CN109991680B - Active and passive combined space debris self-sensing system and method and satellite system - Google Patents
Active and passive combined space debris self-sensing system and method and satellite system Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
Abstract
The invention provides an active-passive combined space debris self-sensing system and method and a satellite system. The information processing module controls the steering mechanism to rotate so as to drive the ultra-large visual field visible light camera to perform passive search on the space debris of the omnibearing space and send a search result to the information processing module; judging whether the space debris has a threat or not, if so, continuing to track, and if the distance between the space debris and the main satellite is within 50km, actively tracking the space debris threatening the space by the radar, and sending a tracking result to the information processing module; and the information processing module judges whether the main satellite needs to avoid the threat space fragments according to the tracking result, and if so, the main satellite is reminded to avoid.
Description
Technical Field
The invention relates to the technical field of spacecrafts, in particular to an active and passive combined space debris self-sensing system and method and a satellite system.
Background
The number of space debris is greatly increased every year, particularly the number of debris is sharply increased in recent years, which poses serious threat and damage to the safe operation of the in-orbit spacecraft, and once the debris and debris generated by collision happen, the debris and debris will cause a worse space environment and further threaten the safety of space activities. At present, 94% of the in-orbit objects belong to useless space debris. The conventional monitoring means of the space debris can be divided into ground monitoring and space-based monitoring, the ground observation is easily limited by weather, geographic position and time, the monitoring range is limited, the detection timeliness is not strong, the data updating rate is slow, the current ground can only observe and track the debris with centimeter and larger size, and the space debris with small size (<10cm) can only be observed by the space-based detection means. Space-based space debris monitoring adopts one or more observation satellites to carry out space layout, observes space debris in a view field range of the space-based space debris monitoring, and sends observation information to other spacecrafts. However, space-based space debris monitoring cannot track a space-on-orbit object in real time, all day time and all day regions, and even cannot acquire track information of the first-hand space threat debris. Therefore, in order to ensure the safety of space activities, a method and a system for self-sensing of space debris of a spacecraft are urgently needed to be developed.
Disclosure of Invention
The invention aims to provide an active-passive combined space debris self-sensing system and method and a satellite system, and aims to solve the problem that space debris monitoring cannot track space on-orbit objects in real time, all-day-time and all-day-region.
In order to solve the technical problems, the invention provides an active-passive combined space debris self-perception system, which is arranged on a micro-nano satellite, wherein the micro-nano satellite flies around a main satellite, the space debris self-perception system comprises a super-large visual field visible light camera, a radar, an information processing module and a steering mechanism, and the space debris self-perception system comprises:
the ultra-large visual field visible light camera and the radar are arranged on the steering mechanism, and the steering mechanism drives the ultra-large visual field visible light camera and the radar to rotate;
the ultra-large visual field visible light camera is used for passively searching space debris of an omnibearing space and sending a passive search result to the information processing module;
the radar is used for actively tracking space debris which is in the space of 50km away from the main satellite and has threat, and sending the result of the active tracking to the information processing module;
the information processing module judges whether the space fragments with the threats exist according to the passive search result, judges whether the main satellite needs to avoid the space fragments with the threats according to the active tracking result, and reminds the main satellite to avoid the space fragments with the threats if the space fragments with the threats exist;
the information processing module controls rotation of the steering mechanism.
Optionally, in the active-passive combined space debris self-sensing system, the passive search result includes an omnidirectional continuous frame image, the information processing module rejects stars in the image according to the omnidirectional continuous frame image, calculates the orientation of the space debris, and calculates the miss distance of the space debris for the first time.
Optionally, in the active-passive combined space debris self-sensing system, the information processing module sends the miss distance of the space debris to the steering mechanism, the steering mechanism performs self-closed loop tracking on the oversized visual field visible light camera aligned to the space debris to obtain continuous frame images including the space debris, and the information processing module obtains the target size, the motion azimuth angle, and the brightness characteristic change of the space debris according to the continuous frame images including the space debris.
