CN100592231C - Full-sun area guiding method and system - Google Patents
Full-sun area guiding method and system Download PDFInfo
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- CN100592231C CN100592231C CN200810101387A CN200810101387A CN100592231C CN 100592231 C CN100592231 C CN 100592231C CN 200810101387 A CN200810101387 A CN 200810101387A CN 200810101387 A CN200810101387 A CN 200810101387A CN 100592231 C CN100592231 C CN 100592231C
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Abstract
The invention discloses a full disk guiding method comprising: obtaining projection of sun image on charge-coupled device (CCD) area array; obtaining projection mass center based on weighted average algorithm; comparing the projection mass center with the standard mass center on the CCD area array to obtain mass center offset; generating impulse signals according to the mass center offset, and adjusting the standard mass center and the projection mass center to a coincident position. The invention also provides a full disc guiding system for obtaining projection mass center of the sun image onthe CCD area array by average weighted algorithm for mass center, comparing the projection mass center with the standard mass center of the CCD area array to obtain mass center offset, and generatingan impulse signal based on the mass center offset to adjust the standard mass center and the projection mass center to the coincident position, so that implementing full disk sun tracing. The invention is provided with a high guiding precision, and light path is not needed, so that the invented method is easy to be realized and is convenient to be transplanted.
Description
Technical field
The present invention relates to the leading technology, relate in particular to a kind of full-sun area guiding method and system.
Background technology
In boundless and indistinct universe, the sun is closely bound up with human life, and this contact not merely shows on the aspect of science, and covered various aspects such as human society politics, economy, military affairs, humanity.For astronomical sight, the sun be unique one can be by the fixed star of meticulous observation; For basic science, the high-temperature plasma environment that the sun is huge provides the huge magnetohydrodynamics laboratory that can't simulate on the earth.Develop rapidly along with human high-tech and spationautics, the ANOMALOUS VARIATIONS of solar-terrestrial physics environment is also increasing to the mankind's influence, and solar activity is the leading factor of solar-terrestrial physics environment, and therefore, Solar Physics research provides theoretical foundation for Space Weather research.The sun provides a unique planetary system, and the sun and solar research more and more are much accounted of for the importance of origin of life, human extraterrestrial habitability research in the universe.Therefore, Solar Physics research has crucial meaning to human society, and is the important component part of Solar Physics research to the tracking observation of the sun.
Realize tracking observation by navigation system in the prior art to the sun, there is a kind of method of carrying out leading by the four-quadrant method in the existing navigation system, this method evenly is provided with four silicon photocells around sun picture, when sun kine bias is moved, because the signal that silicon photocell receives can produce imbalance, navigation system is adjusted telescopical observed bearing according to the amount of unbalance that produces, thereby makes the sun of skew look like to get back to the tram.It is limited to adopt the four-quadrant method to carry out the precision of sun leading, and out of control easily.
Also exist a kind of employing grating steel band code-disc and little charge-coupled image sensor (CCDCharge Coupled Device) to cooperate the guiding method of the local sun in the existing navigation system as light path, this method is a kind of guiding method relatively advanced in the prior art, but this method need additionally be carried out light path design, thereby make that the complexity of this guiding method is higher, and this guiding method cost in realization is also than higher.
In sum, the complexity when existing guiding method is realized sun leading is higher, and cost is higher, and the leading precision is limited.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of full-sun area guiding method and system, and is higher with the guiding method complexity that solves prior art, the higher and limited problem of leading precision of cost.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of full-sun area guiding method, comprising:
Obtain the projection of sun picture on CCD face battle array; , make the projected area size of described CCD face battle array greater than described sun picture;
Obtain the barycenter of described projection according to the weighted mean algorithm;
The barycenter of described projection and the standard barycenter of described CCD face battle array are compared, obtain centroid offset; Wherein, described standard barycenter is to utilize described weighted mean algorithm first width of cloth sun picture of gained on the described CCD face battle array to be calculated the barycenter of the projection of gained;
According to described centroid offset production burst signal, keep described standard barycenter constant, described projected centroids is adjusted on the position that overlaps with described standard barycenter.
Describedly obtain sun picture being projected as on CCD face battle array: obtain CCD camera in the telescope lens barrel terminal to the sun resulting sun picture of taking pictures, and the sun that is obtained is looked like to be projected on the described CCD face battle array.
