High-speed scanning galvanometer laser self-calibration combined with high-precision attitude measurement system and method

Abstract

The application relates to a high-speed scanning dynamic mirror laser self-calibration combined high-precision attitude measurement system and method, and relates to the technical field of remote sensing, and solves the technical problems of imaging tailing and precision reduction of a star sensor under high dynamic conditions in the prior art. The system comprises a detection imaging system, a motion compensation system, a laser self-collimation system and a dynamic attitude and orbit processor. Based on real-time output attitude information of a MEMS high-dynamic gyroscope, the motion compensation system calculates a real-time dynamic compensation track of a high-speed scanning dynamic mirror, drives the high-speed scanning dynamic mirror to perform high-precision deflection, effectively suppresses the movement of a star point on an image plane, and preliminarily improves the imaging quality of the star point. Through double compensation of the high-speed scanning dynamic mirror and short exposure control of the detection imaging system, the application overcomes the difficulty that a traditional mechanical compensation mode has a limited bandwidth and is difficult to adapt to a high-frequency micro-vibration environment, and meets the requirements of high-precision, high real-time performance and miniaturization of attitude measurement for high-dynamic space missions.

Description

Technical Field

[0001] This invention relates to the field of remote sensing technology, and in particular to a high-speed scanning moving mirror laser self-calibration combined with a high-precision attitude measurement system and method. Background Technology

[0002] With the continuous development of the national economy and the continuous improvement of science and technology, the complexity and challenges of space missions have also increased, giving rise to a series of highly dynamic and complex application scenarios, such as the observation of moving targets in space. These scenarios place stringent requirements on the attitude control of spacecraft, requiring the attitude detection devices onboard the satellite to achieve high-precision attitude determination under high dynamic conditions. However, traditional attitude measurement equipment, represented by star sensors, suffers from problems such as image trailing and inaccurate star point positioning under high dynamic conditions, making it difficult to meet the performance requirements of the above-mentioned application scenarios.

[0003] The core problem of insufficient dynamic performance of star sensors lies in the fact that when a satellite is in a high-speed maneuver, the movement speed of the star points on the image plane increases dramatically, causing star point trailing during exposure. This severely reduces the image signal-to-noise ratio and the accuracy of star point centroid extraction, directly affecting the accuracy and reliability of attitude positioning. To alleviate the problem of high dynamic inaccuracy, researchers have proposed different solutions such as image compensation and mechanical compensation. Image compensation methods use motion blur models for post-correction, but this method relies on degraded images and suffers from problems such as energy dispersion, large position estimation bias, computational complexity, and poor real-time performance. Mechanical compensation methods typically employ platform-type stabilization systems, placing the entire star sensor within a gyro-stabilized platform. While effective to some extent, this system suffers from drawbacks such as large size, heavy weight, high power consumption, and limited bandwidth, making it difficult to adapt to high-frequency micro-vibration environments and inconsistent with the trend of lightweight and miniaturized spacecraft development. Therefore, developing a new observation technology that can balance high dynamic adaptability and high-precision attitude output has become a critical issue that urgently needs to be addressed in the field of aerospace remote sensing. Summary of the Invention

[0004] This invention aims to solve the technical problems of imaging trailing and reduced accuracy of star sensors under high dynamic conditions in the prior art, and provides a high-speed scanning moving mirror laser self-calibration combined with a high-precision attitude measurement system and method.

[0005] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0006] A high-speed scanning moving mirror laser self-calibration combined with a high-precision attitude measurement system includes: a detection imaging system, a motion compensation system, a laser self-collimation system, and a dynamic attitude trajectory processor; wherein:

[0007] The detection imaging system is used for space observation and to acquire star map data;

[0008] The motion compensation system includes: a MEMS high-dynamic gyroscope, a moving mirror compensation trajectory generation unit, a high-speed scanning moving mirror, and a moving mirror controller; the MEMS high-dynamic gyroscope is used to acquire satellite data and synchronize the satellite data to the moving mirror compensation trajectory generation unit and the dynamic attitude and orbit processor; the moving mirror compensation trajectory generation unit is used to generate a moving mirror compensation trajectory based on the satellite data provided by the MEMS high-dynamic gyroscope; the moving mirror controller is used to drive the high-speed scanning moving mirror to perform deflection motion based on the received moving mirror compensation trajectory;

[0009] The laser autocollimation system includes: a high-performance measurement laser and a CMOS laser detector screen, used to achieve real-time compensation for star point image shift; the high-performance measurement laser is used to emit measurement laser under the control of the dynamic attitude and orbit processor, which is reflected by the high-speed scanning moving mirror to the CMOS laser detector screen; the CMOS laser detector screen is used to transmit the received spot path image to the dynamic attitude and orbit processor.

