The invention relates to a vision measurement, path planning and GNC integrated
simulation system for a space
robot, which comprises an
image processing and
pose measuring module 1, a space
robot planning and control module 2, a target controller module 3, a
system dynamic model module 4, a
system 3D geometric model module 7, a binocular camera
simulation imaging module 6, a three-dimensional calibration module 5 and the like. The system integrates
image processing and
pose measurement, GNC
algorithm, path planning, control, dynamics and the like, so that the closed-loop
simulation and
verification of all key algorithms in the process of tracking, approaching and capturing non-cooperative targets by the space
robot can be performed on an independent PC. The system does not need to adopt real measurement equipment, a space robot system and targets, and is low in cost, good in safety and flexibility and easy to implement; and the system is good in expandability, and the closed-loop simulation and
verification of cameras (installation positions and viewing angles) and space robots (kinematic and dynamic parameters) with different parameters can be implemented by modifying the parameters.