Optionally, in the active-passive combined space debris self-sensing system, when the information processing module determines whether a space debris is threatened according to a target size, a motion azimuth and a brightness characteristic change of the space debris, if the space debris is threatened, the tracking is continued, and when a distance between the space debris and the main satellite, which is obtained from continuous frame images of the space debris, is less than 50km, the steering mechanism is controlled to rotate, so as to drive the radar to aim at the threatened space debris for active tracking.
Optionally, in the active-passive combined space debris self-perception system, the result of the active tracking includes a distance between the space debris and the primary star, an azimuth angle of the space debris in the field of view, a pitch angle of the space debris in the field of view, and a relative velocity of the space debris and the primary star.
Optionally, in the active-passive combined space debris self-sensing system, the information processing module sends the azimuth angle of the space debris in the field of view and the pitch angle of the space debris in the field of view to the steering mechanism, and the steering mechanism aligns the radar with the space debris to perform self-closed loop tracking, so as to obtain the target size, the motion azimuth angle, the pitch angle of the space debris and the relative speed between the space debris and the primary satellite.
Optionally, in the active-passive combined space debris self-sensing system, if the distance between the space debris and the main satellite is less than 20km and the relative position between the space debris and the main satellite is constantly close to each other, the main satellite is reminded to avoid the space debris.
The invention also provides an active-passive combined space debris self-sensing method, which comprises the following steps:
the space debris self-perception system is arranged on a micro-nano satellite which flies along with a main satellite,
the information processing module controls the steering mechanism to rotate so as to drive the ultra-large visual field visible light camera to perform passive search on the space debris of the omnibearing space and send a passive search result to the information processing module;
when the information processing module judges whether the space debris has a threat according to the passive search result, if so, tracking is continued, and when the distance between the space debris and the main satellite is within 50km, the radar actively tracks the space debris with the threat in the space and sends the actively tracked result to the information processing module;
and the information processing module judges whether the main satellite needs to avoid the space debris with the threat according to the active tracking result, and if so, the main satellite is reminded to avoid.
The invention also provides a satellite system which comprises the space debris self-perception system and a main satellite, wherein the space debris self-perception system is arranged on a micro-nano satellite, and the micro-nano satellite flies around the main satellite.
In the active-passive combined space debris self-sensing system, the method and the satellite system, the space debris self-sensing system is arranged on a micro-nano satellite to accompany the main satellite, so that the collision of space debris can be accurately and early warned for the spacecraft (main satellite) all day time and all sky, the safety of the spacecraft can be guaranteed, and the space debris can be prevented from being damaged. The space debris self-sensing system on the protected main satellite can autonomously judge the space debris threat and the movement trend of the space debris with the threat, and does not need ground interference.
In addition, the invention adopts an observation mode of combining the ultra-large visual field visible light camera and the radar active and passive, and for self-perception search, discovery and tracking of space debris, the ultra-large visual field visible light camera has the characteristic of ultra-large visual field, can search omnibearing space rapidly in a large range and discover space debris with threat, but the ultra-large visual field visible light camera is influenced by solar illumination, and meanwhile, the visual field of the ultra-large visual field visible light camera is inversely proportional to the resolution; the radar detection is not influenced by solar illumination, and has the characteristic of high detection precision, but the radar has a small field of view and a short detection distance, cannot search space debris threatened in a long distance and a large range, and can be used for accurately positioning the space debris in a short distance. The advantages of the two are combined, and a mode of actively and passively combining the ultra-large visual field visible light camera and the radar is adopted. The ultra-large visual field visible light camera searches space debris remotely and passively, and the radar actively tracks the space debris in a short distance after the space debris with threat is found. The space debris self-sensing system has a standardized interface, is light in weight and small in size, can be applied to any protected spacecraft, and does not need to occupy excessive resources.
Drawings
FIG. 1 is a schematic diagram of a satellite system according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a satellite system according to another embodiment of the invention;
FIG. 3 is a schematic diagram of a space debris self-sensing method according to another embodiment of the present invention;
shown in the figure: 10(20) -a main star; 11-a steering mechanism, 12-a super-large visual field visible light camera, 13-an information processing module and 14-a radar; 30-micro nano satellite.