[0010] The dynamic attitude and orbit processor is used to process the star map data acquired by the detection imaging system and control the start and stop of the moving mirror compensation trajectory generation unit and the high-performance measurement laser. The dynamic attitude and orbit processor is also used to compare and analyze the displacement of the laser spot on the focal plane with the theoretical motion angular velocity of the high-speed scanning moving mirror, and use the relative deflection angle difference to evaluate and recorrect the satellite attitude information obtained by comparison.

[0011] In the above technical solution, the detection imaging system is connected to the dynamic attitude and trajectory processor for control;

[0012] A high-speed scanning moving mirror is placed in the optical path of the detection imaging system; the moving mirror compensation trajectory generation unit and the moving mirror controller are respectively connected to the high-speed scanning moving mirror data; the MEMS high dynamic gyroscope and the high-speed scanning moving mirror are respectively connected to the dynamic attitude and trajectory processor for control.

[0013] The high-speed scanning moving mirror is also positioned in the optical path between the high-performance measurement laser and the CMOS laser detection screen; the high-performance measurement laser and the CMOS laser detection screen are respectively connected to the dynamic attitude track processor for control.

[0014] In the above technical solution, the detection imaging system includes: a star camera; the star camera has a pixel size of 5.5μm and a field of view of 15°×15°.

[0015] In the above technical solution, the three-axis angular accuracy of the MEMS high dynamic gyroscope is 0.001°, and the zero-bias stability is ≤4° / h.

[0016] In the above technical solution, the deflection range of the high-speed scanning moving mirror is ±1.5°, and the deflection voltage is ±10V.

[0017] In the above technical solution, the high-performance measurement laser is a 532nm low-power measurement laser.

[0018] In the above technical solution, the dynamic attitude and orbit processor is an embedded processor with a pre-stored navigation star table and star point processing algorithm.

[0019] A high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement method, applicable to the aforementioned high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system, includes the following steps:

[0020] Step 1: The MEMS high dynamic gyroscope continuously monitors the real-time motion status of the remote sensing satellite and transmits the data synchronously to the laser autocollimation system and dynamic attitude and orbit processor via bus;

[0021] Step 2: When the aspect ratio of the observed star point exceeds a certain threshold, the dynamic attitude and orbit processor is activated, and the moving mirror compensation trajectory generation unit receives the pre-processed MEMS high dynamic gyroscope angular velocity data and starts high-speed scanning moving mirror correction.

[0022] Step 3: After receiving the command, the moving mirror controller drives the high-speed scanning moving mirror to perform high-precision deflection, which initially corrects the background star image. Then, the detection imaging system captures and saves the initially corrected star image for subsequent analysis and processing.

[0023] Step 4: While the moving mirror compensation trajectory generation unit controls the high-speed scanning moving mirror to correct the background star map imaging, the dynamic attitude and trajectory processor manipulates the laser autocollimation system to start the high-performance measurement laser for recalibration; the CMOS laser detection screen transmits the laser path image to the dynamic attitude and trajectory processor for subsequent processing.

[0024] Step 5: The CMOS laser detection screen acquires an image containing a high-brightness spot and transmits it synchronously to the dynamic attitude and orbit processor. The dynamic attitude and orbit processor preprocesses the image to generate a binarized spot image. Using the grayscale value of each pixel within the spot area as a weight, the weighted centroid method is used to extract the actual centroid coordinates at both ends of the spot. The dynamic attitude and orbit processor resolves the actual laser deflection angle. Combining the sampling interval of the MEMS high-dynamic gyroscope, the actual laser deflection angle is converted into the corresponding actual laser compensation angular velocity. The dynamic attitude and orbit processor calculates the smoothed satellite instantaneous angular velocity from the three-axis instantaneous angular velocities obtained from the MEMS high-dynamic gyroscope and compares it with the actual laser compensation angular velocity to calculate the angular velocity difference.

