A motion velocity vector metering and collaborative imaging simulation device and method

Abstract

The application relates to a motion speed vector metering compensation collaborative imaging simulation device and method, relates to the technical field of space optical remote sensing, and solves the technical problem that the multi-dimensional cascade motion of an on-orbit multi-carrier optical remote sensing satellite is difficult to simulate in a ground environment in the prior art. The device comprises a space-based single-degree-of-freedom motion carrier, a pose motion carrier, a CMOS camera, a very high frequency two-dimensional galvanometer, a ground surface scene two-dimensional dynamic motion display system, a high-precision vector speed measurement unit, a high-performance multi-core computing unit, a clock pulse synchronous triggering unit, a multi-mode motion control unit, a vector computer and an image evaluation service system. The application solves the problem that the speed vector direction and frame frequency are difficult to be matched under complex high-speed dynamic working conditions by constructing a ground test link integrating multi-dimensional motion simulation, high-precision speed measurement, real-time calculation and four-stage collaborative compensation, and realizes precise simulation and evaluation of high-speed dynamic imaging of a space-based optical load under complex working conditions.

Description

Technical Field

[0001] This invention relates to the field of space optical remote sensing technology, and in particular to a motion velocity vector measurement-assisted imaging simulation device and method. Background Technology

[0002] With the development of space optical remote sensing technology, the requirements for spatial resolution, imaging range, and signal-to-noise ratio of remote sensing payloads are continuously increasing. High-performance imaging demands significantly enhanced high-speed and agile performance in terms of satellite platform angular motion, line-of-sight scanning, and relative motion to the Earth's surface. In space-based imaging, factors such as high-speed motion in all directions along the vertical orbit, multi-degree-of-freedom attitude maneuvers, frame-shifting motion, and Earth's rotation all work together within the exposure time, resulting in a complex distribution of velocity vectors on the image plane. This leads to serious degradation in imaging quality, such as geometric distortion, decreased sharpness, and deteriorated signal-to-noise ratio.

[0003] To evaluate the impact of the aforementioned complex high-speed motion on imaging performance and quality and to verify the compensation effect, it is urgent to construct a ground-based experimental environment capable of reproducing the dynamic frame shifting and energy characteristic changes of space-based high-speed imaging, thereby achieving controllable simulation and compensation verification of velocity vector direction and frame rate. In existing ground simulation systems of remote sensing imaging systems, the velocity vector direction simulation and compensation methods for area array frame shifting imaging modes typically suppress image motion by adjusting imaging time, correcting frame shifting parameters, or introducing simplified motion models. These compensation methods generally assume that the relative motion direction of the ground surface is relatively stable during imaging, or only correct image motion in a single direction. While these methods can meet the velocity vector direction compensation requirements under simple imaging conditions to a certain extent, they cannot effectively simulate the velocity vector direction characteristics under complex high-speed motion conditions, making it difficult to meet the comprehensive requirements of wide coverage, high resolution, and high signal-to-noise ratio imaging.

[0004] Therefore, it is necessary to propose a velocity vector measurement and compensation combined imaging simulation device for complex high-speed motion coupling conditions, enabling controllable construction, real-time compensation, and closed-loop evaluation of velocity vector direction compensation under ground conditions. This device should be adaptable to multi-directional frame shifting and dynamic line-of-sight changes, and improve compensation accuracy and stability while ensuring imaging clarity and signal-to-noise ratio. This will provide an effective ground-based experimental means for verifying velocity vector direction compensation methods and calibrating related parameters. Summary of the Invention