Detailed Description
The active and passive combined space debris self-sensing system and method and the satellite system according to the present invention are further described in detail with reference to the accompanying drawings and the specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
The core idea of the invention is to provide an active and passive combined space debris self-sensing system and method and a satellite system, so as to solve the problem that space debris monitoring cannot track a space on-orbit object in real time, all-day-time and all-day-region.
In order to realize the idea, the invention provides an active-passive combined space debris self-perception system, a method and a satellite system, wherein the space debris self-perception system is arranged on a micro-nano satellite, the micro-nano satellite flies around a main satellite, the space debris self-perception system comprises an ultra-large visual field visible light camera, a radar, an information processing module and a steering mechanism, and the space debris self-perception system comprises: the ultra-large visual field visible light camera and the radar are arranged on the steering mechanism, and the steering mechanism drives the ultra-large visual field visible light camera and the radar to rotate; the ultra-large visual field visible light camera is used for passively searching space debris of an omnibearing space and sending a passive search result to the information processing module; the radar is used for actively tracking space debris which is in the space of 50km away from the main satellite and has threat, and sending the result of the active tracking to the information processing module; the information processing module judges whether the space fragments with the threats exist according to the passive search result, judges whether the main satellite needs to avoid the space fragments with the threats according to the active tracking result, and reminds the main satellite to avoid the space fragments with the threats if the space fragments with the threats exist; the information processing module controls rotation of the steering mechanism.
< example one >
The embodiment provides an active-passive combined space debris self-sensing system, as shown in fig. 1-2, the space debris self-sensing system and a main satellite are relatively static in a space, that is, as shown in fig. 1, the space debris self-sensing system is installed on the main satellite 10, or as shown in fig. 2, the space debris self-sensing system is installed on a micro-nano satellite 30, the micro-nano satellite 30 flies around the main satellite 20, the space debris self-sensing system comprises a super-large visual field visible light camera 12, a radar 14, an information processing module 13 and a steering mechanism 11, wherein: the ultra-large visual field visible light camera 12 and the radar 14 are mounted on the steering mechanism 11, and the steering mechanism 11 drives the ultra-large visual field visible light camera 12 and the radar 14 to rotate; the ultra-large visual field visible light camera 12 is used for passively searching space debris of an omnidirectional space and sending a passive search result to the information processing module 13; the radar 14 is used for actively tracking space debris with threats in the space of the universe within 50km from the main satellite, and sending the result of the active tracking to the information processing module 13; the information processing module 13 determines whether the space debris with the threat exists according to the passive search result, the information processing module 13 determines whether the master satellite 10(20) needs to avoid the space debris with the threat according to the active tracking result, and if so, the master satellite 10(20) is reminded to avoid; the information processing module 13 controls the rotation of the steering mechanism 11.
Specifically, in the active-passive combined space debris self-sensing system, the passive search result includes an omnidirectional continuous frame image, the information processing module 13 eliminates stars in the image according to the omnidirectional continuous frame image, calculates the orientation of the space debris, extracts the centroid position of the space debris in the image, calculates the miss distance of the space debris for the first time, the information processing module 13 sends the miss distance of the space debris to the steering mechanism 11, the steering mechanism 11 converts the miss distance information into a rotating azimuth angle and a rotating pitch angle in real time, so that the space debris always falls in the center of the visual field of the super-large visual field visible light camera 12, and the self-closed loop precise self-closed loop tracking of the space debris is formed, that is, the steering mechanism 11 aligns the super-large visual field visible light camera 12 with the space debris to perform self-closed loop tracking, and obtaining continuous frame images containing the space debris. The information processing module 13 obtains the target size, the motion azimuth angle and the brightness characteristic change of the space debris according to the continuous frame images containing the space debris, judges whether the space debris is the space debris with the threat for the first time, and if so, the super-large visual field visible light camera 12 continues to align to the space debris for self-closed loop tracking; if not, the information processing module 13 controls the steering mechanism 11 to rotate, and drives the ultra-large visual field visible light camera 12 to continue searching the space debris of the omnidirectional cosmic space.