[0025] Step 6: The detection imaging system acquires the background star map after high-speed scanning moving mirror compensation and transmits the star map data to the dynamic attitude and orbit processor. The dynamic attitude and orbit processor processes the star map, extracts the pixel coordinates of star points, calculates the angles between star points, compares the angles with the pre-stored navigation star catalog, and determines the celestial coordinates corresponding to each star point. Based on the image plane coordinates and celestial coordinates of the star points, the attitude calculation algorithm is used to initially calculate the three-dimensional attitude matrix of the remote sensing satellite and the corresponding Euler angles. The dynamic attitude and orbit processor corrects the initially calculated attitude coordinates based on the angular velocity difference calculated in Step 5. The corrected attitude matrix and Euler angles are output as the final high-precision attitude result. Returning to Step 1, the system re-receives real-time data from the MEMS high-dynamic gyroscope and enters the next measurement cycle to achieve continuous and real-time attitude measurement in a high-dynamic environment.

[0026] The present invention has the following beneficial effects:

[0027] The high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of the present invention is based on the attitude information output in real time by MEMS high dynamic gyroscope. The motion compensation system calculates the real-time dynamic compensation trajectory of the high-speed scanning moving mirror, drives the high-speed scanning moving mirror to perform high-precision deflection, effectively suppresses the movement of star points on the image plane, and initially improves the star point imaging quality.

[0028] The high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement method of the present invention forms a high-brightness spot on the image plane by means of a laser self-collimation system, and achieves accurate evaluation of the actual motion state of the high-speed scanning moving mirror by real-time monitoring and analysis of the spot position.

[0029] The high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of the present invention achieves rapid star map recognition and matching based on clear star point images, and then corrects the relative deflection angle obtained by dynamic attitude and orbit processor analysis, and outputs high-precision satellite attitude information. This solves the problems of reduced recognition speed and recognition rate and difficulty in tracking star point targets in high dynamic situations of traditional star sensors. Attached Figure Description

[0030] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0031] Figure 1 This is a flowchart illustrating the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement method of the present invention.

[0032] Figure 2 This is a schematic diagram of the connection relationship of the components of the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of the present invention (only some components are shown in the figure); the English word "Laser" refers to a laser.

[0033] 1-Star camera; 2-MEMS high dynamic gyroscope; 3-High-speed scanning moving mirror; 4-High-performance measurement laser; 5-CMOS laser detection screen; 6-Dynamic attitude and trajectory processor. Detailed Implementation

[0034] The present invention will now be described in detail with reference to the accompanying drawings.

[0035] like Figure 2 As shown, the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of the present invention includes: a detection imaging system, a motion compensation system, a laser autocollimation system, and a dynamic attitude trajectory processor 6; the dynamic attitude trajectory processor 6 is connected to the detection imaging system, the motion compensation system, and the laser autocollimation system for control respectively; wherein:

[0036] The detection and imaging system includes: Star Camera 1; which is mainly used for space observation, acquiring star map data, providing accurate background star map, and providing images for analysis for subsequent star point extraction and attitude calculation; Star Camera 1 is connected to the dynamic attitude and orbit processor 6 for control.

[0037] The motion compensation system includes: a MEMS high-dynamic gyroscope 2, and a moving mirror compensation trajectory generation unit ( Figure 2 (not shown in the image), high-speed scanning moving mirror 3 and moving mirror controller ( Figure 2 (Not shown in the image); a high-speed scanning moving mirror 3 is positioned in the optical path of the detection imaging system; the moving mirror compensation trajectory generation unit and the moving mirror controller are respectively connected to the high-speed scanning moving mirror 3 for data transmission; the MEMS high-dynamic gyroscope 2 and the high-speed scanning moving mirror 3 are respectively connected to the dynamic attitude and orbit processor 6 for control. The MEMS high-dynamic gyroscope 2 is used to continuously acquire satellite data such as the three-axis instantaneous angular velocity of the remote sensing satellite, and synchronously transmits the acquired satellite data to the moving mirror compensation trajectory generation unit and the dynamic attitude and orbit processor 6, providing a real-time attitude reference for the generation of the moving mirror compensation trajectory; the moving mirror compensation trajectory generation unit is used to generate the moving mirror compensation trajectory based on the three-axis instantaneous angular velocity satellite data provided by the MEMS high-dynamic gyroscope 2; the moving mirror controller is used to drive the high-speed scanning moving mirror 3 to perform high-precision deflection motion according to the received moving mirror compensation trajectory, in order to compensate for the movement of the star points;

