Ground closed-loop verification method and system for autonomous tracking of space targets

Abstract

This invention provides a ground-based closed-loop verification method and system for autonomous tracking of space targets, comprising: a command inversion generation module, a mechanism control calculation module, a six-degree-of-freedom platform module, and a collimation simulator. The command inversion generation module generates a pointing angle based on camera data. The mechanism control calculation module receives and controls the pointing of the six-degree-of-freedom platform's motion rods according to the pointing angle. The collimation simulator receives the imaging command generated by the command inversion generation module, moves synchronously with the six-degree-of-freedom platform, and generates target images under different pointing angles to verify the system's correctness. This invention overcomes the limitation of small imaging field of view in conventional simulators and improves the tracking and receiving capabilities of remote sensing systems.

Description

Technical Field

[0001] This invention belongs to the technical field of ground verification for target tracking and detection, specifically relating to a ground-based closed-loop verification method and system for autonomous tracking of space targets. Background Technology

[0002] Autonomous tracking closed-loop verification of space targets is a method that simulates target motion characteristics on the ground to test the ability of remote sensing systems to identify and track space targets. In particular, the simulation of large-scale space target motion can more realistically test the performance of remote sensing systems in dynamically tracking targets, thereby improving the tracking accuracy of remote sensing systems.

[0003] Patent document CN118334084B discloses an infrared target tracking method, apparatus, device, and storage medium. This method involves identifying a search image block within a target infrared image frame and extracting its features. Target tracking is then performed based on the template features of a template image of the target object and the search features to determine the target's position information within the infrared image frame. This method is a target tracking approach that uses target template feature matching.

[0004] Patent document CN117630907B discloses a sea surface target tracking method that fuses infrared imaging and millimeter-wave radar. This method extracts features from the infrared target area using an infrared target tracking model and determines pre-selected radar targets based on the infrared targets. This method tracks targets by fusing infrared tracking results with millimeter-wave radar tracking results.

[0005] Patent document CN116229317B discloses an adaptive template update twin infrared target tracking method. This method uses a residual block structure in the feature extraction network. Multiple skip connections in the residual block can integrate contextual information and avoid problems such as information loss and damage. By directly passing the input information to the output through a bypass, and fusing the features output from different convolutional layers, the accuracy of infrared target tracking is enhanced.

[0006] Patent document CN114897932B discloses an infrared target tracking method based on feature and grayscale fusion. This method involves extracting a region of equal size to a grayscale template centered on each pixel and performing a normalization operation with the grayscale template to obtain a rough prediction of the target's center point. The predicted region is then cropped, and feature extraction and position filter correlation operations are performed to obtain the accurate position of the target's center point. This method is a target detection and tracking method based on target grayscale template matching.

[0007] Patent document CN116402858B discloses an infrared target tracking method based on transformer spatiotemporal information fusion. This method constructs an infrared target tracking network and a loss function, and designs multiple components to realize spatiotemporal information fusion in the infrared target tracking process. This method is a target tracking method based on spatiotemporal information fusion and loss function evaluation.

[0008] Patent document CN110127079A discloses a target flight characteristic simulation system based on a six-degree-of-freedom platform under remote sensing field of view. This scheme combines a six-degree-of-freedom platform to realize motion simulation within a large field of view, but it cannot achieve closed-loop tracking imaging within a large field of view.

[0009] As shown in the above literature, at present, the simulation of target motion characteristics is mainly based on the target motion image generated by photoelectric conversion of the target simulation generator under a limited optical field of view. The target motion range is limited by the optical field of view of the generator. In order to more effectively verify the detection system's ability to perform closed-loop tracking of moving targets in space, it is required to be able to simulate the motion characteristics of space targets in a large field of view.

[0010] Therefore, how to simulate the motion of spatial targets with high resolution and high fidelity within a larger field of view has become a problem that needs to be solved.

[0011] This problem urgently needs to be solved. Summary of the Invention

[0012] To address the shortcomings of existing technologies, the purpose of this invention is to provide a ground-based closed-loop verification method and system for autonomous tracking of space targets.