Further, in the active-passive combined space debris self-sensing system, when the information processing module 13 determines whether a space debris has a threat according to a target size, a motion azimuth and a brightness characteristic change of the space debris, if the space debris has the threat, the tracking is continued, and when a distance between the space debris and the main satellite 10(20) is obtained by using continuous frame images including the space debris and is less than 50km, the steering mechanism 11 is controlled to rotate, so that the radar 14 is driven to aim at the space debris with the threat to perform active tracking. The tracking initiative results include a distance between the space debris and the primary satellite 10(20), an azimuth angle of the space debris in a field of view, a pitch angle of the space debris in a field of view, and a relative velocity of the space debris and the primary satellite 10 (20). The information processing module 13 sends the azimuth angle of the space debris in the field of view and the pitch angle of the space debris in the field of view to the steering mechanism 11, the steering mechanism 11 aligns the radar 14 to the space debris for self-closed loop tracking to obtain the target size, the motion azimuth angle, the pitch angle of the space debris and the relative speed of the space debris and the primary star, and judges whether the space debris is the space debris with threat for the second time, if so, the radar 14 continues to align the space debris for self-closed loop tracking, and sends the azimuth information of the space debris to the primary star to remind the primary star 10(20) to avoid; if not, the information processing module 13 controls the steering mechanism 11 to rotate, and drives the ultra-large visual field visible light camera 12 to continue searching the space debris of the omnidirectional cosmic space.
In addition, in the active-passive combined space debris self-perception system, when it is determined for the first time whether the space debris is the space debris with the threat, if the relative position between the space debris and the primary star 10(20) is approaching, the space debris is the space debris with the threat; in the second determination of whether the space debris is the threatening space debris, if the relative position between the space debris and the primary star 10(20) is approaching, the space debris is the threatening space debris. And if the distance between the space fragments and the main satellite is less than 20km and the relative position between the space fragments and the main satellite changes, reminding the main satellite to avoid if the space fragments and the main satellite continuously approach.
The ultra-large field of view visible light camera is matched with a radar to observe space debris, so that the ultra-large field of view visible light camera is convenient to be applied to space debris search of an omnibearing space, the ultra-large field of view visible light camera has the capability of long-distance dark and weak debris observation, threatened space debris can be found as early as possible and in time, but the ultra-large field of view visible light camera is influenced by illumination, and meanwhile, the ultra-large field of view brings serious aberration to an imaging system and is not beneficial to accurate positioning of the space debris; the radar has the characteristics of all-weather and all-weather all-day, is not limited by illumination conditions, but has a short detection distance and a small detection view field, can only accurately position space fragments within 50km and cannot search the fragments in a large range, so that a visible light camera with an ultra-large view field can be adopted to be matched with the radar for observation, the space fragments with threats are searched in a large range by the visible light camera with the ultra-large view field, and then the space fragments are accurately positioned in a short range by the radar.
In addition, the invention adopts an observation device to align the space debris for self-closed loop tracking to obtain the target size, the motion azimuth angle and the brightness characteristic change of the space debris, firstly judges whether the space debris is the space debris with threat, if so, the observation device continuously aligns the space debris with the threat to carry out self-closed loop tracking to obtain the target size, the motion azimuth angle and the pitch angle of the space debris and the relative speed of the space debris and the star, secondly judges whether the space debris is the space debris with the threat, if not, the information processing module controls the steering mechanism to rotate to drive the observation device to continuously search the space debris of the omnibearing space, so that the space debris is constantly tracked, monitored and judged, the real-time performance of the system is improved.
The embodiment also provides a satellite system, where the satellite system includes the space debris self-sensing system as described above and a main satellite 10(20), the space debris self-sensing system is installed on the main satellite 10, or the space debris self-sensing system is installed on a micro/nano satellite 30, and the micro/nano satellite 30 flies around the main satellite 20.