[0005] This invention aims to solve the technical problem that it is difficult to simulate the multi-carrier, multi-dimensional cascade motion of space-based optical remote sensing in a ground environment, and provides a motion velocity vector measurement and compensation collaborative imaging simulation device and method.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows: A motion velocity vector measurement and complementary imaging simulation device includes: a space-based single-degree-of-freedom motion carrier, a pose motion carrier, a CMOS camera, a very high frequency two-dimensional galvanometer, a two-dimensional dynamic motion display system for the ground scene, a high-precision vector velocity measurement unit, a high-performance multi-core computing unit, a clock pulse synchronization triggering unit, a multi-mode motion control unit, a vector computer, and an image evaluation service system. The space-based single-degree-of-freedom motion carrier is used to rotate around the yaw axis of the star platform; the pose motion carrier is used to connect to the CMOS camera according to the preset roll angle and drive its movement; the CMOS camera is used to rotate around the yaw axis, so that the line of sight of the CMOS camera forms a conical scan dynamic scanning trajectory under ground conditions. A VHF 2D galvanometer is used to perform rapid angular motion, adjust the imaging field of view, and coordinate with the pose-motion vehicle to compensate for velocity vectors; a 2D dynamic motion display system for the ground scene is used to provide ground imaging objects with terrain texture features and generate dynamic changes in the display plane according to preset parameters; a high-precision vector velocity measurement unit is used to synchronously measure the angular velocities of the space-based single-degree-of-freedom motion vehicle and the pose-motion vehicle; a high-performance multi-core computing unit is used to calculate high-speed dynamic velocity vectors by combining the intrinsic parameter information of the CMOS camera; The clock pulse synchronization triggering unit is used to synchronize clock signals with the high-precision vector velocity measurement unit, the multi-mode motion control unit, and the vector computer, respectively. The multi-mode motion control unit is used to decouple and decompose the imaging parameters, and generate control commands for the motion carrier and the VHF two-dimensional galvanometer, respectively, to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthesized image. The vector computer is used to stitch the images into sequences and input the resulting continuous images into the image evaluation service system. The image evaluation service system is used to perform target edge trimming on the images to complete the simulated imaging evaluation.

[0007] In the above technical solution, the CMOS camera is fixedly mounted on the pose motion carrier at a preset roll angle, so that a fixed angle is formed between the optical axis of the CMOS camera and the roll axis of the star carrier; the VHF two-dimensional galvanometer is fixedly connected to the incident light path at the front end of the CMOS camera; the two-dimensional dynamic motion display system of the ground scene is horizontally placed directly below the field of view of the CMOS camera. The clock pulse synchronization triggering unit is connected to the space-based single-degree-of-freedom motion carrier, the high-precision vector velocity measurement unit, the high-performance multi-core computing unit, the multi-mode motion control unit, and the vector computer data respectively, and is used to provide a unified time reference and synchronization triggering signal to the velocity measurement, execution and calculation components; The multi-mode motion control unit is connected to the high-performance multi-core computing unit, the space-based single-degree-of-freedom motion carrier, the pose motion carrier, and the VHF two-dimensional galvanometer data respectively. It is used to receive the velocity vector calculation results and output the corresponding compensation control commands to the space-based single-degree-of-freedom motion carrier, the pose motion carrier, and the VHF two-dimensional galvanometer respectively. The vector computer is connected to the CMOS camera, the high-performance multi-core computing unit, and the image evaluation service system. It is used to receive time-series image data, perform stitching processing, and transmit the stitched continuous images to the image evaluation service system.

[0008] In the above technical solution, the CMOS camera is a high-resolution off-axis optical CMOS camera.

[0009] A motion velocity vector measurement-complemented co-imaging simulation method, applicable to the aforementioned space-based multi-source carrier multi-dimensional cascaded motion velocity vector measurement-complemented co-imaging simulation device, includes the following steps: Step 1: Installation and configuration of CMOS camera and pose motion carrier; The CMOS camera is mounted on the pose motion carrier, and the CMOS camera and the star carrier are set with a roll angle. The space-based single-degree-of-freedom motion carrier rotates around the yaw axis of the star platform and moves according to a certain space-based carrier yaw angular velocity. Step 2: Time synchronization trigger; The clock pulse synchronization triggering unit provides a unified time reference and synchronization triggering signal to each measurement, execution and imaging acquisition unit to ensure that angular velocity measurement, galvanometer image stabilization and camera exposure are carried out in coordination under the same time reference; Step 3: Dynamic Surface Scene Simulation; The two-dimensional dynamic motion display system for the ground scene is placed below the field of view of the CMOS camera. Step 4: Scanning motion using a CMOS camera and a pose-based motion carrier; Under the control of the multi-mode motion control unit, the pose motion carrier rotates a certain angle of scanning half-cone around the yaw axis of the star platform, so that the line of sight of the CMOS camera forms a conical scanning dynamic scanning trajectory under ground conditions, which constitutes the velocity vector change working condition of the multi-dimensional cascade motion of the space-based multi-source carrier. Step 5: Very high frequency two-dimensional galvanometer line-of-sight compensation; The VHF two-dimensional galvanometer performs rapid angular motion under the control of the multi-mode motion control unit to adjust the imaging field of view and coordinate with the pose motion carrier to compensate for the velocity vector, thereby improving imaging stability. Step Six: Angular Velocity Measurement; The high-precision vector velocity measurement unit synchronously measures the angular velocities of the space-based single-degree-of-freedom motion vehicle, the pose motion vehicle, and the VHF two-dimensional galvanometer, and outputs the yaw angular velocity of the space-based single-degree-of-freedom motion vehicle, the yaw angular velocity of the camera vehicle of the pose motion vehicle, and the angular velocity of the two-dimensional galvanometer of the VHF two-dimensional galvanometer. Step 7: Real-time velocity vector calculation; The high-performance multi-core computing unit receives angular velocity data from the high-precision vector velocity measurement unit and, in conjunction with the intrinsic parameter information of the CMOS camera, calculates in real time the high-speed dynamic velocity vector under the multi-dimensional cascade motion of the space-based multi-source carrier, and outputs the high-speed dynamic velocity vector to the multi-mode motion control unit. Step 8: Decoupling of multi-mode motion control; The multi-mode motion control unit performs motion decoupling and parameter decomposition on the imaging parameters of the space-based single-degree-of-freedom motion carrier, the VHF two-dimensional galvanometer, and the CMOS camera, and generates corresponding control commands to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthetic image shift. Step 9: Exposure and imaging with CMOS camera; The CMOS camera rotates with the pose-moving carrier, and the exposure time of the CMOS camera is set based on the target signal-to-noise ratio constraint. Full-cycle imaging is performed according to the time sequence, and the image information is transferred to the vector computer. Step 10: Image stitching processing; The vector computer receives images corresponding to the time series and performs matching and seamless stitching of corresponding points between frames to achieve continuous surface imaging strips or scene images under the imaging trajectory, thus obtaining stitched and registered images. Step 11: Image quality assessment; The image evaluation service system processes stitched and registered images, extracts target slices, performs index analysis, compares and determines whether dynamic collaborative compensation effectively suppresses the impact of image shift on image quality and whether it has good detail resolution capabilities.

