CN111637902B - Ground demonstration verification system and method for remote approach of small deep space celestial body - Google Patents
Ground demonstration verification system and method for remote approach of small deep space celestial body Download PDFInfo
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Abstract
The invention provides a ground demonstration verification system and a ground demonstration verification method for remote approach of a small deep space celestial body, wherein the ground demonstration verification system for remote approach of the small deep space celestial body comprises a small celestial body movement and environment module, a simulation approach module and a real-time simulator, wherein the simulation approach module comprises a simulation model and a simulation model, and the simulation model comprises the following steps: the small celestial body motion and environment module is configured to construct small celestial body motion parameters and environments and simulate real small celestial body targets; the simulation approximation module is configured to construct motion parameters for observing optical loads of small celestial bodies, simulate real satellite optical loads, and acquire background images of the small celestial body motion and environment modules, and is further configured to send the background images to the real-time simulator; and the real-time simulator is configured to control the motion of the simulation approximation module according to the background image so that the small celestial body motion and environment module is always positioned in the center of the field of view of the simulation approximation module.
Description
Technical Field
The invention relates to the technical field of satellite navigation guidance and control, in particular to a ground demonstration verification system and method for remote approximation of a deep space small celestial body.
Background
Because the small celestial body orbit has large uncertainty, the error can reach hundreds of kilometers, the observation time of the deep space measurement and control station for measuring the orbit is too long, and the small celestial body has great possibility of appearing a navigation camera view field range at the interval of measuring the orbit twice, the method of measuring the orbit by combining optical autonomous navigation with the deep space measurement and control station is required for realizing the target of remote approach of the small celestial body. The capacity of measuring the orbit at the deep space station cannot be greatly improved in a short period, and the performance of strengthening the optical load is the key for the success of a small celestial body remote approach task.
The autonomous optical navigation with strong autonomy, high precision and real time is an important technical link in a deep space exploration task. The small celestial body approaching section is a key stage of small celestial body detection, and the navigation performance of the detector at the stage determines whether the detector can safely and accurately reach a target small celestial body. The optical navigation is a navigation method commonly used in the current approach section, a detector obtains a small celestial body image through a satellite-borne camera, then the sight direction of the small celestial body relative to the detector is determined, the sight direction is taken as an observed quantity, and the position and the speed of the detector relative to a small planet are estimated by combining a kinetic equation of the detector relative to the small planet. However, in the process of approaching the small celestial body, the motion track of the detector relative to the small celestial body is approximate to a straight line, and the geometrical configuration degrades the performance of optical relative navigation and reduces the precision.
In the long-distance approaching section of the small celestial body detection task, the optical navigation target is generally the optical center of the target small celestial body. The star and the like of the small celestial body of the target are generally low, imaging can be carried out only by long-time exposure, multiple disturbances of an optical axis of an imaging system can be caused by multiple reasons such as thermal shrinkage, mechanical vibration and attitude deviation in the exposure time, the imaging of the navigation target on a CCD plane can deviate, the imaging is not distributed in a dot or spot shape any more but dragged, the actual imaging is a track, and the characteristic information of the navigation target is difficult to extract for accurate navigation.
Disclosure of Invention
The invention aims to provide a ground demonstration verification system and method for remote approach of a deep space small celestial body, which are used for solving the problem of how to improve the performance of the existing optical load for observing the remote approach of the small celestial body.
In order to solve the technical problem, the invention provides a ground demonstration and verification system for remote approach of a deep space small celestial body, which comprises a small celestial body motion and environment module, an approximation simulation module and a real-time simulator, wherein:
the small celestial body motion and environment module is configured to construct small celestial body motion parameters and environments and simulate real small celestial body targets;
the simulation approximation module is configured to construct motion parameters for observing optical loads of small celestial bodies, simulate real satellite optical loads, and acquire background images of the small celestial body motion and environment modules, and is further configured to send the background images to the real-time simulator; and
the real-time simulator is configured to control the motion of the simulation approximation module according to the background image, so that the small celestial body motion and environment module is always positioned in the center of the field of view of the simulation approximation module.
