Ground unmanned aerial vehicle verification system for verifying satellite vision laser tracking and pointing performance

Abstract

The invention provides a ground unmanned aerial vehicle verification system and method for verifying satellite vision laser tracking and pointing performance. The system comprises an RTK module used for providing relative position truth value data between a target and a sensor or a tool; the dynamic motion platform is used for controlling the target unmanned aerial vehicle and / or the load to perform relative motion according to the relative position truth value data to serve as a measurement target of dynamic motion; and the test load and ground system is used for carrying out tracking and pointing test on the dynamically moving measurement target and realizing precision verification of the laser tracking and pointing load. According to the invention, true value data of the relative position between the target and the sensor / tool is provided through the RTK module, the target unmanned aerial vehicle and the load are provided as measurement targets through the dynamic motion platform, precision verification is carried out on the laser tracking and pointing load through the test load and the ground system, high-precision measurement comparison is realized, and the measurement precision is improved. Therefore, the verification problem of the visual laser tracking and pointing performance is solved.

Description

Technical Field

[0001] This invention relates to the field of aerospace technology, specifically to a ground-based unmanned aerial vehicle (UAV) verification system for verifying satellite visual laser tracking performance, and also provides a corresponding verification method. Background Technology

[0002] Satellite on-orbit visual tracking and aiming, along with continuous laser ranging technology, is a core support for missions such as deep space exploration, space target detection, and autonomous navigation approach. This technology requires high-precision visual recognition of dynamic targets, real-time attitude adjustment, and the maintenance of a stable laser ranging link. Currently, traditional ground-based verification systems typically employ a subsystem-by-subsystem testing model, independently conducting various experiments such as optical payload imaging, laser ranging, and visual recognition and positioning. These traditional methods have three main drawbacks: 1. Insufficient verification of multi-sensor data fusion, lacking verification of the time synchronization of vision, laser, and control devices; 2. Visual measurement verification relies on simulated image data, lacking verification of influencing factors such as disturbances in the actual environment; 3. Laser ranging lacks continuous measurement verification of dynamic targets. Summary of the Invention

[0003] To address the aforementioned shortcomings in the prior art, this invention provides a ground-based unmanned aerial vehicle (UAV) verification system for verifying satellite visual laser tracking performance, along with a corresponding verification method.

[0004] According to one aspect of the present invention, a ground-based unmanned aerial vehicle (UAV) verification system for validating satellite visual laser tracking performance is provided, comprising: an RTK module, a dynamic motion platform, a test payload, and a ground system; wherein:

[0005] The RTK module is used to provide true relative position data between the target and the sensor or tooling;

[0006] The dynamic motion platform is used to control the target UAV and / or payload to perform relative motion based on the relative position truth data, serving as a measurement target for dynamic motion;

[0007] The test load and ground system are used to perform tracking and aiming tests on the dynamically moving measurement target, thereby verifying the accuracy of the laser tracking load.

[0008] According to another aspect of the present invention, a ground-based unmanned aerial vehicle (UAV) verification method for verifying satellite visual laser tracking performance is provided, characterized in that it includes:

[0009] Acquire true-value data of the relative position between the target and the sensor or tooling;

[0010] Based on the true relative position data, control the target UAV and / or payload to perform relative motion, serving as a measurement target for dynamic motion;

[0011] The laser tracking load is subjected to a tracking test on the dynamically moving target to verify its accuracy.

[0012] By adopting the above technical solution, the present invention has at least one of the following beneficial effects compared with the prior art:

[0013] The ground-based UAV verification system provided by this invention for validating satellite visual laser tracking performance provides a ground-controlled, long-range moving target in the air via a dynamic motion platform. This reduces the area requirements of traditional ground verification platforms. The target can perform six-dimensional free motion in the air, effectively simulating the motion state of a satellite in real space. Compared to the cumbersome and difficult nature of traditional ground measurements such as measuring tapes and lasers, the RTK module can acquire real-time and higher-precision true-value data of relative position. It can perform real-time comparison with the measurements of the laser tracking payload throughout the entire process, providing more dimensional data for subsequent analysis and significantly reducing the difficulty of the experiment. Attached Figure Description

[0014] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0015] Figure 1 This is a schematic diagram of the composition of a ground-based UAV verification system for verifying satellite visual laser tracking performance in a preferred embodiment of the present invention.