[0010] In the above technical solution, in step three, the simulated motion speed of the two-dimensional dynamic motion display system for the ground scene... for: ; in, As the reference speed, The amplitude of the periodic disturbance. For the perturbation frequency, For time.

[0011] In the above technical solution, in step seven, the high-speed dynamic velocity vector... for: ; in, , The projection of the satellite's velocity onto the ground. For equivalent scanning angular velocity, The scan radius vector, For time variables, The yaw rate of the space-based carrier. The yaw rate of the camera carrier. The angular velocity of the two-dimensional galvanometer is given.

[0012] In the above technical solution, step eight includes the following control commands: space-based carrier angular velocity compensation command, camera carrier angular velocity compensation command, and two-dimensional galvanometer deflection compensation command.

[0013] In the above technical solution, in step nine, the CMOS camera exposure time It is determined by the following formula: ; in: The target signal-to-noise ratio required by the device. This represents the average photon flux of the imaging scene on a CMOS camera pixel. Quantum efficiency for CMOS cameras This is the dark current noise equivalent photon flux of a CMOS camera.

[0014] The present invention has the following beneficial effects: The motion velocity vector measurement and compensation collaborative imaging simulation device and method of the present invention solves the problem of difficulty in aligning velocity vector direction and frame rate under complex high-speed dynamic conditions by constructing a ground test link that integrates multi-dimensional motion simulation, high-precision velocity measurement, real-time calculation and four-level collaborative compensation. This enables accurate simulation and evaluation of high-speed dynamic imaging of space-based optical payloads under complex conditions.

[0015] The motion velocity vector measurement and collaborative imaging simulation device and method of this invention establishes a controllable simulation and evaluation system for the multi-dimensional cascade motion of a space-based multi-source carrier under ground conditions. It enables closed-loop linkage of motion measurement, parameter calculation, collaborative compensation, and imaging acquisition under a unified time reference. Through the coordinated control of carrier motion and a two-dimensional galvanometer, it can stably construct preset velocity vectors and synthesized velocity conditions while suppressing synthesized image shift, thus improving imaging stability and continuity. By adaptively setting the exposure time based on target signal-to-noise ratio constraints, it achieves matching between the exposure window and system timing, improving the consistency of simulated imaging. Furthermore, combined with image stitching and evaluation processing, it provides a reliable ground-based testing method for parameter calibration and performance verification under complex dynamic imaging conditions. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a schematic diagram illustrating the working process of the motion velocity vector measurement and complementary imaging simulation device of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the motion velocity vector measurement and complementary imaging simulation device of the present invention.