Optionally, in the ground demonstration and verification system for remote approach of deep space small celestial bodies, the small celestial body motion and environment module includes a parallel light source, a small celestial body scale model, a single-axis turntable and a fixed star background curtain, wherein:
the small celestial body scale model is placed on the single-shaft rotary table;
the parallel light source irradiates the small celestial body scale model and is used for simulating incident sunlight of different angles on the surface of the small celestial body;
the fixed star background curtain is used for simulating a deep space background environment and is hung on one side, back to the parallel light source, of the small celestial body scaling model.
Optionally, in the ground demonstration and verification system for remote approach of a deep space small celestial body, the small celestial body movement and environment module further includes a second guide rail, the second guide rail has a first slide rail and a second slide rail, the first slide rail is connected with the second slide rail through a cross rod, the cross rod can slide along the first slide rail and the second slide rail, the parallel light source is mounted on the cross rod, the parallel light source can move horizontally along the cross rod, the parallel light source can also rotate in a pitching manner and a swinging manner on the cross rod, and the parallel light source simulates an incident angle of four degrees of freedom of sunlight.
Optionally, in the ground demonstration and verification system for remote approach of a deep space small celestial body, the simulation approach module includes a mechanical arm, a navigation camera, a first guide rail, a guide rail control cabinet and a mechanical arm control cabinet, wherein:
one end of the first guide rail is provided with a mechanical arm and a navigation camera, the navigation camera is mounted on the mechanical arm, the mechanical arm slides along the first guide rail, and the single-shaft turntable is placed at the other end of the first guide rail;
the first guide rail drives the body of the mechanical arm to approach the small celestial body scale model at a constant speed, the navigation camera samples the small celestial body scale model in real time, a background image is formed at intervals of a certain time, the navigation camera preprocesses the acquired background image through a navigation camera rear-end algorithm, and then the background image is transmitted to the real-time simulator.
Optionally, in the ground demonstration and verification system for remote approach of the small deep space celestial body, the ground demonstration and verification system for remote approach of the small deep space celestial body further includes an upper computer and a lower computer, wherein:
after the real-time simulator processes the background image, resolving the pose of the navigation camera relative to the small celestial body scale model in an inertial coordinate system, sending a track correction instruction to the upper computer and the lower computer according to the pose, and sending the track correction instruction to the guide rail control cabinet and the mechanical arm control cabinet by the upper computer and the lower computer;
the guide rail control cabinet and the mechanical arm control cabinet adjust the speed of the first guide rail according to the track correction instruction;
and the guide rail control cabinet and the mechanical arm control cabinet adjust the pose of the mechanical arm according to the track correction instruction so as to correct the pose of the navigation camera and keep the small celestial body scaling model always in the center of the view field of the navigation camera, thereby completing the ground demonstration verification process of the remote approach of the deep space small celestial body.
Optionally, in the ground demonstration verification system for remote approach of the deep space small celestial body, the real-time simulator calculates a guiding rate of next movement of the navigation camera through the background image, sends the guiding rate to the upper/lower computer, and the upper/lower computer calculates an aircraft movement instruction according to the guiding rate and sends the aircraft movement instruction to the guide rail control cabinet and the mechanical arm control cabinet;
and transcoding software of the guide rail control cabinet and the mechanical arm control cabinet decouples the speed of the first guide rail coupled in the aircraft motion instruction to form a mechanical arm motion instruction, and sends the mechanical arm motion instruction to the mechanical arm to drive the mechanical arm to move, so that a navigation camera at the tail end of the mechanical arm is adjusted, and the small celestial body scaling model is always kept at the center of a view field.
Optionally, in the ground demonstration and verification system for remote approach of the deep space small celestial body, the guide rail control cabinet and the mechanical arm control cabinet comprise a guide rail control module and a mechanical arm control module, the guide rail control module controls the movement of the first guide rail, and the mechanical arm control module controls the movement of the mechanical arm;
the mechanical arm simulates the pose of the aircraft with six degrees of freedom, the first guide rail simulates the aircraft to point to the small celestial body with 1 degree of freedom to approach motion, and the length of the first guide rail is 16 meters.