[0013] A ground-based closed-loop verification method for autonomous tracking of space targets, provided by the present invention, includes: a command inversion generation module, a mechanism control calculation module, a six-degree-of-freedom platform module, and a collimation simulation generator; The instruction inversion generation module generates a pointing angle based on camera data; the mechanism control calculation module receives and controls the pointing of the six-degree-of-freedom platform motion rod of the six-degree-of-freedom platform module according to the pointing angle. The collimation-type simulation generator receives the imaging command generated by the command inversion generation module, moves synchronously with the six-degree-of-freedom platform, and then generates target images under different orientations to verify the correctness of the system.

[0014] Preferably, the instruction inversion generation module inverts and generates the object angle of the camera mechanism, and inputs it into the mechanism control calculation module; the instruction inversion generation module inverts and generates the integration time parameter, frame interval parameter and gain parameter as imaging instructions, and inputs them into the collimation analog generator. The collimation-type analog generator is initially aligned with the center of the camera's imaging plane.

[0015] Preferably, the mechanism control calculation module includes a line-of-sight vector conversion module, a coordinate calibration module, and a control feedback module; The line-of-sight vector conversion module generates the camera center line-of-sight vector; the coordinate calibration module characterizes the conversion from the camera center line-of-sight vector to the line-of-sight pointing of the collimation analog generator; the control feedback module characterizes and controls the deviation between the initial pointing position of the collimation analog generator and the camera center line-of-sight vector.

[0016] Preferably, the line-of-sight vector conversion module uses the line-of-sight vector at the center of the camera image plane as a reference, and generates a three-dimensional spatial vector in which the line-of-sight vector at the center of the camera image plane varies with the camera mechanism angle, based on the camera mounting matrix and imaging model. The expression is as follows:

[0017] in, This represents the line-of-sight vector at the center of the camera image plane, which varies with the camera mechanism angle. This represents the camera mounting matrix, where, , and These represent the azimuth, elevation, and roll angles, respectively. Let represent the line-of-sight vector at the center of the image plane in the camera's local system, where , and This represents the spatial position coordinates of the camera within its own system. Represents the mechanism motion transformation matrix, where, Indicates the angle of motion of the camera mechanism. Indicates the north-south direction angle. It indicates the east-west direction angle.

[0018] Preferably, the collimation-type simulation generator is fixed to the surface of the six-degree-of-freedom platform.

[0019] Preferably, the coordinate calibration module characterizes the conversion from the camera center line-of-sight vector to the line-of-sight direction of the collimation-type analog generator, and the expression is:

[0020] in, This represents the camera center line-of-sight vector in the collimation-type analog generator coordinate system. This is the mounting matrix for the collimated analog generator, where, These represent the azimuth, elevation, and roll angles, respectively. This represents the camera center line-of-sight vector in a six-degree-of-freedom platform dynamic coordinate system.

[0021] Preferably, it further includes a large-screen display module; the large-screen display module is connected to the six-degree-of-freedom platform module; the large-screen display module displays the image generated by the collimation analog generator.

[0022] According to the present invention, a ground-based closed-loop verification method for autonomous space target tracking is implemented based on a ground-based closed-loop verification system for autonomous space target tracking, comprising: Step S1: Based on the camera data, invert and generate the pointing angle and imaging command; Step S2: Control the direction of the six-degree-of-freedom platform motion rod according to the pointing angle; according to the imaging command, make the collimation simulation generator move synchronously with the six-degree-of-freedom platform, and then generate target images under different directions to verify the correctness of the system.

[0023] Preferably, in step S1, the inversion generates the pointing angle, expressed as:

[0024] in, Indicates the pointing angle; Indicates the source code of the instruction parameters; Indicates angular resolution; Indicates product; The source code for the imaging command parameters is expressed as follows:

[0025] in, The source code representing the parameters of the imaging command. Indicates the integration time parameter; This represents the gain parameter. This represents the frame interval parameter.

[0026] Preferably, the line-of-sight pointing of the collimation-type analog generator is obtained based on the spatial three-dimensional vector of the change of the line-of-sight vector at the center of the camera image plane with the angle of the camera mechanism; the expression of the spatial three-dimensional vector of the change of the line-of-sight vector at the center of the camera image plane with the angle of the camera mechanism is:

[0027] in, This represents the line-of-sight vector at the center of the camera image plane, which varies with the camera mechanism angle. This represents the camera mounting matrix, where, , and These represent the azimuth, elevation, and roll angles, respectively. Let represent the line-of-sight vector at the center of the image plane in the camera's local system, where , and This represents the spatial position coordinates of the camera within its own system. Represents the mechanism motion transformation matrix, where, Indicates the angle of motion of the camera mechanism. Indicates the north-south direction angle. It indicates the east-west direction angle.