[0019] The reference numerals in the attached figures are as follows: 1-Space-based single-DOF motion carrier; 2-Position motion carrier; 3-CMOS camera; 4-Very high frequency two-dimensional galvanometer; 5-Two-dimensional dynamic motion display system for ground scene; 6-High-precision vector velocity measurement unit; 7-High-performance multi-core computing unit; 8- Clock pulse synchronization trigger unit; 9- Multi-mode motion control unit; 10- Vector computer; 11-Image Evaluation Service System; 12-Star platform yaw axis rotation, 13-First data stream, 14-Second data stream, 15-Control command, 16-High-speed dynamic velocity vector, 17-Internal parameter data, 18-Calculated data, 19-Transmitted image, 20-Continuous image, 21-Real-time parameters, 22-Simulated imaging evaluation. Detailed Implementation

[0020] The present invention will now be described in detail with reference to the accompanying drawings.

[0021] like Figure 1 and 2 As shown, the motion velocity vector measurement and complementary imaging simulation device of the present invention includes: a space-based single-degree-of-freedom motion carrier 1, a pose motion carrier 2, a CMOS camera 3, a very high frequency two-dimensional galvanometer 4, a two-dimensional dynamic motion display system for the ground scene 5, a high-precision vector velocity measurement unit 6, a high-performance multi-core computing unit 7, a clock pulse synchronization triggering unit 8, a multi-mode motion control unit 9, a vector computer 10, and an image evaluation service system 11.

[0022] Among them, the CMOS camera 3 is a high-resolution off-axis optical CMOS camera, which is fixedly mounted on the pose motion carrier 2 according to the preset roll angle; the very high frequency two-dimensional galvanometer 4 is fixedly connected to the incident light path at the front end of the CMOS camera 3; the two-dimensional dynamic motion display system 5 of the ground scene is horizontally placed directly below the field of view of the CMOS camera 3. The clock pulse synchronization triggering unit 8 is connected to the high-precision vector velocity measurement unit 6, the high-performance multi-core computing unit 7, the multi-mode motion control unit 9, and the vector computer 10 respectively, to provide a unified time reference and synchronization triggering signal; The multi-mode motion control unit 9 is connected to the high-performance multi-core computing unit 7, the space-based single-degree-of-freedom motion carrier 1, the pose motion carrier 2, and the VHF two-dimensional galvanometer 4 respectively. It is used to receive the velocity vector calculation results output by the high-performance multi-core computing unit 7 and output compensation control commands to the space-based single-degree-of-freedom motion carrier 1, the pose motion carrier 2, and the VHF two-dimensional galvanometer 4 respectively. The vector computer 10 is connected to the CMOS camera 3, the high-performance multi-core computing unit 7, and the image evaluation service system 11. It is used to receive the time-series image data output by the CMOS camera 3 and transmit it to the image evaluation service system 11 after stitching.

[0023] The space-based single-degree-of-freedom motion carrier 1 is used to rotate around the yaw axis of the star platform; The pose motion carrier 2 is used to connect to the CMOS camera 3 according to a preset roll angle and drive its movement; The CMOS camera 3 is used to rotate around the yaw axis of the satellite platform under the control of the multi-mode motion control unit 9, so that the line of sight of the CMOS camera 3 forms a conical scan dynamic scanning trajectory under ground conditions, which constitutes the velocity vector change working condition of the multi-dimensional cascade motion of the space-based multi-source carrier. The very high frequency two-dimensional galvanometer 4 is used to perform rapid angular motion under the control of the multi-mode motion control unit 9, to perform high-frequency, small-amplitude adjustment of the imaging field of view, and to perform coordinated compensation of velocity vector with the pose motion carrier 2 to improve imaging stability. The 2D dynamic motion display system 5 for the ground scene is used to provide ground imaging objects with terrain texture features and generate dynamic changes in the display plane according to preset parameters to simulate the real-time state of the ground surface in relative motion on space. The high-precision vector velocity measurement unit 6 is used to synchronously measure the angular velocities of the space-based single-degree-of-freedom motion carrier 1 and the pose motion carrier 2, and output the yaw angular velocity of the space-based carrier, the yaw angular velocity of the camera carrier, and the angular velocity of the two-dimensional galvanometer. The high-performance multi-core computing unit 7 is used to calculate the high-speed dynamic velocity vector by combining the intrinsic parameter information of the CMOS camera 3; The clock pulse synchronization trigger unit 8 is used to synchronize the clock signal with the speed measurement, execution and calculation components; the speed measurement, execution and calculation components include: a high-precision vector velocity measurement unit 6, a multi-mode motion control unit 9 and a vector computer 10; The multi-mode motion control unit 9 is used to decouple and decompose the imaging parameters, and generate control commands for the motion carrier 2 and the VHF two-dimensional galvanometer 4, respectively, to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthesized image shift. Vector computer 10 is used to stitch images into sequences and input the stitched continuous images into image evaluation service system 11. The image evaluation service system 11 is used to perform target edge trimming on the image to complete the simulated imaging evaluation.