[0038] The laser autocollimation system is used to achieve real-time compensation for star point image shift. The system includes a high-performance measurement laser 4 and a CMOS laser detection screen 5. A high-speed scanning moving mirror 3 is also positioned in the optical path between the high-performance measurement laser 4 and the CMOS laser detection screen 5. The high-performance measurement laser 4 is a 532nm low-power measurement laser. The high-performance measurement laser 4 and the CMOS laser detection screen 5 are respectively connected to a dynamic attitude track processor 6 for control. The high-performance measurement laser 4 continuously emits measurement laser light under the control of the dynamic attitude track processor 6, causing the measurement laser light to be reflected by the high-speed scanning moving mirror 3 onto the focal plane of the CMOS laser detection screen 5. The CMOS laser detection screen 5 transmits the received spot path image to the dynamic attitude track processor 6 for further correction of the high-speed scanning moving mirror 3's motion path.

[0039] The dynamic attitude and orbit processor 6 is used to process the star map data acquired by the detection imaging system, judge the imaging quality based on the star point morphology, generate output satellite attitude information, and control the start and stop of the moving mirror compensation trajectory generation unit and the high-performance measurement laser 4. At the same time, the dynamic attitude and orbit processor 6 is also used to compare and analyze the displacement of the laser spot on the focal plane with the theoretical motion angular velocity of the high-speed scanning moving mirror 3, and then use the obtained relative deflection angle difference to evaluate and recorrect the satellite attitude information obtained by comparison, so as to achieve precise and stable control of the system.

[0040] like Figure 2 As shown, in the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of the present invention:

[0041] The star camera 1 in the detection imaging system has a pixel size of 5.5μm and a field of view of 15°×15°. It has the ability to quickly extract star points with short exposure and wide range, and is used to capture background star images and output the original star point pixel coordinates.

[0042] In the motion compensation system, the deflection range of the high-speed scanning moving mirror 3 is ±1.5°, and the deflection voltage is ±10V; the three-axis angular accuracy of the MEMS high dynamic gyroscope 2 is 0.001°, and the zero-bias stability is ≤4° / h.

[0043] The dynamic attitude and trajectory processor 6 is an embedded processor with a pre-stored navigation star table and star point processing algorithm, which can perform functions such as data processing, remote sensing control and attitude calculation.

[0044] like Figure 1 As shown ( Figure 1 (Only a summary of the steps is shown in the text). The high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement method of the present invention is applicable to... Figure 2 The high-precision attitude measurement system shown includes the following steps:

[0045] Step 1: MEMS high dynamic range gyroscope 2 ( Figure 1 The gyroscope used (representing a MEMS high-dynamic gyroscope) continuously monitors the real-time motion state of the remote sensing satellite, collecting data at a sampling frequency of 500Hz. , , Instantaneous angular velocities of the three axes , , (Unit: ° / s), and the data is synchronously transmitted to the laser autocollimation system and the dynamic attitude processor 6 via the bus. At this time, the dynamic attitude processor 6 preprocesses the data from the MEMS high-dynamic gyroscope 2: it suppresses angular velocity noise through Kalman filtering, eliminates the interference of high-frequency micro-vibrations on attitude calculation, and obtains the smoothed three-axis angular velocity. , , The dynamic attitude and orbit processor 6 simultaneously analyzes the acquired star map image, extracts the background stars, and analyzes their aspect ratio.

[0046] (1)

[0047] In the formula, The aspect ratio of the background stars , These represent the width and height (in pixels) of the bounding rectangle of the star point. , These represent the longer and shorter sides of the height and width of the bounding rectangle of the star points, respectively. When the aspect ratio of the observed background star points is within 1.05, the dynamic attitude and orbit processor 6 processes the background star map obtained by the star camera 1 normally (i.e., through centroid extraction and three-star positioning, and comparison with the navigation star catalog) and outputs the satellite attitude information results.

[0048] Step 2: When the aspect ratio of the observed star point exceeds 1.05, that is... Figure 1 When the aspect ratio difference exceeds 5%, the dynamic attitude and trajectory processor 6 is activated, and the moving mirror compensation trajectory generation unit receives the pre-processed angular velocity data of the MEMS high dynamic gyroscope 2 and starts the high-speed scanning moving mirror 3 to correct the deviation.