Optionally, in the ground demonstration verification system for remote approximation of the deep space small celestial body, the guidance time interval of the real-time simulator, and/or the star of the small celestial body scale model, and/or the uniform approximation speed of the first guide rail, and/or the motion state of the second navigation are/is adjusted, and the ground demonstration verification process for remote approximation of the deep space small celestial body is performed for multiple times to test the performance of the navigation camera.
Optionally, in the ground demonstration and verification system for remote approach of a small deep space celestial body, the ground demonstration and verification system for remote approach of a small deep space celestial body further includes a position calibration module and a client module, where:
the position calibration module acquires the background image from the navigation camera, the speed of the first guide rail and the pose of the mechanical arm from the guide rail control cabinet and the mechanical arm control cabinet, and the small celestial body motion parameter and the environment parameter from the small celestial body motion and environment module, calculates a real-time pose and a guidance track according to the background image, the speed of the first guide rail, the pose of the mechanical arm, and the small celestial body motion parameter and the environment parameter, and outputs a real track to the user terminal module according to the real-time pose and the guidance track;
the real-time simulator outputs a nominal track to the user side module through a preprocessed background image, the speed of the first guide rail and the pose of the mechanical arm;
the client module compares the real track with the nominal track to test the performance of the navigation camera.
The invention also provides a ground demonstration and verification method for remote approach of the small deep space celestial body, which comprises the following steps:
the small celestial body motion and environment module constructs small celestial body motion parameters and environment and simulates a real small celestial body target;
the simulation approximation module constructs motion parameters for observing the optical load of the small celestial body, simulates the real satellite optical load, collects the background image of the small celestial body motion and environment module, and sends the background image to the real-time simulator;
and the real-time simulator controls the motion of the simulation approximation module according to the background image so as to enable the small celestial body motion and environment module to be always positioned in the center of the view field of the simulation approximation module.
In the ground demonstration verification system and method for remote approximation of the deep space small celestial body, provided by the invention, the small celestial body motion parameters and environment are constructed through a small celestial body motion and environment module, a real small celestial body target is simulated, the simulation approximation module constructs motion parameters for observing the optical load of the small celestial body, a real satellite optical load is simulated, background images of the small celestial body motion and environment module are acquired, and a real-time simulator controls the motion of the simulation approximation module according to the background images, so that the small celestial body motion and environment module is always positioned in the center of the field of view of the simulation approximation module, and a ground demonstration verification scheme for remote approximation of the deep space small celestial body is realized, so that a ground test can be smoothly developed, and the ground demonstration verification system and method can be further used for verifying related feature extraction algorithms or simulating and researching optical navigation feature imaging of the small celestial body.
The invention aims to test the remote identification capability of the optical load and simulate the remote approaching process of the small celestial body under different background star maps and different simulated small celestial body stars and the like. The invention also aims to provide a small celestial body long-distance approaching high-precision optical navigation method which can improve the track geometric configuration of a detector relative to a small celestial body and improve the navigation error convergence speed and navigation precision, and provides technical reference for future small celestial body detection engineering.
Drawings
FIG. 1 is a schematic diagram of a hardware structure of a deep space small celestial body remote approach ground demonstration verification system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a small celestial motion and environment module according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of an implementation flow of a deep space small celestial body remote approach ground demonstration verification method according to an embodiment of the present invention;
shown in the figure: 10-asteroid simulator; 11-a collimated light source; 12-small celestial body scale model; 13-single axis turntable; 14-star backdrop; 15-a baffle; 20-a second guide rail; 21-a first slideway; 22-a second slide; 23-a cross-bar; 30-a motion simulation system; 31-a robotic arm; 32-a navigation camera; 33-a first guide rail; 34-a guide rail control cabinet and a mechanical arm control cabinet; 40-a real-time simulator; 50-an upper/lower computer; 60-position calibration module; 70-user side module.
