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机器人卫星地面实验平台是研制机器人卫星的重要手段．本文针对所开发的机器人卫星地面实验平台，设计了全局视觉，完成机器人卫星的姿态分析、目标和障碍物的识别与定位．给出了一个多运动目标自主跟踪的方案，通过调整摄象机的姿态，保证机器人、目标及障碍物在视场中．
Robot satellite ground experimental platform is an important means to develop robot satellites. In this paper, aiming at the robot’s satellite terrestrial experiment platform developed, this paper designs the global vision, accomplishes the attitude analysis of robotic satellites, and identifies and locates the targets and obstacles. A scheme of autonomous tracking of multiple moving targets is given. By adjusting the posture of the camera, robots, targets and obstacles can be guaranteed in the field of view.