[0016] Figure 2 This is a schematic diagram of the composition structure of an RTK module in a preferred embodiment of the present invention.

[0017] Figure 3 This is a schematic diagram of the composition of the photoelectric payload and ground system in a preferred embodiment of the present invention.

[0018] Figure 4 This is a flowchart illustrating the process of a ground-based UAV verification method for verifying satellite visual laser tracking performance in a preferred embodiment of the present invention.

[0019] Figure 5 This is a schematic diagram of a vertical motion test in a preferred embodiment of the present invention.

[0020] Figure 6 This is a schematic diagram of the oblique motion test principle in a preferred embodiment of the present invention.

[0021] Figure 7 This is a schematic diagram of the movement trajectory of a drone in a preferred embodiment of the present invention. Detailed Implementation

[0022] The embodiments of the present invention are described in detail below: These embodiments are implemented based on the technical solution of the present invention, and provide detailed implementation methods and specific operation processes. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention.

[0023] To address the lack of ground verification methods for satellite-based visual laser tracking systems in existing technologies, one embodiment of the present invention provides a ground-based UAV verification system for verifying satellite visual laser tracking performance. This system includes an RTK module, a dynamic motion platform, a test payload, and a ground system. The RTK module provides true relative position data between the target and the sensor / tooling. The dynamic motion platform provides the target UAV and the payload as measurement targets. The test payload and ground system verify the accuracy of the laser tracking payload, achieving high-precision measurement comparison and thus solving the problem of verifying visual laser tracking performance.

[0024] Specifically, such as Figure 1 As shown, the ground-based UAV verification system for verifying satellite visual laser tracking performance provided in this embodiment may include: an RTK module, a dynamic motion platform, a test payload, and a ground system; wherein:

[0025] RTK modules are used to provide true-value data on the relative position between the target and the sensor or tooling.

[0026] A dynamic motion platform is used to control the relative motion of a target UAV and / or payload based on true relative position data, serving as a measurement target for dynamic motion.

[0027] The test load and ground system are used to perform tracking tests on dynamically moving measurement targets, thereby verifying the accuracy of the laser tracking load.

[0028] In some preferred embodiments, such as Figure 2 As shown, the aforementioned RTK module may further include: a ground-side base station and a UAV-side rover station; wherein:

[0029] The ground-side base station includes: a first GNSS positioning board, a transmitting radio, and a data receiving computer connected to the first GNSS positioning board and the transmitting radio respectively; wherein: the first GNSS positioning board receives GPS satellite signals through the base station antenna and sends them to the transmitting radio and the data receiving computer respectively; the data receiving computer decodes the GPS satellite signals to obtain the GPS positioning result of the base station, and uses this as the base station data; the transmitting radio receives the base station data, verifies the base station data using GPS satellite signals, and then sends the verified base station data to the UAV-side rover station through the radio antenna;

[0030] The UAV-side mobile station includes a second GNSS positioning board and a receiving radio. The second GNSS positioning board receives GPS satellite signals through the mobile station's stacked antenna and transmits them to the receiving radio. The receiving radio receives base station data transmitted by the ground-side base station through its radio antenna and compares it with the GPS satellite signals to obtain the true relative position data between the target and the sensor or tooling.

[0031] In some preferred embodiments, the aforementioned dynamic motion platform may further include: an unmanned aerial vehicle (UAV) system (including flight control), a remote controller, a tablet computer, a hoisting device, test structural components and / or standard components, and auxiliary equipment; wherein:

[0032] The unmanned aerial vehicle (UAV) system is used to carry target satellite structural components and to perform relative motion using the UAV. Through the UAV operation and integrated management APP (UAV application, such as DJIGS Pro APP), the UAV can perform flight path and mission planning, realize fully automated waypoint flight operations, set waypoints, and design waypoint actions, etc.

[0033] Remote controller, used to control the drone and make it move relative to other drones;

[0034] A tablet computer is used to install drone applications for waypoint setting and drone motion control.