In summary, the above embodiments describe in detail different configurations of the active and passive combined space debris self-sensing system, and it goes without saying that the present invention includes but is not limited to the configurations listed in the above embodiments, and any modifications based on the configurations provided by the above embodiments are within the scope of the present invention. One skilled in the art can take the contents of the above embodiments to take a counter-measure.
< example two >
The embodiment provides an active-passive combined space debris self-sensing method, which comprises the following steps: the space debris self-perception system and a main star 10(20) are relatively static in a cosmic space, in the space debris self-perception system, an information processing module 13 controls a steering mechanism 11 to rotate so as to drive a super-large visual field visible light camera 12 to perform passive search on space debris of the omnibearing cosmic space, and a passive search result is sent to the information processing module 13; the information processing module 13 determines whether the threatened space debris exists according to the passive search result, if so, tracking is continued, and when the distance between the space debris and the main satellite is within 50km, the radar 14 actively tracks the threatened space debris in the space within 10 to 20km from the main satellite, and sends the result of active tracking to the information processing module 13; the information processing module 13 determines whether the primary satellite 10(20) needs to avoid the space debris with the threat according to the active tracking result, and if so, the primary satellite 10(20) is reminded to avoid.
Specifically, when no threatening space debris exists, the steering mechanism assists the ultra-large visual field visible light camera to search the space debris in a large range.
When space debris possibly threatened is found, the ultra-large visual field visible light camera transmits the acquired image to the information processing module, the information processing module calculates the direction of a target according to the image, calculates the miss distance, transmits miss distance information to the steering mechanism, and performs self-closed loop tracking on the space debris possibly threatened;
the information processing module continuously judges whether the space debris has a threat or not according to the target size, the motion azimuth angle and the brightness characteristic change of the tracking debris, and if the space debris has the threat, the ultra-large visual field visible light camera continuously tracks the space debris in a self-closed loop manner; if no threat exists, the steering mechanism continues to assist the visible light camera with the oversized view field to search space threat fragments.
When the threatening space debris is 50km away from the spacecraft, the steering mechanism points the radar to the space debris, the radar acquires information such as the distance, the azimuth angle, the pitch angle and the relative speed of the space debris and sends the information to the information processing module, and the information of the information processing module is transmitted to the steering mechanism, so that the self-closing loop tracking of the space debris by the radar is completed.
The information processing module continuously judges whether the space debris has threats according to the target size, the motion azimuth angle and the brightness characteristic change of the tracking debris, if the space debris has the threats, the radar continuously tracks the space debris in a self-closed loop mode, and meanwhile, the information processing module sends information such as the distance, the azimuth angle, the pitch angle and the relative speed of the space debris to the protected spacecraft so that the spacecraft is prevented from being damaged by the space debris; if no threat exists, the steering mechanism continues to assist the visible light camera with the oversized view field to search space threat fragments.
In the space debris self-perception system, the space debris self-perception method and the satellite system, the space debris self-perception system and the main satellite 10(20) are relatively static in the space, namely are directly installed on the main satellite 10(20) or installed on a micro-nano satellite to accompany the main satellite 10(20), so that the space debris collision can be accurately early warned for the spacecraft (the main satellite 10(20)) all day and all day, the safety of the spacecraft can be guaranteed, and the space debris can be prevented from being damaged. The space debris self-perception system on the protected main star 10(20) can autonomously judge the space debris threat and the movement trend of the space debris with the threat, and does not need ground interference.