Detailed Description
The ground demonstration and verification system and method for remote approach of deep space small celestial bodies proposed by the invention are further described in detail with reference to the accompanying drawings and 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 a ground demonstration verification system and method for remote approach of a small celestial body in deep space, so as to solve the problem of how to improve the performance of the existing optical load for observing remote approach of the small celestial body.
In order to realize the thought, the invention provides a ground demonstration verification system and a ground demonstration verification method for remote approach of a small deep space celestial body, wherein the ground demonstration verification system for remote approach of the small deep space celestial body comprises a small celestial body movement and environment module, a simulation approach module and a real-time simulator, wherein: the small celestial body motion and environment module is configured to construct small celestial body motion parameters and environments and simulate real small celestial body targets; the simulation approximation module is configured to construct motion parameters for observing optical loads of small celestial bodies, simulate real satellite optical loads, and acquire background images of the small celestial body motion and environment modules, and is further configured to send the background images to the real-time simulator; and the real-time simulator is configured to control the motion of the simulation approximation module according to the background image so that the small celestial body motion and environment module is always positioned in the center of the field of view of the simulation approximation module.
< example one >
The present embodiment provides a ground demonstration and verification system for remote approach of a small celestial body in deep space, as shown in fig. 1 to 3, the ground demonstration and verification system for remote approach of a small celestial body in deep space comprises a small celestial body motion and environment module (i.e. a asteroid simulator 10), a simulation approach module (i.e. a motion simulation system 30) and a real-time simulator 40, wherein: the small celestial motion and environment module 10 is configured to construct small celestial motion parameters and environments, simulating real small celestial objects; the simulation approximation module 30 is configured to construct motion parameters for observing the optical load of the small celestial body, simulate the real satellite optical load, and collect the background image of the small celestial body motion and environment module 10, and is further configured to send the background image to the real-time simulator 40; and the real-time simulator 40 is configured to control the motion of the simulation approximation module 30 according to the background image, so that the small celestial body motion and environment module 10 is always in the center of the field of view of the simulation approximation module 30.
Specifically, as shown in fig. 2, in the ground demonstration and verification system for remote approach of deep space small celestial bodies, the small celestial body movement and environment module includes a parallel light source 11, a small celestial body scale model 12, a single-axis turntable 13 and a fixed star background curtain 14, wherein: the small celestial body scale model 12 is placed on the single-shaft rotary table 13; the single-shaft rotary table 13 is placed on a shock insulation ground, and the parallel light source 11 irradiates the small celestial body scale model 12 and is used for simulating incident sunlight of different angles on the surface of the small celestial body; the star background curtain 14 is used for simulating a deep space background environment, and the star background curtain 14 is suspended on one side of the small celestial body scale model 12, which is back to the parallel light source 11.
Further, in the ground demonstration and verification system for remote approach of the deep space small celestial body, as shown in fig. 1, the small celestial body movement and environment module further includes a second guide rail 20, the second guide rail 20 has a first slide rail 21 and a second slide rail 22, the first slide rail 21 and the second slide rail 22 are connected through a cross bar 23, the cross bar 23 can slide along the first slide rail 21 and the second slide rail 22, the parallel light source 11 is mounted on the cross bar 23, the parallel light source 11 can translate along the cross bar 23, the parallel light source 11 can also rotate in a pitching manner and in a swinging manner on the cross bar 23, and the parallel light source 11 simulates an incident angle of four degrees of freedom of sunlight.