[0035] Hoisting and securing it to the drone for attaching target structural components and test targets;

[0036] Test structural components and / or standard components, and target objects used for fixed connection testing;

[0037] Auxiliary equipment, used to assist in experiments, such as tripods, searchlights, etc.

[0038] In some preferred embodiments, such as Figure 3 As shown, the aforementioned test payload and ground system may further include: the tested satellite computer, the optoelectronic payload, and the ground detection and measurement module; wherein:

[0039] The satellite computer under test, as the satellite's onboard computer, is used to control the payload's operation and return total data to the ground survey and detection module. The total data includes all measurement results of the measured photoelectric payload, such as the target point's azimuth information and distance information relative to the payload.

[0040] The optoelectronic payload is used to track, aim, and measure distances to targets through visual and laser measurements, and then return the measurement results to the computer of the satellite being measured.

[0041] The ground inspection and measurement module is used to detect and control the satellite computer under test and to receive the measurement data returned by the satellite computer under test.

[0042] Based on the same inventive concept, one embodiment of the present invention also provides a ground-based UAV verification method for verifying satellite visual laser tracking performance.

[0043] Specifically, such as Figure 4 As shown in the embodiment, the ground-based UAV verification method for verifying satellite visual laser tracking performance may include:

[0044] S1, acquire the true value data of the relative position between the target and the sensor or tooling;

[0045] S2, based on the true relative position data, controls the target UAV and / or payload to perform relative motion, serving as a measurement target for dynamic motion;

[0046] S3 performs tracking and aiming tests on dynamically moving measurement targets to verify the accuracy of laser tracking and aiming loads.

[0047] In some preferred embodiments, the above-mentioned S3, the aiming test, adopts a vertical movement test, such as... Figure 5 As shown, it may further include:

[0048] S311: Position the target UAV directly above the test payload and the photoelectric payload of the ground system, fly it vertically upwards to the set height, adjust the turntable and the UAV so that the UAV hovers in the center of the field of view; activate the sweep function to measure the distance of the UAV, and record the relative coordinates of the UAV with respect to the photoelectric payload and the distance measurement results of the photoelectric payload.

[0049] S312: Keep the target drone horizontal and stationary, raise it only vertically by a set distance, adjust the turntable and the drone so that the drone hovers in the center of the field of view; activate the sweep function to measure the distance of the drone, and record the relative coordinates of the drone with respect to the photoelectric payload and the distance measurement results of the photoelectric payload.

[0050] S313, repeat S312 until the electro-optical payload ranging becomes invalid or the drone's flight-limited altitude is reached;

[0051] S314: Take off the target UAV from a flat surface at a specified distance from the optoelectronic payload and raise it to the set altitude. Adjust the turntable and the UAV so that the UAV hovers in the center of the field of view. Activate the sweep function to measure the distance of the UAV and record the relative coordinates of the UAV with respect to the optoelectronic payload and the distance measurement result of the optoelectronic payload.

[0052] S315: The target drone remains stationary in the horizontal direction, only rising to a specified height in the vertical direction. Adjust the turntable and the drone so that the drone hovers in the center of the field of view. Activate the sweep function to measure the distance of the drone and record the relative coordinates of the drone with respect to the photoelectric payload and the distance measurement results of the photoelectric payload.

[0053] S316, repeat S315, until the electro-optical payload ranging becomes invalid or the drone's flight limit is reached.

[0054] In some preferred embodiments, the above-mentioned S3, the aiming test, adopts a movement test in an oblique direction, such as... Figure 6 As shown, it may further include:

[0055] S320: The photoelectric payload is mounted on a fixture, with the field of view optical axis set at an angle tilted upwards. The farthest straight-line distance to the photoelectric payload is calculated based on the set maximum height. Since the maximum flight altitude of the UAV is fixed, once the tilt angle is designed, the straight-line distance between the UAV and the photoelectric payload can be calculated when the UAV reaches its maximum limit altitude. A target is suspended from the target UAV, and the target is always kept within the laser scanning range. The UAV's movement trajectory is controlled to perform the following tracking and scanning test, and the differential positioning results of the UAV and the ranging results of the photoelectric payload are recorded in each process. The UAV's movement trajectory is as follows: Figure 7 As shown, these include: straight approach routes, curved approach routes, circling and escort routes, and skimming rendezvous routes;

[0056] S321, within the laser scanning range, a straight approach route, moving at a set speed from the starting point to the end point at a constant speed;

[0057] S322 approaches the flight path along an arc within the laser scanning range, moving at a set speed from the starting point to the end point at a constant speed.