[0049] The moving mirror compensation trajectory generation unit calculates the image displacement velocity of the star point on the focal plane of the detection imaging system. , That is, on the image plane and Image motion speed in the direction.

[0050] Stars on the image plane The centroid coordinates are represented as According to the pinhole imaging model, stars Direction vector in the camera body coordinate system It can be represented as:

[0051] (2)

[0052] in, The focal length of Star Camera 1 , , Representing celestial bodies in a three-dimensional coordinate system Coordinates , , value.

[0053] According to equation (2) and The relationship can be represented as:

[0054] (3)

[0055] Differentiating equation (3) with respect to time, we get:

[0056] (4)

[0057] in, Indicates the first Stars on the image plane Image motion speed in the direction, Indicates the first Stars on the image plane Image motion speed in the direction, express The derivative with respect to time, This represents the coordinate axis along the optical axis in the camera's volume coordinate system. Let... Let be the coordinate transformation matrix from the Earth inertial coordinate system to the camera body coordinate system. Indicates the first The position vector of a star in Earth's inertial coordinate system. It can be represented as:

[0058] (5)

[0059] Differentiating equation (5) with respect to time, we get:

[0060] (6)

[0061] in, express The derivative with respect to time, express The derivative with respect to time. Since the star remains stationary, the derivative of its position vector with respect to time is zero. According to attitude dynamics:

[0062] (7)

[0063] It is a three-dimensional vector, and its components This represents the coordinate value of the camera's own coordinate system relative to the Earth's central inertial coordinate system; the angular velocity relative to the Earth in the camera's own coordinate system. This represents the fixed direction vector of a star in an inertial coordinate system. This represents the real-time direction vector of the star in the camera's own coordinate system, which changes with the camera's attitude. By substituting (6) and (7) into equation (4), we can simplify it and obtain the final equation as follows:

[0064] (8)

[0065] Then based on the image movement velocity , The moving mirror compensation trajectory generation unit generates the ideal compensation trajectory for the high-speed scanning moving mirror 3. and will Analysis as high-speed scanning moving mirror 3 axis, Real-time deflection angle commands for each axis , (Unit: °), then the data is sent to the moving mirror controller for control, and the ideal compensation trajectory is then applied. Send to Dynamic Attitude Processor 6 for further processing.

[0066] Step 3: The moving mirror controller receives the signal. , After receiving the command, the high-speed scanning moving mirror 3 is driven to perform high-precision deflection, which initially corrects the background star image. Then, the star camera 1 captures and saves the initially corrected star image for subsequent analysis and processing.

[0067] Step 4: While the dynamic attitude and trajectory processor 6 controls the high-speed scanning moving mirror 3 to correct the background star map imaging under the control of the moving mirror compensation trajectory generation unit, it manipulates the laser autocollimation system to start the high-performance measurement laser 4. Figure 1 The laser used (representing a high-performance measurement laser) is used for recalibration. After the laser is incident on the reflective surface of the high-speed scanning moving mirror 3, the reflected laser beam is precisely projected onto the CMOS laser detection screen 5 (…). Figure 1 The focal plane of the laser detection screen (represented by a CMOS laser detection screen) is used to form a high-brightness laser spot with a fixed width and an uncertain path. The CMOS laser detection screen 5 transmits the laser path image to the dynamic attitude track processor 6 for subsequent processing.

[0068] Step 5: The CMOS laser detection screen 5 acquires an image containing a high-brightness light spot and transmits it synchronously to the dynamic attitude trajectory processor 6. The dynamic attitude trajectory processor 6 first preprocesses the image to generate a binarized light spot image; then, using the grayscale value of each pixel within the light spot area as a weight, it extracts the actual centroid coordinates at both ends of the light spot using the weighted centroid method. and The unit is pixels. Based on the pre-calibrated mapping relationship between the spot centroid coordinates and the laser deflection angle, the dynamic attitude and trajectory processor 6 resolves the actual laser deflection angle. (Unit: °); Combined with the sampling interval of MEMS high dynamic gyroscope 2, then... Converted to the corresponding actual laser angular velocity (Unit: ° / s).