[0024] The working process of the motion velocity vector measurement and complementary imaging simulation device of the present invention is as follows: After the space-based high-speed dynamic imaging mission is launched, the space-based single-degree-of-freedom motion carrier 1 rotates 12 around the yaw axis of the star platform, triggering the clock pulse synchronization triggering unit 8, and outputting the first data stream 13 to synchronize clock signals to the velocity measurement, execution and calculation components respectively. The high-precision vector velocity measurement unit 6 collects angular velocity data in real time and outputs a second data stream 14. The high-speed dynamic velocity vector 16 is calculated by the high-performance multi-core computing unit 7 in combination with the intrinsic parameter data 17 of the CMOS camera 3. The multi-mode motion control unit 9 receives and decomposes the high-speed dynamic velocity vector 16, calculates and outputs control commands 15 to control the posture motion carrier 2 to adjust its attitude and rotation speed, and drives the very high frequency two-dimensional galvanometer 4 to perform nonlinear image stabilization compensation. The CMOS camera 3 rotates at high speed with the pose-motion carrier 2. Based on the signal-to-noise ratio constraint, the intrinsic parameter data 17 of the CMOS camera 3 is adjusted in real time to perform image stabilization point-to-point imaging of the dynamic ground scene and transmit the image 19 to the vector computer 10. The vector computer 10, combined with the high-performance multi-core computing unit, calculates the data 18 to perform sequential stitching of the image and inputs the stitched continuous image 20 into the image evaluation service system 11. The system combines the real-time parameters 21 of the two-dimensional dynamic motion display system of the ground scene to perform target edge trimming and complete the simulated imaging evaluation 22.

[0025] The motion velocity vector measurement-complemented co-imaging simulation method of the present invention, applicable to the aforementioned motion velocity vector measurement-complemented co-imaging simulation device, includes the following steps: Step 1: Installation and configuration of CMOS camera 3 and pose motion carrier 2; The CMOS camera 3 is mounted on the pose motion carrier 2, and the CMOS camera 3 and the star carrier are set at a roll angle. The space-based single-degree-of-freedom motion carrier 1 rotates 12 yaws around the yaw axis of the satellite platform, according to a certain space-based carrier yaw angular velocity. sports; In this embodiment, the fixed angle between the CMOS camera 3 and the roll axis of the celestial carrier is called the roll angle. The simulated satellite orbits at an altitude of 500 km, and the space-based single-degree-of-freedom motion vehicle 1 orbits around its yaw axis at a yaw angular velocity of [missing information]. Rotating at a constant speed, the ground trajectory speed is approximately .

[0026] Step 2: Time synchronization trigger; The clock pulse synchronization trigger unit 8 provides a unified time reference to all measurement, execution, and imaging acquisition units. With synchronous trigger signal This ensures that angular velocity measurement, galvanometer stabilization, and camera exposure are performed in tandem under the same time reference.

[0027] In this embodiment, a unified time starting point is used. Synchronous trigger signal

[0028] Step 3: Dynamic Surface Scene Simulation; The two-dimensional dynamic motion display system 5 for the ground scene is placed below the field of view of the CMOS camera 3 to provide ground imaging objects with terrain texture features, and to generate dynamic changes in the display plane according to preset parameters to simulate the real-time state of the ground surface in relative motion on the spacecraft. Simulated motion speed is : ;in, As the reference speed, The amplitude of the periodic disturbance. For the perturbation frequency, For time; In this embodiment, , , .

[0029] Step 4: Scanning motion of CMOS camera 3 and pose motion carrier 2; Under the control of the multi-mode motion control unit 9, the pose motion carrier 2 rotates around the yaw axis by a certain angle of scanning half cone angle, so that the line of sight of the CMOS camera 3 forms a conical scanning dynamic scanning trajectory under ground conditions, constituting the velocity vector change working condition of the multi-dimensional cascade motion of the space-based multi-source carrier. In this embodiment, the pose motion carrier 2 revolves around the yaw axis at the yaw angular velocity of the camera carrier. Rotate and scan the half-cone angle Ground scanning radius .

