hand" and "eye outside the hand" calibration.

[0055] like Figure 6 As shown, the information processing system 6 responds to the synchronization controller signal to realize the synchronous processing of the current image and the system motion state. It also performs background filtering, image enhancement, threshold segmentation, connected component extraction, and star centroid calculation on the images acquired in real time by the relative motion simulation system 4 to complete the detection and tracking processing of the target sequence image, thereby obtaining the measured value of the target centroid position.

[0056] like Figure 7 As shown, the application evaluation machine 7 simultaneously receives the measured values ​​and nominal values ​​sent by the information processing system 6 and the system calibrator 5 via UDP, and outputs the centroid positioning error. If the centroid positioning error of the point target does not exceed 0.5 pixels, that is, Δx < 0.5 and Δy < 0.5, it indicates that the system has the ability to detect and track targets.

[0057] The hardware-in-the-loop long-range space target perception ground equivalent test system uses the closed-loop simulation test results as the data input for the ground equivalent test. Combined with the capability range of the ground test system, without considering the out-of-plane conditions of typical space missions, it extracts test data that can meet the constraints of the test site. Through coordinate system transformation, smoothing, sampling, and equivalence processing of the input data, the initial test data for the ground equivalent test is formed. Based on the dual-arm collaborative visual perception relative motion simulation system, the system completes the performance evaluation test of long-range point target recognition and tracking during the approach, fly-around, hovering, and retreat processes in typical space mission scenarios.

[0058] The experimental steps of a hardware-in-the-loop long-range spatial target perception ground equivalent test system are as follows:

[0059] Step 1: Input the absolute orbital data of the probe camera and the target satellite in the inertial frame under the typical space mission scenario example into the dynamics simulator. Through coordinate transformation between the inertial frame and the orbital frame, obtain the relative position and relative velocity of the target satellite relative to the probe camera. Then, through scaling and equivalence, convert it into the relative position and relative velocity in the world coordinate system of the ground test system. Generate motion command files for the six-DOF manipulator of the active end system and the six-DOF manipulator of the passive end system respectively.

[0060] Step 2: Run the zeroing action of the motion control host computer to complete the initialization of the relative position and attitude of the mobile system, active end system, passive end system, and target satellite and observation camera;

[0061] Step 3: The motion control host computer loads the motion instruction files of the six-DOF robotic arm in the active end system and the six-DOF robotic arm in the passive end system respectively, and generates the desired tracking trajectory;

[0062] Step 4: Click "Run Online". The motion of the mobile system, active end system and passive end system of the relative motion simulation system is synchronously controlled by the integrated control system to realize the relative motion between the target satellite and the detection camera and generate the actual motion trajectory. The six-degree-of-freedom relative motion simulation capability is evaluated. The relative motion includes three-degree-of-freedom relative attitude and three-degree-of-freedom relative position.

[0063] Step 5: During the relative motion process in Step 4, the system calibration machine receives the actual motion trajectory sent by the integrated control system, loads the calibration results to obtain the nominal value of the target centroid position, and sends it to the application evaluation machine; at the same time, the detection camera acquires the target satellite image in real time and sends the image to the information processing system through the serial port to complete the real-time detection of the target satellite, obtain the measured value of the target centroid position, and send it to the application evaluation machine.

[0064] Step 6: During the execution of Step 5, the application evaluation machine synchronously receives the measured values ​​and nominal values ​​sent by the information processing system and the calibration machine in real time to complete the evaluation of the target perception accuracy.

[0065] Step 7: Repeat steps 1 to 6 to conduct ground tests on multiple sets of typical space mission scenarios to evaluate the test system's ability to identify and track six-degree-of-freedom targets.

[0066] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A hardware-in-the-loop ground-based equivalent experimental system for long-range spatial target perception, characterized in that: The system includes a dynamics simulator (1), a motion control host computer (2), an integrated control system (3), a relative motion simulation system (4), a system calibration machine (5), an information processing system (6), and an application evaluation machine (7). The dynamics simulator (1) combines the space mission scenario and is equivalent to a ground test system through a consistent mapping between the ground and the space, and generates relative motion commands which are sent to the motion control host computer (2). The motion control host computer (2) receives the relative motion commands in real time and generates the desired motion trajectory, which is then sent to the integrated control system (3) and the system calibration machine (5). After receiving the desired motion trajectory, the integrated control system (3) sends it to the relative motion simulation system (4) in a synchronous manner. The relative motion simulation system (4) realizes the hardware-in-the-loop relative motion simulation based on the received desired motion trajectory. The motion simulation is performed in real time, and the corresponding motion feedback is generated to the integrated control system (3). The integrated control system (3) generates the actual motion trajectory and sends it to the system calibration machine (5). The system calibration machine (5) receives the actual motion trajectory sent by the integrated control system (3), completes the accuracy compensation and correction of the relative motion simulation system (4), and obtains the nominal value of the target centroid position by loading the hand-eye calibration result. During the simulation, the information processing system (6) acquires the image of the relative motion simulation system (4) in real time, performs target detection and tracking processing, and then obtains the measured value of the target centroid position. The application evaluation machine (7) simultaneously receives the nominal value obtained by the system calibration machine (5) and the measured value obtained by the information processing system (6), and outputs the centroid positioning error to complete the evaluation of the target perception accuracy.