As shown in fig. 1, in the ground demonstration verification system for remote approach of deep space small celestial body, the analog approach module includes a robot 31, a navigation camera 32, a first guide rail 33, a guide rail control cabinet and a robot arm control cabinet 34, wherein: one end of the first guide rail 33 is a slide way for bearing a mechanical arm 31 and a navigation camera 32, the navigation camera 32 is mounted at the tail end of the mechanical arm 31, the mechanical arm 31 can slide along the first guide rail 33, as shown in fig. 2, the single-axis turntable 13 is placed at the other end of the first guide rail 33 and is arranged at two sides of the single-axis turntable 14 opposite to the fixed star backdrop 14, and a baffle 15 is arranged between the tail end of the first guide rail 33 and the single-axis turntable 13 to prevent the mechanical arm 31 from impacting the single-axis turntable 13 in the movement process; the first guide rail 33 drives the body of the mechanical arm 31 to approach the small celestial body scale model 12 at a constant speed, the navigation camera 32 samples the small celestial body scale model 12 in real time, a background image is formed at regular time intervals, the navigation camera 32 preprocesses the acquired background image through a rear-end algorithm of the navigation camera 32, and then the background image is transmitted to the real-time simulator 40.
In an embodiment of the present invention, in the ground demonstration and verification system for remote approach of a small deep space celestial body, as shown in fig. 3, the ground demonstration and verification system for remote approach of a small deep space celestial body further includes an upper/lower computer 50, wherein: after the real-time simulator 40 processes the background image, resolving the pose of the navigation camera 32 relative to the small celestial body scale model 12 in an inertial coordinate system, and sending a track correction instruction to the upper/lower computer 50 according to the pose, wherein the upper/lower computer 50 sends the track correction instruction to the guide rail control cabinet and the mechanical arm control cabinet 34; the guide rail control cabinet and the mechanical arm control cabinet 34 adjust the speed of the first guide rail 33 according to the track correction instruction; the guide rail control cabinet and the mechanical arm control cabinet 34 adjust the pose of the mechanical arm 31 according to the track correction instruction to correct the pose of the navigation camera 32, and the small celestial body scaling model 12 is kept in the center of the view field of the navigation camera 32 all the time, so that the ground demonstration verification process of the remote approach of the deep space small celestial body is completed.
Further, in the ground demonstration verification system for remote approach of the deep space small celestial body, the real-time simulator 40 calculates the guiding rate of the next movement of the navigation camera 32 through the background image, sends the guiding rate to the upper/lower computer 50, and the upper/lower computer 50 calculates an aircraft movement instruction according to the guiding rate and sends the aircraft movement instruction to the guide rail control cabinet and the mechanical arm 31 control cabinet 34; transcoding software of the guide rail control cabinet and the mechanical arm 31 control cabinet 34 decouples the speed of the first guide rail 33 coupled in the aircraft motion instruction to form a mechanical arm motion instruction, the mechanical arm motion instruction is sent to the mechanical arm 31 to drive the mechanical arm 31 to move, and the navigation camera 32 at the tail end of the mechanical arm 31 is adjusted to always keep the small celestial body scaling model 12 in the center of the view field.
In addition, in the ground demonstration and verification system for remote approach of the deep space small celestial body, the guide rail control cabinet and the mechanical arm control cabinet 34 comprise a guide rail control module and a mechanical arm control module, the guide rail control module controls the movement of the first guide rail 33, and the mechanical arm control module controls the movement of the mechanical arm 31; the mechanical arm 31 simulates a pose of an aircraft with six degrees of freedom, the first guide rail 33 simulates one-degree-of-freedom approaching motion of the aircraft pointing to a small celestial body, and the length of the first guide rail 33 is 16 meters.
In an embodiment of the invention, in the ground demonstration verification system for remote approximation of the small deep space celestial body, the guidance time interval of the real-time simulator 40, and/or the stars and the like of the small celestial body scale model 12, and/or the constant speed approximation speed of the first guide rail 33, and/or the motion state of the second navigation are adjusted, and the ground demonstration verification process for remote approximation of the small deep space celestial body is performed for multiple times to test the performance of the navigation camera 32.