[0030] Step 5: Compensation of the four visual axes of a VHF two-dimensional galvanometer; The very high frequency two-dimensional galvanometer 4 performs rapid angular motion under the control of the multi-mode motion control unit 9, and makes high-frequency, small-amplitude adjustments to the imaging field of view. It also performs coordinated compensation of velocity vector with the pose motion carrier 2 to improve imaging stability. In this embodiment, the angular velocity of the galvanometer swing is also the angular velocity of the VHF two-dimensional galvanometer 4 along the x-axis. and angular velocity in the y-axis direction The values ​​are respectively: , .

[0031] Step Six: Angular Velocity Measurement; The high-precision vector velocity measurement unit 6 synchronously measures the angular velocities of the space-based single-degree-of-freedom motion vehicle 1, the attitude motion vehicle 2, and the VHF two-dimensional galvanometer 4, and outputs the space-based vehicle yaw angular velocity of the space-based single-degree-of-freedom motion vehicle 1. The yaw rate of the camera carrier in pose motion carrier 2 Angular velocity of the two-dimensional galvanometer 4 at very high frequency Including angular velocity in the x-axis direction and angular velocity in the y-axis direction ; In this embodiment, the yaw rate of the space-based carrier yaw rate of camera carrier angular velocity of two-dimensional galvanometer include and .

[0032] Step 7: Real-time velocity vector calculation; The high-performance multi-core computing unit 7 receives the angular velocity data from the high-precision vector velocity measurement unit 6 and combines it with the intrinsic parameter data 17 of the CMOS camera 3 to calculate the high-speed dynamic velocity vector 16 under the multi-dimensional cascade motion of the space-based multi-source carrier in real time, and outputs the high-speed dynamic velocity vector 16 to the multi-mode motion control unit 9. Among them, the high-speed dynamic velocity vector 16 is It is represented as: ; in, , The projection of the satellite's velocity onto the ground. For equivalent scanning angular velocity, The scan radius vector, It is a time variable.

[0033] In this embodiment, Let's take a moment as an example: At this time , , The length of the module is approximately When the equivalent scanning angular velocity With scan radius vector When the two directions are perpendicular, the size of the cross product term is approximately ,therefore The size is approximately .

[0034] Step 8: Decoupling of multi-mode motion control; The multi-mode motion control unit 9 performs motion decoupling and parameter decomposition on the imaging parameters of the space-based single-degree-of-freedom motion carrier 1, CMOS camera 3, and VHF two-dimensional galvanometer 4, and generates corresponding control commands to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthesized image shift. The multi-mode motion control unit 9 generates control commands including: generating low-frequency compensation commands for fine-tuning the attitude of the space-based single-degree-of-freedom motion carrier 1, namely, the space-based carrier yaw rate compensation command. ; Generate intermediate frequency compensation commands for adjusting the scanning trajectory of the CMOS camera 3 by manipulating the pose motion carrier 2, i.e., camera carrier yaw rate compensation commands. ; and generate commands to drive the VHF two-dimensional galvanometer 4 for real-time high-frequency correction, namely, the two-dimensional galvanometer deflection compensation command in the x-axis direction. Two-dimensional galvanometer deflection compensation command in the y-axis direction .

[0035] Step 9: CMOS camera 3-exposure imaging; The CMOS camera 3 rotates at high speed with the pose motion carrier 2, and the exposure time of the CMOS camera 3 is set based on the target signal-to-noise ratio constraint. The CMOS camera 3 performs full-cycle imaging according to the time sequence and transmits the image information of image 19 to the vector computer 10. CMOS camera 3 exposure time From the formula: Calculation determined; in: The target signal-to-noise ratio required by the device. This represents the average photon flux of the imaging scene across 3 pixels of a CMOS camera. The quantum efficiency of CMOS camera 3. This is the dark current noise equivalent photon flux of CMOS camera 3.

[0036] In this embodiment, , , , Calculated .

[0037] Step 10: Image stitching processing; Vector computer 10 receives images corresponding to the time series and performs matching and seamless stitching of corresponding points between frames to realize continuous surface imaging strips or scene images under the imaging trajectory, thus obtaining stitched and registered images. Step 11: Image quality assessment; The image evaluation service system 11 processes stitched and registered images, extracts target slices, and performs analysis on indicators such as MTF, resolution, signal-to-noise ratio, and SSIM. It compares and determines whether dynamic collaborative compensation effectively suppresses the impact of image shift on image quality and whether it has good detail resolution capabilities.