[0058] S323: The drone hovers at the furthest straight-line distance within the laser scanning range.

[0059] S324, passing through the laser-scanned rendezvous route, moves at a set speed from the starting point to the end point at a constant speed.

[0060] S325 specifies the straight-line distance, and moves along the straight-line approach route within the sweep range of the fast-return mirror. A waypoint is set at a set interval, and a specified speed is set. The vehicle moves from the start point to the end point of the straight-line distance and hovers at each waypoint for a specified time.

[0061] It should be noted that the steps in the method provided by the present invention can be implemented using the corresponding components in the system. Those skilled in the art can refer to the technical solution of the system to implement the steps of the method, and can also refer to the technical solution of the method to implement the composition of the system. That is, the embodiments in the system and the embodiments in the method can be understood as preferred examples of each other, which will not be elaborated here.

[0062] The technical solution provided by the above embodiments of the present invention will be further described in detail below with reference to a specific application example.

[0063] In this specific application example, a ground-based UAV verification test was conducted under clear, windless weather conditions to validate the satellite visual laser tracking performance. The detailed list of instruments and equipment used in the test is shown in Table 1, which can be divided into three parts according to functional modules: the RTK module, the dynamic motion platform, and the test payload and ground system.

[0064] Table 1

[0065]

[0066]

[0067]

[0068]

[0069]

[0070] in:

[0071] The RTK module includes a GNSS positioning board, antenna, radio, data receiving computer, and other equipment. Using these components, the RTK module is divided into a ground reference station and a UAV rover station, which together form the system's relative position truth system. This system provides true relative position data between the target and the sensor / tooling, which is used for subsequent measurement data error statistics and comparison.

[0072] The dynamic motion platform includes a drone system (including flight controller), remote controller, tablet computer, hoisting equipment, test structural components / standard components, and auxiliary equipment such as blackout curtains and lighting. Through these devices, dynamic motion and relative motion planning and control capabilities are provided to enable the drone to move relative to other objects. The blackout curtains and lighting equipment are used to eliminate background interference and modify lighting conditions.

[0073] The test payload and ground system include the satellite computer under test, optoelectronic payloads, and also have the power supply, ground inspection and measurement modules required for the ground simulation system. These modules are used to conduct tracking and aiming tests on a moving UAV.

[0074] Furthermore:

[0075] I. RTK Module

[0076] In this specific application example, an RTK module is used to measure the relative position between the target under test and the sensor / test fixture as the true position value.

[0077] The RTK module works by using at least two receivers for measurement: a base station and a rover. The base station receives signals from GPS satellites and performs measurement and differential processing, which involves separating out GPS errors. By installing a mobile base station at a reference point with a known location, the deviation of the positioning signal can be determined. These processing results are then transmitted to the rover via a wireless data link. The rover simultaneously receives signals from GPS satellites and compares them with the differential processing results from the base station to obtain location information with sub-meter or even centimeter accuracy (the nominal accuracy of the RTK used in this specific application example is 0.01m). Table 2 shows the specifications and system requirements for the Ublox F9P.

[0078] Table 2

[0079] Serial Number Specification parameter 1 RTK position measurement accuracy ≤0.01m 2 RTK speed measurement accuracy 0.05m / s 3 Time synchronization accuracy RMS 30ns, 99% 60ns 4 Dynamic heading angle accuracy ≤0.3°

[0080] II. Dynamic Motion Platform

[0081] The dynamic motion platform provides dynamic motion and relative motion planning and control capabilities, including a drone system (including flight controller), remote controller, tablet computer, hoisting equipment, test structural components / standard components, and auxiliary equipment such as blackout curtains and lighting equipment. The drone achieves relative motion, and the blackout curtains and lighting equipment are used to eliminate background influences and change lighting conditions.