[0028] Compared with the prior art, the present invention has the following beneficial effects: 1. Based on a given camera mechanism pointing angle and camera imaging parameters, this invention works with the camera to complete target imaging at any position within a large angle range, thereby achieving closed-loop verification of camera tracking of moving targets in space from the ground.

[0029] 2. This invention is used to improve the shortcomings of conventional simulators with small imaging fields of view and enhance the tracking and receiving capabilities of remote sensing systems.

[0030] 3. This invention introduces a six-degree-of-freedom platform to realize the simulation of a collimated target generator within a wide field of view, and verifies the correctness of the simulation through a large-screen display module, thereby realizing the simulation of the motion of a space target within a wide field of view. Attached Figure Description

[0031] 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: Figure 1 This is a schematic diagram of a collimated target simulation generator provided by the present invention; wherein DMD represents a digital micromirror device; Figure 2 A schematic diagram of the mechanism control calculation module provided by the present invention; Figure 3 This is a schematic diagram illustrating the ground verification of autonomous tracking of space targets provided by the present invention. Detailed Implementation

[0032] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0033] This invention controls the pointing of a six-degree-of-freedom platform by giving a pointing angle, and controls a collimating target generator to follow the movement of the six-degree-of-freedom platform, thereby generating target images under different pointing directions, and realizing closed-loop tracking imaging in a large field of view.

[0034] Specifically, to address the ground verification problem of target tracking and detection within a large field of view, this invention proposes a ground-based closed-loop verification method for autonomous tracking of space targets.

[0035] This invention discloses a ground-based closed-loop verification method for autonomous tracking of space targets. Based on a given camera pointing angle and camera imaging parameters, this invention works with the camera to image targets at arbitrary positions within a large angle range, thereby achieving closed-loop verification of the camera's tracking of moving space targets from the ground.

[0036] This invention includes: an instruction inversion generation module, an mechanism control calculation module, a six-degree-of-freedom platform, a collimated target simulation generator, and a large-screen display module.

[0037] Command Inversion Generation Module: Receives mechanism command parameters given by the camera, inverts and generates different pointing angles of the camera mechanism, which serve as input to the mechanism control calculation module, thereby realizing the pointing control of the six-degree-of-freedom platform motion rod; simultaneously, it receives imaging command parameters given by the camera, inverts and generates different imaging parameters of the camera (such as integration time, gain, etc.), which serve as the imaging input of the collimation analog generator. Mechanism control calculation module: Transforms the pointing angle given by the instruction inversion generation module to the six-degree-of-freedom platform coordinate system, and then inverts to generate the six-degree-of-freedom platform pointing control command to realize the simulation of arbitrary pointing angle of the camera mechanism; The six-degree-of-freedom platform module consists of two parts: a motion control unit and a six-degree-of-freedom platform mechanism. The motion control unit receives six-degree-of-freedom control commands, converts them into motion control commands for each motion control lever, and drives them; the six-degree-of-freedom platform mechanism realizes the six-degree-of-freedom motion simulation of the mounting platform through the compound motion of the motion levers. Collimation-type target simulation generator: Used to simulate and generate target images. The collimation-type target simulation generator is fixed on a six-degree-of-freedom platform and moves with the platform. Based on the imaging parameters of the command inversion generation module, it realizes spatial position imaging under different orientations. Large-screen imaging module: Used to display images generated by the collimation-type analog generator, and to verify the correctness of the closed-loop verification system.

[0038] In other words, the ground-based closed-loop verification method for autonomous tracking of space targets disclosed in this invention comprises five modules: a command inversion generation module, a mechanism control calculation module, a six-degree-of-freedom platform, a collimated target simulation generator, and a large-screen display module. Based on a given camera mechanism pointing angle and camera imaging parameters, the method works with the camera to complete target imaging at any position within a large angle range, thereby achieving closed-loop verification of the camera's tracking of moving space targets on the ground.