[0038] In summary, the motion velocity vector measurement and collaborative imaging simulation device and method of this invention establish a controllable simulation and evaluation system for the multi-dimensional cascade motion of space-based multi-source carriers under ground conditions. It enables closed-loop linkage of motion measurement, parameter calculation, collaborative compensation, and imaging acquisition under a unified time reference. Through the coordinated control of carrier motion and two-dimensional galvanometers, it can stably construct preset velocity vectors and synthesized velocity conditions while suppressing synthesized image shift, thus improving imaging stability and continuity. By adaptively setting the exposure time based on target signal-to-noise ratio constraints, it achieves matching between the exposure window and system timing, improving the consistency of simulated imaging. Furthermore, combined with image stitching and evaluation processing, it provides a reliable ground-based testing method for parameter calibration and performance verification under complex dynamic imaging conditions.

[0039] 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 motion velocity vector measurement and complementary imaging simulation device, characterized in that, include: Space-based single-degree-of-freedom motion carrier, posture motion carrier, CMOS camera, VHF two-dimensional galvanometer, two-dimensional dynamic motion display system for ground scene, high-precision vector velocity measurement unit, high-performance multi-core computing unit, clock pulse synchronization triggering unit, multi-mode motion control unit, vector computer, and image evaluation service system. The space-based single-degree-of-freedom motion carrier is used to rotate around the yaw axis of the star platform; the pose motion carrier is used to connect to the CMOS camera according to the preset roll angle and drive its movement; the CMOS camera is used to rotate around the yaw axis, so that the line of sight of the CMOS camera forms a conical scan dynamic scanning trajectory under ground conditions. A VHF 2D galvanometer is used to perform rapid angular motion, adjust the imaging field of view, and coordinate with the pose-motion vehicle to compensate for velocity vectors; a 2D dynamic motion display system for the ground scene is used to provide ground imaging objects with terrain texture features and generate dynamic changes in the display plane according to preset parameters; a high-precision vector velocity measurement unit is used to synchronously measure the angular velocities of the space-based single-degree-of-freedom motion vehicle and the pose-motion vehicle; a high-performance multi-core computing unit is used to calculate high-speed dynamic velocity vectors by combining the intrinsic parameter information of the CMOS camera; The clock pulse synchronization triggering unit is used to synchronize clock signals with the high-precision vector velocity measurement unit, the multi-mode motion control unit, and the vector computer, respectively. The multi-mode motion control unit is used to decouple and decompose the imaging parameters, and generate control commands for the motion carrier and the VHF two-dimensional galvanometer, respectively, to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthesized image. The vector computer is used to stitch the images into sequences and input the resulting continuous images into the image evaluation service system. The image evaluation service system is used to perform target edge trimming on the images to complete the simulated imaging evaluation.

2. The motion velocity vector measurement and complementary imaging simulation device according to claim 1, characterized in that, The CMOS camera is fixedly mounted on the pose motion carrier at a preset roll angle, so that a fixed angle is formed between the optical axis of the CMOS camera and the roll axis of the star carrier; the VHF two-dimensional galvanometer is fixedly connected to the incident light path at the front of the CMOS camera; the two-dimensional dynamic motion display system of the ground scene is horizontally placed directly below the field of view of the CMOS camera. The clock pulse synchronization triggering unit is connected to the space-based single-degree-of-freedom motion carrier, the high-precision vector velocity measurement unit, the high-performance multi-core computing unit, the multi-mode motion control unit, and the vector computer data respectively, and is used to provide a unified time reference and synchronization triggering signal to the velocity measurement, execution and calculation components; The multi-mode motion control unit is connected to the high-performance multi-core computing unit, the space-based single-degree-of-freedom motion carrier, the pose motion carrier, and the VHF two-dimensional galvanometer data respectively. It is used to receive the velocity vector calculation results and output the corresponding compensation control commands to the space-based single-degree-of-freedom motion carrier, the pose motion carrier, and the VHF two-dimensional galvanometer respectively. The vector computer is connected to the CMOS camera, the high-performance multi-core computing unit, and the image evaluation service system. It is used to receive time-series image data, perform stitching processing, and transmit the stitched continuous images to the image evaluation service system.

3. The motion velocity vector measurement and complementary imaging simulation device according to claim 2, characterized in that, The CMOS camera is a high-resolution off-axis optical CMOS camera.