[0082] This specific application example uses D-RTK GNSS, a high-precision navigation and positioning system developed specifically for the A3 series flight control system. Through real-time dynamic differential technology, it improves the three-dimensional positioning accuracy from the meter level to the centimeter level, integrates positioning, altitude setting, and direction finding functions, and makes up for the shortcomings of traditional GPS, barometers, and compasses, providing a precise and reliable system solution for high-precision application requirements.

[0083] III. Test Loads and Ground System

[0084] The test payload and ground system include the satellite computer under test, optoelectronic payload, and also have the power supply, ground inspection and measurement modules required by the ground simulation system.

[0085] IV. UAV Performance Parameters

[0086] This specific application example uses the DJI Matrice 600 Pro drone (hereinafter referred to as the M600 Pro drone). This drone meets the mounting and testing requirements of this special test.

[0087] Using the D-RTK GNSS high-precision navigation and positioning system, the three-dimensional positioning accuracy is improved from meter-level to centimeter-level through real-time dynamic differential technology. It integrates positioning, altitude setting, and direction finding functions, making up for the shortcomings of traditional GPS, barometers, and compasses, and providing a precise and reliable system solution for high-precision application needs.

[0088] The UAV's central frame has a reserved installation location for rigid hoisting; it can plan linear, elliptical, arc, and hovering trajectories to simulate spatial motion requirements, and can simulate trajectory speed and orientation. All indicators meet the requirements of the test mission. Furthermore, by default, in accordance with the airspace control regulations of the International Civil Aviation Organization and various national air traffic control authorities, as well as regulations governing UAVs, this UAV can only fly in designated airspace. Table 3 shows the UAV specifications and system requirements.

[0089] Table 3

[0090]

[0091] III. Test Plan

[0092] 1. Vertical motion test

[0093] (1) The UAV flies vertically upwards to a height of 100m directly above the optoelectronic payload, and the turntable and the UAV are adjusted so that the UAV hovers in the center of the field of view. The sweep function is activated to measure the distance of the UAV. The relative coordinates of the UAV with respect to the optoelectronic payload and the distance measurement results of the optoelectronic payload are recorded.

[0094] (2) Keep the UAV stationary in the horizontal direction, only raise it 20m in the vertical direction, and adjust the turntable and the UAV so that the UAV hovers in the center of the field of view. Activate the sweep function to measure the distance of the UAV. Record the current relative coordinates of the UAV with respect to the photoelectric payload and the distance measurement results of the photoelectric payload;

[0095] (3) Repeat step (2) until the photoelectric payload ranging is invalid or the drone's flight limit is reached.

[0096] (4) Take off the UAV from a flat surface 200m away from the photoelectric payload and raise it to a height of 100m above the ground. Adjust the turntable and the UAV so that the UAV hovers in the center of the field of view. Activate the sweep function to measure the distance of the UAV. Record the current relative coordinates of the UAV with respect to the photoelectric payload and the distance measurement results of the photoelectric payload;

[0097] (5) Keep the UAV stationary in the horizontal direction, only raise it 20m in the vertical direction, and adjust the turntable and the UAV so that the UAV hovers in the center of the field of view. Activate the sweep function to measure the distance of the UAV. Record the current relative coordinates of the UAV with respect to the photoelectric payload and the distance measurement results of the photoelectric payload;

[0098] (6) Repeat step (5) until the photoelectric payload ranging is invalid or the drone's flight limit is reached.

[0099] 2. Oblique motion test

[0100] The optoelectronic payload is mounted on a fixture with the optical axis of the field of view angled upwards by 30°. Based on a maximum height of 200m, the maximum straight-line distance is calculated to be 400m. The UAV suspends a target, keeping it within the laser scanning range at all times, and controls the UAV's movement to conduct a tracking and scanning test.

[0101] (a) The straight approach route within the range of the fast return mirror sweep is at a speed of ≤1m / s, moving at a constant speed from the starting point to the end point.

[0102] (b) Approach the route along an arc within the range of the fast-return mirror sweep, moving at a speed ≤1m / s from the starting point to the end point at a constant speed.

[0103] (c) The drone hovers at a straight-line distance of 400m within the sweep range of the fast-return mirror.

