Abstract: The threat posed by space debris to space security is continuously increasing. Optical observation is the main detection method for space debris, but the variety of observation geometries in available measurement datasets is limited. Therefore, simulations are required to supplement observational data. Hardware-in-the-loop (HIL) simulations can provide high-quality simulated optical detection data at a reasonable cost, but existing hardware-in-the-loop methods are only adapted to simple motion scenarios. To extend the simulation ability to complex space motion scenarios, here we propose an optical hardware-in-the-loop space debris simulation method, relying on dynamic detection scenarios, that uses a collaborative scenario-modality-feature simulation scheme to simulate variable observation geometries and to obtain sequential space debris simulation data covering a variety of modalities and scenarios. We apply the proposed space debris detection method to ground-based and space-based simulation experiments and analyze target features within the simulated detection data to demonstrate the usefulness of such simulations. Our simulation method is applicable to space debris optical detection under diverse observation conditions and to multidimensional space debris feature characterization.