In addition, the ultra-large visual field visible light camera 12 and the radar 14 are adopted for observation in a matched mode, and the ultra-large visual field visible light camera has the capability of observing large visual fields and long-distance dark and weak space fragments; the radar has the characteristics of being all-weather and free from the limitation of illumination conditions. And combining the advantages of the two methods to complete the search of the space debris with the threat and the tracking of the self-closing loop. The space debris self-sensing system has a standardized interface, is light in weight and small in size, can be applied to any protected spacecraft, and does not need to occupy excessive resources.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (7)
1. The utility model provides an active and passive space debris self-perception system who combines, space debris self-perception system installs on a little microsatellite, little microsatellite flies in a main star, its characterized in that, space debris self-perception system includes super large visual field visible light camera, radar, information processing module and steering mechanism, wherein:
the ultra-large visual field visible light camera and the radar are arranged on the steering mechanism, and the steering mechanism drives the ultra-large visual field visible light camera and the radar to rotate;
the ultra-large visual field visible light camera is used for passively searching space debris of an omnibearing space and sending a passive search result to the information processing module;
the radar is used for actively tracking space debris which is in the space of 50km away from the main satellite and has threat, and sending the result of the active tracking to the information processing module;
the information processing module judges whether the space fragments with the threats exist according to the passive search result, judges whether the main satellite needs to avoid the space fragments with the threats according to the active tracking result, and reminds the main satellite to avoid the space fragments with the threats if the space fragments with the threats exist;
the information processing module controls the rotation of the steering mechanism;
the main star is a protected spacecraft, and the space debris self-sensing system and the main star are relatively static in the space;
when the information processing module judges whether the space debris has a threat according to the target size, the motion azimuth angle and the brightness characteristic change of the space debris, if the space debris has the threat, the tracking is continued, and when the distance between the space debris and the main satellite is less than 50km, which is obtained by continuous frame images containing the space debris, the steering mechanism is controlled to rotate, and the radar is driven to aim at the space debris with the threat to carry out active tracking;
and if the distance between the space debris and the main satellite is less than 20km and the relative positions of the space debris and the main satellite are continuously close, reminding the main satellite to avoid.
2. The active-passive combined space debris self-perception system according to claim 1, wherein the passive search result includes omni-directional continuous frame images, the information processing module eliminates stars in the images according to the omni-directional continuous frame images, calculates the orientation of the space debris, and calculates the miss distance of the space debris for the first time.
3. The active-passive combined space debris self-sensing system according to claim 2, wherein the information processing module sends the miss distance of the space debris to the steering mechanism, the steering mechanism performs self-closed loop tracking on the oversized field of view visible camera aiming at the space debris to obtain continuous frame images containing the space debris, and the information processing module obtains the target size, the motion azimuth angle and the brightness characteristic change of the space debris according to the continuous frame images containing the space debris.
4. The active-passive combined space debris self-perception system according to claim 3, wherein the results of the active tracking include a distance between the space debris and the primary star, an azimuth angle of the space debris in a field of view, a pitch angle of the space debris in a field of view, and a relative velocity of the space debris and the primary star.
5. The active-passive combined space debris self-sensing system according to claim 4, wherein the information processing module sends the steering mechanism according to an azimuth angle of the space debris in a field of view and a pitch angle of the space debris in the field of view, and the steering mechanism performs self-closed loop tracking by aiming the radar at the space debris to obtain a target size, a motion azimuth angle and a pitch angle of the space debris and a relative speed of the space debris and the primary star.
6. An active-passive combined space debris self-sensing method is characterized by comprising the following steps:
the space debris self-perception system is arranged on a micro-nano satellite which flies along with a main satellite,
the information processing module controls the steering mechanism to rotate so as to drive the ultra-large visual field visible light camera to perform passive search on the space debris of the omnibearing space and send a passive search result to the information processing module;
the main star is a protected spacecraft, and the space debris self-sensing system and the main star are relatively static in the space;
when the information processing module judges whether the space debris has a threat according to the passive search result, if so, tracking is continued, and when the distance between the space debris and the main satellite is within 50km, the radar actively tracks the space debris with the threat in the space and sends the actively tracked result to the information processing module;
the information processing module judges whether the main satellite needs to avoid the space debris with the threat according to the active tracking result, and if so, the main satellite is reminded to avoid;
and if the distance between the space debris and the main satellite is less than 20km and the relative positions of the space debris and the main satellite are continuously close, reminding the main satellite to avoid.
7. A satellite system, characterized in that the satellite system comprises the space debris self-perception system according to any one of claims 1-5 and a main satellite, the space debris self-perception system is installed on a micro-nano satellite, and the micro-nano satellite flies around the main satellite.
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