As shown in fig. 3, in the ground demonstration verification system for remote approach of a deep space small celestial body, the ground demonstration verification system for remote approach of a deep space small celestial body further includes a location calibration module 60 and a user end module 70, wherein: the position calibration module 60 calculates a real-time pose and a guidance track according to the background image, the speed of the first guide rail 33, the pose of the mechanical arm 31, and the small celestial body motion parameter and the environment parameter, which are acquired from the navigation camera 32, the speed of the first guide rail 33, the pose of the mechanical arm 31, and the small celestial body motion parameter and the environment parameter, from the guide rail control cabinet and mechanical arm control cabinet 34, and outputs a real track to the user terminal module 70 according to the real-time pose and the guidance track; the real-time simulator 40 outputs a nominal track to the client module 70 through the preprocessed background image, the speed of the first guide rail 33 and the pose of the mechanical arm 31; the client module 70 compares the real trajectory with the nominal trajectory to test the performance of the navigation camera 32.
In summary, the above embodiments have described in detail different configurations of the ground demonstration and verification system for remote approach of small celestial bodies in deep space, and it is understood 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 also provides a ground demonstration verification method for remote approach of the small deep space celestial body, which comprises the following steps: the small celestial body motion and environment module 10 constructs small celestial body motion parameters and environment to simulate a real small celestial body target; the simulation approximation module 30 constructs motion parameters for observing the optical load of the small celestial body, simulates the real optical load of the satellite, collects the background image of the small celestial body motion and environment module 10, and sends the background image to the real-time simulator 40; the real-time simulator 40 controls the motion of the simulation approximation module 30 according to the background image, so that the small celestial body motion and environment module 10 is always located at the center of the field of view of the simulation approximation module 30.
In the ground demonstration verification system and method for remote approximation of the deep space small celestial body, motion parameters and environment of the small celestial body are constructed through a small celestial body motion and environment module to simulate a real small celestial body target, the simulation approximation module constructs motion parameters for observing optical load of the small celestial body to simulate real satellite optical load, background images of the small celestial body motion and environment module are collected, and the real-time simulator 40 controls the motion of the simulation approximation module according to the background images to enable the small celestial body motion and environment module to be always positioned in the center of the field of view of the simulation approximation module, so that a ground demonstration verification scheme for remote approximation of the deep space small celestial body is realized, ground tests are smoothly developed, and the ground demonstration verification method can be further used for verifying relevant feature extraction algorithms or simulating and researching optical navigation feature imaging of the small celestial body.
The invention aims to test the remote identification capability of the optical load and simulate the remote approaching process of small celestial bodies under different background star maps and different simulated small celestial bodies. The invention also aims to provide a small celestial body long-distance approaching high-precision optical navigation method which can improve the track geometric configuration of a detector relative to a small celestial body and improve the navigation error convergence speed and navigation precision, and provides technical reference for future small celestial body detection engineering.
The invention discloses a ground demonstration verification system for remote approach of a deep space small celestial body, which comprises a parallel light source 11, a small celestial body scaling model 12, a fixed star background curtain 14, a rotary table 13, a rotary table controller, a mechanical arm 31, a mechanical arm controller, a first guide rail 33, a guide rail controller, a navigation camera 32 and a real-time simulator 40. Wherein, at one end of the first guide rail 33, the small celestial body scale model 12 is placed on the single-shaft rotating platform 13, the parallel light source 11 simulates the incidence of sunlight with different angles on the surface of the small celestial body, and the fixed star background curtain 14 is hung at the rear end of the small celestial body scale model 12; at the other end of the first rail 33 is the robotic arm 31 and the navigation camera 32. The working principle of the system is as follows: the first guide rail 33 drives the mechanical arm 31 body to approach the small celestial body scale model 12 at a constant speed, the navigation camera 32 samples the small celestial body scale model 12 in real time, collects one small celestial body scale model at regular intervals and transmits the image to the real-time simulator 40, after the real-time simulator 40 performs image processing, the position of the navigation camera 32 relative to the small celestial body scale model 12 under an inertial coordinate system is resolved, a track correction instruction is sent to an upper computer of the mechanical arm 31, the upper computer gives an instruction to the mechanical arm 31 to correct the position of the navigation camera 32, and the small celestial body scale model 12 is kept at the position of the center of a view field of the navigation camera 32 all the time, so that the ground demonstration and verification process of the long-distance approach of the deep space small celestial body is realized.