[0104] (d) Passing through the sweeping intersection trajectory of the fast-return mirror, moving at a speed of ≤1m / s from the starting point to the ending point at a constant speed.

[0105] (e) Plan a straight approach route with a straight distance of 400m→100m within the sweep range of the fast return mirror. Set a waypoint every 10m, hover at each waypoint for 10s, and set the speed to ≤1m / s. Move from the starting point to the end point.

[0106] This specific application example demonstrates a ground-based test of satellite visual laser tracking, achieving high measurement accuracy and a positioning accuracy of ≤0.01m.

[0107] The ground-based UAV verification system for verifying satellite visual laser tracking performance provided in the above embodiments of the present invention provides a ground-controlled, long-range moving target in the air through a dynamic motion platform. This reduces the area requirements of traditional ground verification platforms for the test site. The target can perform six-dimensional free motion in the air, effectively simulating the motion state of a satellite in real space. Compared to the cumbersome and difficult nature of traditional ground measurements such as measuring tapes and lasers, the RTK module can acquire real-time and higher-precision true-value data of relative position. It can perform real-time comparison with the measurements of the laser tracking payload throughout the entire process, providing more dimensional data for subsequent analysis and significantly reducing the difficulty of the experiment.

[0108] Any matters not covered in the above embodiments of the present invention are well-known in the art.

[0109] The specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A ground drone verification system for verifying satellite visual laser tracking performance, characterized in that, The application relates to a dynamic motion platform and a test load and ground system, and the application further relates to a method for testing a laser tracking load. The RTK module is used for providing relative position true value data between a target and a sensor or a tooling. The dynamic motion platform is used for controlling a target unmanned aerial vehicle and / or a load to perform relative motion as a dynamic motion measuring target according to the relative position true value data. The test load and ground system is used for tracking and sighting testing on the dynamic motion measuring target, so as to realize precision verification of the laser tracking load. The RTK module comprises a ground side reference station and an unmanned aerial vehicle side mobile station.

2. The ground drone verification system for verifying satellite visual laser tracking performance of claim 1, wherein, The ground side reference station comprises a first GNSS positioning board card, a transmitting station and a data receiving computer connected with the first GNSS positioning board card and the transmitting station respectively. The first GNSS positioning board card receives GPS satellite signals through a reference station antenna and transmits the GPS satellite signals to the transmitting station and the data receiving computer respectively. The data receiving computer decodes the GPS satellite signals to obtain reference station GPS positioning results and takes the reference station GPS positioning results as reference station data.

3. The ground drone verification system for verifying satellite visual laser tracking performance of claim 1, wherein, The transmitting station receives the reference station data, verifies the reference station data by using GPS satellite signals and transmits the verified reference station data to the unmanned aerial vehicle side mobile station through a station antenna. The unmanned aerial vehicle side mobile station comprises a second GNSS positioning board card and a receiving station. The second GNSS positioning board card receives GPS satellite signals through a mobile station laminated antenna and transmits the GPS satellite signals to the receiving station. The receiving station receives reference station data transmitted by the ground side reference station through a station antenna and compares the reference station data with the GPS satellite signals to obtain relative position true value data between a target and a sensor or a tooling. The dynamic motion platform comprises an unmanned aerial vehicle system, a remote controller, a tablet computer, a hoist, a test structure and / or a standard part and auxiliary equipment. The unmanned aerial vehicle system is used for mounting a target structure and performing relative motion by using an unmanned aerial vehicle. The remote controller is used for remotely controlling the unmanned aerial vehicle to perform relative motion.

4. The ground drone verification system for verifying satellite visual laser tracking performance of claim 1, wherein, The tablet computer is used for installing an unmanned aerial vehicle application program, setting a flight point and controlling unmanned aerial vehicle motion. The hoist is fixed on the unmanned aerial vehicle and is used for fixing a target structure and a test target. The test structure and / or the standard part are used for fixing a target to be tested. The auxiliary equipment is used for assisting testing.