2. The hardware-in-the-loop ground-equivalent experimental system for long-range space target perception according to claim 1, characterized in that: The relative motion simulation system (4) includes an illumination system (401), a target satellite (402), an active system (403), a detection camera (404), a passive system (405), a movement system (406), and an environmental simulation system (407). The illumination system (401) is a light source with dynamically adjustable light intensity and angle, located inside the target satellite (402), used to simulate changes in the space light field. The target satellite (402) is fixedly mounted on the passive system (405), and the detection camera (404) is fixedly mounted on the active system (403). (406) is fixedly connected to the active end system (403) and drives the active end system (403) to move on the longitudinal and lateral two-degree-of-freedom spliced ​​linear guide rail; the active end system (403), the passive end system (405), and the moving system (406) synchronously receive the desired motion trajectory transmitted by the integrated control system (3), realize the relative motion between the detection camera (404) and the target satellite (402), and generate corresponding motion feedback to the integrated control system (3) to complete the real-time simulation of the relative motion in the hardware loop; the environmental simulation system (407) is a built darkroom used to simulate the space environment.

3. The hardware-in-the-loop ground-based equivalent experimental system for long-range space target perception according to claim 2, characterized in that: Both the active end system (403) and the passive end system (405) are implemented by a six-degree-of-freedom robotic arm. The detection camera (404) is fixedly installed at the end of the six-degree-of-freedom robotic arm of the active end system (403), and the target satellite (402) is fixedly installed at the end of the six-degree-of-freedom robotic arm of the passive end system (405). The motion state of the detection camera (404) and the target satellite (402) is simulated by the linkage of the robotic arms.

4. The hardware-in-the-loop long-range space target perception ground equivalent test system according to claim 2, characterized in that: The integrated control system (3) includes a motion trajectory receiving module (301), a system motion controller (302), and an actual motion trajectory generation module (303). The motion trajectory receiving module (301) receives the desired motion trajectory generated by the motion control host computer (2) and sends it to the system motion controller (302). The motion controller (302) receives the desired motion trajectory and sends it to the mobile system (406), the active end system (403), and the passive end system (405), while simultaneously receiving motion information fed back from the three. The actual motion trajectory generation module (303) generates the actual motion trajectory based on the feedback motion information.

5. The hardware-in-the-loop long-range space target perception ground equivalent test system according to claim 4, characterized in that: The system motion controller (302) includes a moving guide rail system motion controller (3021), an active end system motion controller (3022), a passive end system motion controller (3023), and a PLC synchronization system motion controller (3024); The motion controller (3021) of the moving guide rail system receives the active end motion command sent by the motion controller (3024) of the PLC synchronous system, converts it into a guide rail translation motion command, and sends it to the moving system (406); at the same time, it receives the guide rail translation motion feedback information and outputs it to the active end system motion controller (3022). The active end system motion controller (3022) receives the active end motion command sent by the PLC synchronous system motion controller (3024), converts it into an active arm joint motion command, and sends it to the active end system (403); at the same time, it receives the active arm joint motion feedback information and the guide rail translation motion feedback information sent by the moving guide rail system motion controller (3021), and feeds them back to the motion trajectory generation module (303). The passive end system motion controller (3023) receives the passive end motion command sent by the PLC synchronous system motion controller (3024), converts it into a passive arm joint motion command, and sends it to the passive end system (405); at the same time, it receives the passive arm joint motion feedback information, converts it into passive end motion feedback and sends it to the motion trajectory generation module (303). After receiving the desired motion trajectory, the PLC synchronous system motion controller (3024) converts it into an active end motion command and sends it to the moving guide rail system motion controller (3021) and the active end system motion controller (3022); on the other hand, it converts it into a passive end motion command and sends it to the passive end system motion controller (3023).

6. The hardware-in-the-loop long-range space target perception ground equivalent test system according to claim 1, characterized in that: The aforementioned equivalence of the sky-ground consistency mapping includes equivalence of visible size, equivalence of target surface material characteristics, equivalence of spatial light field, and equivalence of task time. The equivalence of visible size achieves equivalence of camera spatial resolution, scene task working range, and target size through scaling. The equivalence of target surface material characteristics includes equivalence of the target's thermal control coating material and the material characteristics of solar panels and solar cells. The equivalence of spatial light field elements includes equivalence of the target's own light intensity and the change of sunlight intensity at different observation angles. The equivalence of task time elements includes equivalence of acceleration and sampling adjustment of spatial tasks.

7. The hardware-in-the-loop long-range space target perception ground equivalent test system according to claim 1, characterized in that: The system calibration machine (5) includes a system error correction module (501) and a hand-eye calibration module (502); the system error correction module (501) receives the desired motion trajectory from the motion control host computer (2) and the actual motion trajectory from the integrated control system (3), and loads the system error for correction; The hand-eye calibration module (502) loads the hand-eye calibration results to complete the dynamic calibration of the target perception ground equivalent test system and obtain the nominal value of the target centroid position.

8. The hardware-in-the-loop long-range space target perception ground equivalent test system according to claim 7, characterized in that: The hand-eye calibration module (502) uses dual-arm collaborative hand-eye calibration to determine the transformation relationship between the active end detection camera (404) and the active end robotic arm end, as well as the transformation relationship between the passive end target satellite (402) and the passive end robotic arm end.

9. The hardware-in-the-loop ground-equivalent experimental system for long-range space target perception according to claim 1, characterized in that: The information processing system (6) includes an image acquisition module (601) and an image processing module (602). The image acquisition module (601) acquires images of the relative motion simulation system (4) in real time. The image processing module (602) performs background filtering, image enhancement, threshold segmentation, connected component extraction, and star centroid calculation based on the images acquired by the image acquisition module (601) to complete the detection and tracking processing of the target sequence image and obtain the measured value of the target centroid position.

10. The hardware-in-the-loop ground-equivalent experimental system for long-range space target perception according to claim 1, characterized in that: When the target centroid positioning error does not exceed 0.5 pixels, the system is deemed to have the capability of target detection and tracking.

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