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 (3)
1. The utility model provides a ground demonstration verification system that little celestial body in deep space was approached remotely, a serial communication port, ground demonstration verification system that little celestial body in deep space was approached remotely includes little celestial body motion and environment module, simulation approach module, host computer and real-time emulation machine, wherein:
the small celestial body motion and environment module is configured to construct small celestial body motion parameters and environment and simulate real small celestial body targets;
the simulation approximation module is configured to construct motion parameters for observing optical loads of small celestial bodies, simulate real satellite optical loads, and acquire background images of the small celestial body motion and environment modules, and is further configured to send the background images to the real-time simulator; and
the real-time simulator is configured to control the motion of the simulation approximation module according to the background image so that the small celestial body motion and environment module is always positioned in the center of the field of view of the simulation approximation module;
the simulation approximation module comprises a mechanical arm, a navigation camera, a first guide rail, a guide rail control cabinet and a mechanical arm control cabinet, wherein:
the first guide rail drives the body of the mechanical arm to approach the small celestial body scale model at a constant speed, the navigation camera samples the small celestial body scale model in real time, a background image is formed at intervals of a certain time, the navigation camera preprocesses the acquired background image through a navigation camera rear-end algorithm, and then the background image is transmitted to the real-time simulator;
after the real-time simulator processes the background image, resolving the pose of the navigation camera relative to the small celestial body scale model in an inertial coordinate system, sending a track correction instruction to the upper computer and the lower computer according to the pose, and sending the track correction instruction to the guide rail control cabinet and the mechanical arm control cabinet by the upper computer and the lower computer;
the guide rail control cabinet and the mechanical arm control cabinet adjust the speed of the first guide rail according to the track correction instruction;
the guide rail control cabinet and the mechanical arm control cabinet adjust the pose of the mechanical arm according to the track correction instruction so as to correct the pose of the navigation camera and keep the small celestial body scaling model always in the center of the field of view of the navigation camera, thereby completing a ground demonstration verification process of remote approach of the deep space small celestial body;
little celestial body motion and environment module includes parallel light source, little celestial body scaling model, unipolar revolving stage and fixed star background curtain, wherein:
the small celestial body scale model is placed on the single-shaft rotary table;
the parallel light source irradiates the small celestial body scale model and is used for simulating incident sunlight of different angles on the surface of the small celestial body;
the fixed star background curtain is used for simulating a deep space background environment and is hung on one side of the small celestial body scaling model, which is back to the parallel light source;
one end of the first guide rail is provided with a mechanical arm and a navigation camera, the navigation camera is mounted on the mechanical arm, the mechanical arm slides along the first guide rail, and the single-shaft turntable is placed at the other end of the first guide rail;
the real-time simulator calculates the guiding rate of the next movement of the navigation camera through the background image, sends the guiding rate to the upper/lower computer, and the upper/lower computer calculates an aircraft movement instruction according to the guiding rate and sends the aircraft movement instruction to the guide rail control cabinet and the mechanical arm control cabinet;
the transcoding software of the guide rail control cabinet and the mechanical arm control cabinet decouples the speed of the first guide rail coupled in the aircraft motion instruction to form a mechanical arm motion instruction, and sends the mechanical arm motion instruction to the mechanical arm to drive the mechanical arm to move, and a navigation camera at the tail end of the mechanical arm is adjusted to always keep the small celestial body scaling model at the center of a view field;
the guide rail control cabinet and the mechanical arm control cabinet comprise a guide rail control module and a mechanical arm control module, the guide rail control module controls the movement of the first guide rail, and the mechanical arm control module controls the movement of the mechanical arm;
the mechanical arm simulates the pose of the aircraft with six degrees of freedom, the first guide rail simulates the aircraft to point to 1-degree-of-freedom approaching motion of the small celestial body, and the length of the first guide rail is 16 meters;
adjusting the guidance time interval of the real-time simulator, and/or the star of the small celestial body scale model, and/or the uniform approaching speed of the first guide rail, and/or the motion state of the second navigation, and performing a ground demonstration verification process of the remote approaching of the deep space small celestial body for multiple times to test the performance of the navigation camera;