[0039] The command inversion generation module inverts the received mechanism command parameters and imaging parameters according to the command format. After the mechanism command parameters are inverted, the object angle of the camera mechanism is generated and passed to the mechanism control calculation module. After the imaging command parameters are inverted, the camera's integration time, frame interval, gain, etc. are generated and passed to the collimated target simulation generator.

[0040] The mechanism control calculation module includes a line-of-sight vector conversion module, a coordinate calibration module, and a control feedback module. The line-of-sight vector conversion module is used to generate the camera center line-of-sight vector based on the angle change of the camera mechanism. The coordinate calibration module represents the conversion from the camera center line-of-sight vector to the line-of-sight pointing of the collimated target simulator. The control feedback module represents the closed-loop control of the initial pointing position of the collimated target simulator and the deviation of the camera center line-of-sight vector.

[0041] The line-of-sight vector conversion module takes the object-side angle of the camera mechanism as input, uses the line-of-sight vector at the center of the camera image plane as a reference, and combines the camera mounting matrix and imaging model to generate a spatial three-dimensional vector representing the change of the line-of-sight vector at the center of the image plane with the camera mechanism angle. The reference position of the line-of-sight vector at the center of the camera image plane is the nadir point.

[0042] The coordinate systems involved in the coordinate calibration module include: the six-degree-of-freedom platform coordinate system, which contains two coordinate systems, the static coordinate system O. s -X s Y s Z s and dynamic coordinate system O d -X d Y d Z d The static coordinate system is fixed to the ground, while the dynamic coordinate system moves with the platform. The geometric center O of the platform is below the static coordinate system. s Y is the origin. s Perpendicular to the lower platform surface, X s Located within the lower platform surface along the horizontal direction, Z s It satisfies the right-hand screw rule. The dynamic coordinate system is similar to the static coordinate system.

[0043] The collimation-type target simulation generator is fixedly mounted on the upper platform, with the platform's body coordinate system as a reference. The origin of the platform's body coordinate system is the platform's center of mass O. p coordinate axis X p Y p Z p These axes are parallel to the three inertial axes corresponding to the platform. The coordinate calibration of the collimated target simulator and the six-degree-of-freedom platform includes: the transformation between the body coordinate system and the dynamic coordinate system of the collimated target simulator depends on the installation matrix of the collimated target simulator; the transformation between the static coordinate system and the dynamic coordinate system depends on the angular relationship of the motion mechanism of the six-degree-of-freedom platform.

[0044] The control feedback module converts the object-side angle of the camera mechanism into the image-side angle, compares the deviation between the initial pointing position of the collimated target simulation generator and the image-side angle of the camera mechanism, and uses this deviation to generate a six-degree-of-freedom platform pointing control command.

[0045] The six-degree-of-freedom (DOF) platform module includes a motion control unit and a six-DOF platform mechanism. The motion control unit receives six-DOF control commands, uses adaptive control to convert them into motion control commands for each motion control lever, and then drives the platform. The six-DOF platform mechanism simulates the six-DOF motion of the installation platform through the combined motion of the levers. The platform drive mechanism consists of six motion levers, two platforms (upper and lower), and six Hooke hinges on each platform. The lower platform is fixed to the infrastructure, and the extension and retraction of the six motion levers control the upper platform in six degrees of freedom in space. （ , , , a,b,c This allows for the simulation of various spatial motion postures. , , Represents spatial location coordinates, a,b,c These represent attitude angles, namely roll angle, pitch angle, and yaw angle, respectively.

[0046] The collimated target simulation generator consists of six parts: a collimating objective lens assembly, a DMD device, a drive circuit, an industrial control computer, a blackbody (integrating sphere) light source system, and a mounting bracket. Specifically, light emitted from the blackbody is converged to illuminate the DMD device located at the focal plane of the collimating objective lens. The simulated target image on the DMD device is then projected as parallel light through the collimating objective lens, forming a simulated image at the camera's entrance pupil. The drive circuit drives and controls the DMD chip, while the industrial control computer, in conjunction with image generation control software, adjusts the target position.

[0047] In other words, the collimated target simulation generator, also known as the collimated dynamic target generator, mainly consists of six parts. It simulates target information in different spectral bands by adjusting the brightness of the integrating sphere and the temperature of the blackbody. The collimated target simulation generator is initially aligned with the center of the camera's imaging plane.