[0069] Subsequently, the dynamic attitude and trajectory processor 6 uses the instantaneous angular velocities of the three axes obtained from the MEMS high-dynamic gyroscope 2. , , The smoothed instantaneous angular velocity of the satellite was calculated. and the actual compensated angular velocity of the laser. By comparing the values, the difference in angular velocity can be calculated. (Unit: ° / s). The deviation between the actual angular velocity of the satellite and the actual angular velocity of the high-speed scanning moving mirror 3 is described, and this deviation provides an important basis for subsequent satellite attitude coordinate correction.

[0070] Step 6: The satellite camera 1 acquires a background star image compensated by the high-speed scanning moving mirror 3 at a frame rate of 10fps, and transmits the star image data to the dynamic attitude and orbit processor 6. The dynamic attitude and orbit processor 6 processes the star image data, extracts the pixel coordinates of star points, calculates the angles between star points, compares the angles with the pre-stored navigation star catalog (SAO catalog), and determines the celestial coordinates corresponding to each star point; then, based on the image plane coordinates and celestial coordinates of the star points, an attitude calculation algorithm is used to initially calculate the three-dimensional attitude matrix of the remote sensing satellite. and the corresponding Euler angles .

[0071] Subsequently, the dynamic attitude and trajectory processor 6 calculates based on step 5. The initially calculated attitude coordinates are then corrected. The corrected attitude matrix is ​​then obtained. Euler angles As the final high-precision attitude result output, that is, the remote sensing satellite attitude information is output;

[0072] Subsequently, the system returns to step 1, re-receives real-time data from the MEMS high-dynamic gyroscope 2, and enters the next measurement cycle to achieve continuous, real-time attitude measurement in a high-dynamic environment.

[0073] By combining high-speed scanning moving mirror dual compensation with short-exposure control of the detection imaging system, the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system of this invention solves the core problems of severe imaging tailing, low attitude measurement accuracy, and insufficient star map matching rate of traditional star sensors under high dynamic conditions. It also overcomes the difficulties of limited bandwidth and difficulty in adapting to high-frequency micro-vibration environment of traditional mechanical compensation methods, and meets the requirements of "high precision, high real-time performance, and miniaturization" for attitude measurement in high-dynamic aerospace missions.

[0074] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system, characterized in that, include: The detection imaging system, motion compensation system, laser autocollimation system, and dynamic attitude and trajectory processor (6); among which: The detection imaging system is used for space observation and to acquire star map data; The motion compensation system includes: a MEMS high-dynamic gyroscope (2), a moving mirror compensation trajectory generation unit, a high-speed scanning moving mirror (3), and a moving mirror controller; the MEMS high-dynamic gyroscope (2) is used to collect satellite data and synchronize the satellite data to the moving mirror compensation trajectory generation unit and the dynamic attitude and orbit processor (6); the moving mirror compensation trajectory generation unit is used to generate a moving mirror compensation trajectory based on the satellite data provided by the MEMS high-dynamic gyroscope (2); the moving mirror controller is used to drive the high-speed scanning moving mirror (3) to perform deflection motion based on the received moving mirror compensation trajectory; The laser autocollimation system includes a high-performance measurement laser (4) and a CMOS laser detector (5) to achieve real-time compensation for star point image shift; the high-performance measurement laser (4) is used to emit measurement laser under the control of the dynamic attitude and orbit processor (6), which is reflected by the high-speed scanning moving mirror (3) to the CMOS laser detector (5); the CMOS laser detector (5) is used to transmit the received spot path image to the dynamic attitude and orbit processor (6). The dynamic attitude and orbit processor (6) is used to process the star map data acquired by the detection imaging system and control the start and stop of the moving mirror compensation trajectory generation unit and the high-performance measurement laser (4). The dynamic attitude and orbit processor (6) is also used to compare and analyze the displacement of the laser spot on the focal plane with the theoretical motion angular velocity of the high-speed scanning moving mirror (3), and evaluate and recorrect the satellite attitude information obtained by comparison using the relative deflection angle difference.

2. The high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system according to claim 1, characterized in that, The detection imaging system is connected to the dynamic attitude and trajectory processor (6) for control. The high-speed scanning moving mirror (3) is set in the optical path of the detection imaging system; the moving mirror compensation trajectory generation unit and the moving mirror controller are respectively connected to the high-speed scanning moving mirror (3) for data; the MEMS high dynamic gyroscope (2) and the high-speed scanning moving mirror (3) are respectively connected to the dynamic attitude and trajectory processor (6) for control. The high-speed scanning moving mirror (3) is also set in the optical path between the high-performance measurement laser (4) and the CMOS laser detection screen (5); the high-performance measurement laser (4) and the CMOS laser detection screen (5) are respectively connected to the dynamic attitude track processor (6) for control.