4. A motion velocity vector measurement-complementary co-imaging simulation method, applicable to the motion velocity vector measurement-complementary co-imaging simulation device of claim 1, comprising the following steps: Step 1: Installation and configuration of CMOS camera and pose motion carrier; The CMOS camera is mounted on the pose motion carrier, and the CMOS camera and the star carrier are set with a roll angle. The space-based single-degree-of-freedom motion carrier rotates around the yaw axis of the star platform and moves according to a certain space-based carrier yaw angular velocity. Step 2: Time synchronization trigger; The clock pulse synchronization triggering unit provides a unified time reference and synchronization triggering signal to each measurement, execution and imaging acquisition unit to ensure that angular velocity measurement, galvanometer image stabilization and camera exposure are carried out in coordination under the same time reference; Step 3: Dynamic Surface Scene Simulation; The two-dimensional dynamic motion display system for the ground scene is placed below the field of view of the CMOS camera. Step 4: Scanning motion using a CMOS camera and a pose-based motion carrier; Under the control of the multi-mode motion control unit, the pose motion carrier rotates a certain angle of scanning half-cone around the yaw axis of the star platform, so that the line of sight of the CMOS camera forms a conical scanning dynamic scanning trajectory under ground conditions, which constitutes the velocity vector change working condition of the multi-dimensional cascade motion of the space-based multi-source carrier. Step 5: Very high frequency two-dimensional galvanometer line-of-sight compensation; The VHF two-dimensional galvanometer performs rapid angular motion under the control of the multi-mode motion control unit to adjust the imaging field of view and coordinate with the pose motion carrier to compensate for the velocity vector, thereby improving imaging stability. Step Six: Angular Velocity Measurement; The high-precision vector velocity measurement unit synchronously measures the angular velocities of the space-based single-degree-of-freedom motion vehicle, the pose motion vehicle, and the VHF two-dimensional galvanometer, and outputs the yaw angular velocity of the space-based single-degree-of-freedom motion vehicle, the yaw angular velocity of the camera vehicle of the pose motion vehicle, and the angular velocity of the two-dimensional galvanometer of the VHF two-dimensional galvanometer. Step 7: Real-time velocity vector calculation; The high-performance multi-core computing unit receives angular velocity data from the high-precision vector velocity measurement unit and, in conjunction with the intrinsic parameter information of the CMOS camera, calculates in real time the high-speed dynamic velocity vector under the multi-dimensional cascade motion of the space-based multi-source carrier, and outputs the high-speed dynamic velocity vector to the multi-mode motion control unit. Step 8: Decoupling of multi-mode motion control; The multi-mode motion control unit performs motion decoupling and parameter decomposition on the imaging parameters of the space-based single-degree-of-freedom motion carrier, the VHF two-dimensional galvanometer, and the CMOS camera, and generates corresponding control commands to realize the construction of the predetermined velocity vector working condition and the image stabilization compensation of the synthetic image shift. Step 9: Exposure and imaging with CMOS camera; The CMOS camera rotates with the pose-moving carrier, and the exposure time of the CMOS camera is set based on the target signal-to-noise ratio constraint. Full-cycle imaging is performed according to the time sequence, and the image information is transferred to the vector computer. Step 10: Image stitching processing; The vector computer receives images corresponding to the time series and performs matching and seamless stitching of corresponding points between frames to achieve continuous surface imaging strips or scene images under the imaging trajectory, thus obtaining stitched and registered images. Step 11: Image quality assessment; The image evaluation service system processes stitched and registered images, extracts target slices, performs index analysis, compares and determines whether dynamic collaborative compensation effectively suppresses the impact of image shift on image quality and whether it has good detail resolution capabilities.

5. The motion velocity vector measurement and complementary imaging simulation method according to claim 4, characterized in that, In step three, the simulated motion speed of the two-dimensional dynamic motion display system for the ground scene is... for: ； in, As the reference speed, The amplitude of the periodic disturbance. For the perturbation frequency, For time.

6. The motion velocity vector measurement-compensated cooperative imaging simulation method according to claim 4, characterized in that, In step seven, high-speed dynamic velocity vector for: ； in, , The projection of the satellite's velocity onto the ground. For equivalent scanning angular velocity, The scan radius vector, For time variables, The yaw rate of the space-based carrier. The yaw rate of the camera carrier. The angular velocity of the two-dimensional galvanometer is given.

7. The motion velocity vector measurement and complementary imaging simulation method according to claim 4, characterized in that, In step eight, the control commands include: space-based carrier angular velocity compensation command, camera carrier angular velocity compensation command, and two-dimensional galvanometer deflection compensation command.

8. The motion velocity vector measurement and complementary imaging simulation method according to claim 4, characterized in that, In step nine, the CMOS camera exposure time It is determined by the following formula: ； in: The target signal-to-noise ratio required by the device. This represents the average photon flux of the imaging scene on a CMOS camera pixel. Quantum efficiency for CMOS cameras This is the dark current noise equivalent photon flux of a CMOS camera.

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