the ground demonstration verification system for remote approach of the deep space small celestial body further comprises a position calibration module and a user side module, wherein:
the position calibration module acquires the background image from the navigation camera, the speed of the first guide rail and the pose of the mechanical arm from the guide rail control cabinet and the mechanical arm control cabinet, and the small celestial body motion parameter and the environment parameter from the small celestial body motion and environment module, calculates a real-time pose and a guidance track according to the background image, the speed of the first guide rail, the pose of the mechanical arm, and the small celestial body motion parameter and the environment parameter, and outputs a real track to the user terminal module according to the real-time pose and the guidance track;
the real-time simulator outputs a nominal track to the user side module through a preprocessed background image, the speed of the first guide rail and the pose of the mechanical arm;
the user end module compares the real track with the nominal track to test the performance of the navigation camera, eliminates the influence of multiple disturbances in exposure time, and the actual imaging of the navigation target on the CCD plane is the track on the accurate navigation of extracting the characteristic information of the navigation target;
the small celestial body motion and environment module is always positioned in the view field center of the simulation approximation module and the performance of the navigation camera is tested, so that the method is used for verifying a related feature extraction algorithm and simultaneously used for simulating and researching optical navigation feature imaging of the small celestial body, testing the remote identification capability of an optical load under different background star maps, different simulated small celestial body stars and the like, simulating the process of small celestial body remote approximation, improving the relative small celestial body orbit geometric configuration of a detector, improving the navigation error convergence speed and carrying out navigation precision.
2. The ground demonstration and verification system for remote approach of a deep space small celestial body of claim 1, wherein said small celestial body movement and environment module further comprises a second rail having a first slide and a second slide, said first slide and said second slide being connected by a cross bar, said cross bar being capable of sliding along said first slide and said second slide, said collimated light source being mounted on said cross bar, said collimated light source being capable of translating along said cross bar, said collimated light source being further capable of rotating in pitch and in yaw on said cross bar, said collimated light source simulating four degrees of incidence of sunlight.
3. The ground demonstration verification method for the remote approach of the deep space small celestial body based on the system of claim 1 is characterized by comprising the following steps:
the small celestial body motion and environment module constructs small celestial body motion parameters and environment and simulates a real small celestial body target;
the simulation approximation module constructs motion parameters for observing the optical load of the small celestial body, simulates the real satellite optical load, collects the background image of the small celestial body motion and environment module, and sends the background image to the real-time simulator;
the real-time simulator controls the motion of the simulation approximation module according to the background image so as to enable the small celestial body motion and environment module to be always positioned in the center of a view field of the simulation approximation module;
the simulation approximation module comprises a mechanical arm, a navigation camera, a first guide rail, a guide rail control cabinet and a mechanical arm control cabinet, wherein:
the first guide rail drives the body of the mechanical arm to approach the small celestial body scale model at a constant speed, the navigation camera samples the small celestial body scale model in real time, a background image is formed at intervals of a certain time, the navigation camera preprocesses the acquired background image through a navigation camera rear-end algorithm, and then the background image is transmitted to the real-time simulator;
after the real-time simulator processes the background image, resolving the pose of the navigation camera relative to the small celestial body scale model in an inertial coordinate system, sending a track correction instruction to the upper computer and the lower computer according to the pose, and sending the track correction instruction to the guide rail control cabinet and the mechanical arm control cabinet by the upper computer and the lower computer;
the guide rail control cabinet and the mechanical arm control cabinet adjust the speed of the first guide rail according to the track correction instruction;
and the guide rail control cabinet and the mechanical arm control cabinet adjust the pose of the mechanical arm according to the track correction instruction so as to correct the pose of the navigation camera and keep the small celestial body scaling model always in the center of the view field of the navigation camera, thereby completing the ground demonstration verification process of the remote approach of the deep space small celestial body.
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