3. The high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system according to claim 1, characterized in that, The detection imaging system includes: a star camera (1); the star camera (1) has a pixel size of 5.5 μm and a field of view of 15°×15°.

4. The high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system according to claim 1, characterized in that, The three-axis angular accuracy of the MEMS high dynamic gyroscope (2) is 0.001°, and the zero bias stability is ≤4° / h.

5. The high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system according to claim 1, characterized in that, The deflection range of the high-speed scanning moving mirror (3) is ±1.5°, and the deflection voltage is ±10V.

6. The high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system according to claim 1, characterized in that, The high-performance measurement laser (4) is a 532nm low-power measurement laser.

7. The high-speed scanning galvanometer laser self-calibration combined high-precision attitude measurement system according to claim 1, characterized in that, The dynamic attitude and trajectory processor (6) is an embedded processor with a pre-stored navigation star table and star point processing algorithm.

8. A high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement method, applicable to the high-speed scanning moving mirror laser self-calibration combined with high-precision attitude measurement system as described in claim 1, characterized in that, Includes the following steps: Step 1: The MEMS high dynamic gyroscope (2) continuously monitors the real-time motion status of the remote sensing satellite and transmits the data synchronously to the laser autocollimation system and dynamic attitude and orbit processor (6) via the bus. Step 2: When the aspect ratio of the observed star point exceeds a certain threshold, the dynamic attitude and trajectory processor (6) is started, and the moving mirror compensation trajectory generation unit receives the pre-processed angular velocity data of the MEMS high dynamic gyroscope (2) and starts the high-speed scanning moving mirror (3) to correct the deviation. Step 3: After receiving the command, the moving mirror controller drives the high-speed scanning moving mirror (3) to perform high-precision deflection, which initially corrects the background star map imaging. Then, the detection imaging system captures and saves the initially corrected star map image for subsequent analysis and processing. Step 4: While the moving mirror compensation trajectory generation unit controls the high-speed scanning moving mirror (3) to correct the background star map imaging, the dynamic attitude trajectory processor (6) manipulates the laser autocollimation system to start the high-performance measurement laser (4) for recalibration; the CMOS laser detection screen (5) transmits the laser path image to the dynamic attitude trajectory processor (6) for subsequent processing. Step 5: The CMOS laser detection screen (5) acquires an image containing a high-brightness spot and transmits it synchronously to the dynamic attitude and orbit processor (6); the dynamic attitude and orbit processor (6) preprocesses the image to generate a binary spot image; the weighted centroid method is used to extract the actual centroid coordinates at both ends of the spot by weighting the gray values ​​of each pixel in the spot area; the dynamic attitude and orbit processor (6) resolves the actual deflection angle of the laser; combined with the sampling interval of the MEMS high dynamic gyroscope (2), the actual deflection angle of the laser is converted into the corresponding actual compensation angular velocity of the laser; the dynamic attitude and orbit processor (6) calculates the smoothed instantaneous angular velocity of the satellite from the three-axis instantaneous angular velocities obtained by the MEMS high dynamic gyroscope (2) and compares it with the actual compensation angular velocity of the laser to calculate the difference in angular velocity. Step 6: The detection imaging system acquires the background star map after compensation by the high-speed scanning moving mirror (3) and transmits the star map data to the dynamic attitude and orbit processor (6); the dynamic attitude and orbit processor (6) processes the star map, extracts the pixel coordinates of the star points, calculates the angles between the star points, compares the angles with the pre-stored navigation star table, and determines the celestial coordinates corresponding to each star point; then, based on the image plane coordinates and celestial coordinates of the star points, the attitude calculation algorithm is used to preliminarily calculate the three-dimensional attitude matrix of the remote sensing satellite and the corresponding Euler angles; the dynamic attitude and orbit processor (6) corrects the preliminarily calculated attitude coordinates based on the angular velocity difference calculated in step 5; the corrected attitude matrix and Euler angles are output as the final high-precision attitude result; Return to step 1, re-receive real-time data from the MEMS high dynamic gyroscope (2), and enter the next measurement cycle to realize continuous, real-time attitude measurement in a high dynamic environment.

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