[0048] like Figure 1~3 As shown, the specific implementation steps of this invention are as follows: Step 1: Inversion of mechanism command parameters and imaging command parameters. Assume the mechanism command parameter source code is... The source code for the imaging command parameters is Inverted institutional perspective Represented as:

[0049] in, This is the angular resolution of the mechanism. Furthermore, The highest bit is the sign bit; 1 represents a negative angle, and 0 represents a positive angle. Mechanism angles include... Representing the north-south direction angle, It represents the east-west direction angle.

[0050] Inverted institutional perspective Represented as:

[0051] in, Indicates the integration time parameter. This represents the gain parameter. This represents the frame interval parameter.

[0052] Step 2: Generate the camera center line-of-sight vector. Assume the reference line-of-sight vector at the center of the image plane below the camera body is... The camera mounting matrix is Then, considering the camera mechanism's motion angle Camera image center line-of-sight vector , recorded as The expression is:

[0053] Step 3: Determine the spatial coordinate calibration. Based on the obtained center line-of-sight vector of the camera body, consider the coordinate transformation between the camera body and the six-degree-of-freedom platform. The transformation from the static coordinate system to the dynamic coordinate system of the six-degree-of-freedom platform depends on the angular relationships of the platform's motion mechanisms. The transformation from the camera body to the static coordinate system depends on the camera body's motion characteristics. Therefore, the line-of-sight vector in the dynamic coordinate system of the six-degree-of-freedom platform is expressed as follows: :

[0054] in, This represents the transformation from a static coordinate system to a dynamic coordinate system, where... These represent the azimuth, pitch, and roll angles from the static coordinate system to the dynamic coordinate system, respectively. This represents the line-of-sight vector at the center of the camera image plane, which varies with the camera mechanism angle within the camera's own system. This represents the transformation from the camera body to the static coordinate system. , , This represents the azimuth, pitch, and roll angles of the camera body relative to the static coordinate system. This represents the position vector of the camera body in the static coordinate system.

[0055] The collimation target simulation generator is fixedly mounted on a six-degree-of-freedom platform. Assume the mounting matrix of the collimation target simulation generator is as follows: Therefore, the line-of-sight vector in the coordinate system of the collimated target simulation generator is represented as: :

[0056] Step 4: Closed-loop control of the collimated target simulator pointing. The camera center line-of-sight vector in the collimated target simulator coordinate system is used as the input to the control feedback module. It is assumed that the deviation between the initial pointing position of the collimated target simulator and the input line-of-sight vector is... , will The six-degree-of-freedom platform pointing control commands are generated through inversion.

[0057] Then by The rotation angle of the six-degree-of-freedom platform is obtained:

[0058] in, This represents the closed-loop feedback transformation matrix; the upper right corner... T This indicates transpose.

[0059] Step 5: The motion control unit receives the six-degree-of-freedom control commands, adopts an adaptive control method, converts them into motion control commands for each motion control lever, and drives them; the six-degree-of-freedom platform mechanism realizes the six-degree-of-freedom motion simulation of the installation platform through the compound motion of the motion levers. The change in rotation angle is converted into a change in the stroke of the platform's motion levers:

[0060] in, This represents the stroke length of the moving rod.

[0061] Step 6: The collimated target simulation generator receives the imaging parameters given by the instruction inversion generation module, completes the image generation under the specified integration time, gain and imaging frame rate and other parameter settings, and displays it on the large screen display module for the verification of the entire simulation system.

[0062] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0063] 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 changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A ground-based closed-loop verification system for autonomous tracking of space targets, characterized in that, include: The system includes a command inversion generation module, a mechanism control calculation module, a six-degree-of-freedom platform module, and a collimation-type simulation generator. The instruction inversion generation module generates a pointing angle based on camera data; the mechanism control calculation module receives and controls the pointing of the six-degree-of-freedom platform motion rod of the six-degree-of-freedom platform module according to the pointing angle. The collimation-type simulation generator receives the imaging command generated by the command inversion generation module, moves synchronously with the six-degree-of-freedom platform, and then generates target images under different orientations to verify the correctness of the system.

2. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 1, characterized in that, The command inversion generation module inverts and generates the object angle of the camera mechanism, and inputs it into the mechanism control calculation module; the command inversion generation module inverts and generates the integration time parameter, frame interval parameter and gain parameter as imaging command, and inputs them into the collimation analog generator. The collimation-type analog generator is initially aligned with the center of the camera's imaging plane.

3. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 1, characterized in that, The mechanism control calculation module includes a line-of-sight vector conversion module, a coordinate calibration module, and a control feedback module; The line-of-sight vector conversion module generates the camera center line-of-sight vector; the coordinate calibration module characterizes the conversion from the camera center line-of-sight vector to the line-of-sight direction of the collimation-type analog generator; The control feedback module characterizes and controls the deviation between the initial pointing position of the collimation analog generator and the line-of-sight vector at the center of the camera.

4. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 1, characterized in that, The line-of-sight vector conversion module uses the line-of-sight vector at the center of the camera image plane as a reference, and generates a three-dimensional spatial vector in which the line-of-sight vector at the center of the camera image plane varies with the camera mechanism angle, based on the camera mounting matrix and imaging model. The expression is as follows: in, This represents the line-of-sight vector at the center of the camera image plane, which varies with the camera mechanism angle. This represents the camera mounting matrix, where, , and These represent the azimuth, elevation, and roll angles, respectively. Let represent the line-of-sight vector at the center of the image plane in the camera's local system, where , and This represents the spatial position coordinates of the camera within its own system. Let represent the mechanism motion transformation matrix, where Indicates the angle of motion of the camera mechanism. Indicates the north-south direction angle. It indicates the east-west direction angle.

5. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 3, characterized in that, The collimation-type simulation generator is fixed on the surface of the six-degree-of-freedom platform.

6. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 5, characterized in that, The coordinate calibration module characterizes the conversion from the camera center line-of-sight vector to the line-of-sight direction of the collimation-type analog generator, and the expression is: in, This represents the camera center line-of-sight vector in the collimation-type analog generator coordinate system. This is the mounting matrix for the collimated analog generator, where, These represent the azimuth, pitch, and roll angles between the six-DOF platform dynamic coordinate system and the collimated simulation generator, respectively. This represents the camera center line-of-sight vector in a six-degree-of-freedom platform dynamic coordinate system.

7. The ground-based closed-loop verification system for autonomous tracking of space targets according to claim 1, characterized in that, It also includes a large-screen display module; the large-screen display module is connected to the six-degree-of-freedom platform module; the large-screen display module displays the image generated by the collimation analog generator.

8. A ground-based closed-loop verification method for autonomous tracking of space targets, implemented based on the ground-based closed-loop verification system for autonomous tracking of space targets as described in any one of claims 1 to 7, characterized in that, include: Step S1: Based on the camera data, invert and generate the pointing angle and imaging command; Step S2: Control the direction of the six-degree-of-freedom platform motion rod according to the pointing angle; according to the imaging command, make the collimation simulation generator move synchronously with the six-degree-of-freedom platform, and then generate target images under different directions to verify the correctness of the system.

9. The ground-based closed-loop verification method for autonomous tracking of space targets according to claim 8, characterized in that, In step S1, the inversion generates the pointing angle, expressed as: in, Indicates the pointing angle; Indicates the source code of the instruction parameters; Indicates angular resolution; Indicates product; The source code for the imaging command parameters is expressed as follows: in, The source code representing the parameters of the imaging command. Indicates the integration time parameter; Indicates the gain parameter. This represents the frame interval parameter.

10. The ground-based closed-loop verification method for autonomous tracking of space targets according to claim 8, characterized in that, In step S2, the line-of-sight pointing of the collimation-type simulation generator is obtained based on the spatial three-dimensional vector of the change of the line-of-sight vector of the camera image plane center with the camera mechanism angle; the expression of the spatial three-dimensional vector of the change of the line-of-sight vector of the camera image plane center with the camera mechanism angle is: in, This represents the line-of-sight vector at the center of the camera image plane, which varies with the camera mechanism angle. This represents the camera mounting matrix, where, , and These represent the azimuth, elevation, and roll angles, respectively. Let represent the line-of-sight vector at the center of the image plane in the camera's local system, where , and This represents the spatial position coordinates of the camera within its own system. Let represent the mechanism motion transformation matrix, where Indicates the angle of motion of the camera mechanism. Indicates the north-south direction angle. It indicates the east-west direction angle.

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