5. A ground drone verification method for verifying satellite visual laser tracking performance, characterized in that, The test load and ground system comprises a measured satellite computer, an optoelectronic load and a ground detection and measurement module. The measured satellite computer is used as a satellite on-board computer, controls the load to work and returns total data to the ground detection and measurement module. The optoelectronic load is used for tracking and sighting a target and measuring a distance of the target by using visual measurement and laser measurement and returns measurement results to the measured satellite computer. The ground detection and measurement module is used for detecting and controlling the measured satellite computer and receiving measurement data returned by the measured satellite computer. The application further relates to a method for testing a laser tracking load. The method comprises the following steps: acquiring relative position true value data between a target and a sensor or a tooling. According to the relative position true value data, a target unmanned aerial vehicle and / or a load are controlled to perform relative motion as a dynamic motion measurement target; A tracking test is performed on the dynamic motion measurement target to verify the accuracy of a laser tracking load.

6. The ground drone verification method for verifying satellite visual laser tracking and pointing performance according to claim 5, wherein, The tracking test adopts a vertical direction motion test, including: The target unmanned aerial vehicle is arranged directly above the test load and an optical load of a ground system, flies vertically upward to a set height a, the turntable and the unmanned aerial vehicle are adjusted so that the unmanned aerial vehicle hovers at a center position of a field of view, a scanning and swinging function is started, the unmanned aerial vehicle is ranged, and the relative coordinates of the unmanned aerial vehicle relative to the optical load and the ranging result of the optical load are recorded; The target unmanned aerial vehicle is kept still in a horizontal direction, is lifted by a set height b only in a vertical direction, the turntable and the unmanned aerial vehicle are adjusted so that the unmanned aerial vehicle hovers at the center position of the field of view, the scanning and swinging function is started, the unmanned aerial vehicle is ranged, and the relative coordinates of the unmanned aerial vehicle relative to the optical load and the ranging result of the optical load are recorded; The above step is repeated until the ranging of the optical load is invalid or a flight limit height of the unmanned aerial vehicle is reached; The target unmanned aerial vehicle takes off on a flat ground at a set distance from the optical load, is lifted to a set height c from the ground, the turntable and the unmanned aerial vehicle are adjusted so that the unmanned aerial vehicle hovers at the center position of the field of view, the scanning and swinging function is started, the unmanned aerial vehicle is ranged, and the relative coordinates of the unmanned aerial vehicle relative to the optical load and the ranging result of the optical load are recorded; The target unmanned aerial vehicle is kept still in the horizontal direction, is lifted by a set height d only in the vertical direction, the turntable and the unmanned aerial vehicle are adjusted so that the unmanned aerial vehicle hovers at the center position of the field of view, the scanning and swinging function is started, the unmanned aerial vehicle is ranged, and the relative coordinates of the unmanned aerial vehicle relative to the optical load and the ranging result of the optical load are recorded; The above step is repeated until the ranging of the optical load is invalid or the flight limit height of the unmanned aerial vehicle is reached.

7. The ground drone verification method for verifying satellite visual laser tracking and pointing performance of claim 5, wherein, The tracking test adopts a slant direction motion test, including: The optical load is installed on a tooling, a field of view optical axis is set at a slant upward angle, a farthest straight line distance from the optical load is calculated according to a set maximum height; the target unmanned aerial vehicle is suspended with a target, the target is always controlled within a laser scanning and swinging range, a tracking and swinging test is performed on a motion trajectory of the unmanned aerial vehicle, and the differential positioning result of the unmanned aerial vehicle and the ranging result of the optical load are recorded in each process: A straight line approach flight path within the laser scanning and swinging range is set at a set speed, and the unmanned aerial vehicle is uniformly moved from a start point to an end point; An arc approach flight path within the laser scanning and swinging range is set at a set speed, and the unmanned aerial vehicle is uniformly moved from the start point to the end point; The unmanned aerial vehicle hovers at the farthest straight line distance within the laser scanning and swinging range; A gliding intersection flight path through the laser scanning and swinging range is set at a set speed, and the unmanned aerial vehicle is uniformly moved from the start point to the end point; A straight line approach flight path within the laser scanning and swinging range is set at a set interval, a flight point is set every set interval, a set speed is set, the unmanned aerial vehicle is moved from the straight line distance start point to the end point, and the unmanned aerial vehicle hovers at each flight point for a set time.

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