The described projected centroids that obtains according to the weighted mean algorithm is:
X＝∑xf(x，y)/∑f(x，y)，
Y＝∑yf(x，y)/∑f(x，y)，
Wherein, X represents the horizontal ordinate of described projected centroids present position in CCD face battle array, Y represents the ordinate of described projected centroids present position in CCD face battle array, x represents to be projected in the described CCD face battle array horizontal ordinate of the pixel point of covering, y represents to be projected in the described CCD face battle array ordinate of the pixel point of covering, (x, y) corresponding horizontal ordinate and ordinate are respectively the pixel value of the pixel point of x, y to f in the described CCD face battle array of expression.
The described barycenter and the standard barycenter of CCD face battle array with projection compares and obtains centroid offset and be:
The horizontal ordinate of described projected centroids and the horizontal ordinate of described standard barycenter are subtracted each other, obtain the described centroid offset that is projected on the right ascension direction;
The ordinate of described projected centroids and the ordinate of described standard barycenter are subtracted each other, obtain the described centroid offset that is projected on the declination direction.
The described sun picture that obtains is before the projection on the charge coupled device ccd face battle array, this method also comprises: when telescope is opened, CCD camera in the control telescope lens barrel terminal is aimed at the sun and is taken pictures, thereby obtain first width of cloth sun picture after described telescope is opened, and according to the barycenter of described first projection of width of cloth sun picture on CCD face battle array of weighted mean algorithm computation, and then obtain the standard barycenter of described CCD face battle array.
Described standard barycenter and projected centroids being adjusted on the position that overlaps according to centroid offset production burst signal is: according to the described centroid offset production burst signal that is projected on right ascension direction and the declination direction, and according to described pulse signal described standard barycenter and projected centroids are adjusted on the position of coincidence.
The present invention also provides a kind of full-sun area guiding system, comprising: projection acquisition module, centroid calculation module, centroid offset acquisition module and barycenter adjusting module; Wherein,
Described projection acquisition module is used to obtain the projection of sun picture on CCD face battle array, makes the projected area size of described CCD face battle array greater than described sun picture, and described projection is offered described centroid calculation module;
Described centroid calculation module is used for obtaining according to the weighted mean algorithm barycenter of described projection;
Described centroid offset acquisition module is used for the barycenter of described projection and the standard barycenter of described CCD face battle array are compared, and obtains centroid offset and offers described barycenter adjusting module; Wherein, described standard barycenter is to utilize described weighted mean algorithm first width of cloth sun picture of gained on the described CCD face battle array to be calculated the barycenter of the projection of gained;
Described barycenter adjusting module is used for keeping described standard barycenter constant according to described centroid offset production burst signal, and described projected centroids is adjusted on the position that overlaps with described standard barycenter.
Full-sun area guiding method provided by the invention and system, obtain the projected centroids of sun picture on CCD face battle array by average weighted centroid algorithm, and the standard barycenter of projected centroids and CCD face battle array compared, to obtain centroid offset, according to centroid offset production burst signal standard barycenter and projected centroids are adjusted on the position of coincidence again, thereby realization is to full-time tracking of the sun; Leading precision of the present invention is higher; And the present invention does not need to carry out light path design, realizes simple; In addition, full-sun area guiding of the present invention system can be transplanted on the telescope easily, need not telescope is too much transformed, and therefore realizes that cost is also lower.
Description of drawings
Fig. 1 is the process flow diagram of a kind of full-sun area guiding method of the present invention;
Fig. 2 is the perspective view of sun picture on CCD face battle array of the embodiment of the invention;
Fig. 3 is another synoptic diagram of the projection of sun picture on CCD face battle array of the embodiment of the invention;
Fig. 4 is the composition structural representation of a kind of full-sun area guiding of the present invention system;
Fig. 5 is the tracking accuracy synoptic diagram of leading test result on the right ascension direction of the embodiment of the invention;
Fig. 6 is the tracking accuracy synoptic diagram of leading test result on the declination direction of the embodiment of the invention.
Embodiment
Below in conjunction with the drawings and specific embodiments technical scheme of the present invention is described in detail.
The invention provides a kind of full-sun area guiding method, this method is applied in the telescope, is used to realize full-time the tracking of telescope to the sun.A kind of full-sun area guiding method provided by the present invention as shown in Figure 1, mainly may further comprise the steps:
Be provided with the CCD camera in telescopical lens barrel terminal, by the CCD camera sun taken pictures, thereby obtain sun picture, the sun picture of acquisition can form projection on CCD face battle array.The perspective view of sun picture in the embodiment of the invention on CCD face battle array, as shown in Figure 2, the rectangle that comprises a plurality of lattices among the figure is represented CCD face battle array, and each lattice is represented a pixel point of CCD face battle array respectively, and dash area is represented the projection of sun picture on CCD face battle array.In actual applications, the big I of CCD face battle array is selected as required, but needs to guarantee the projected area size of selected CCD face battle array greater than sun picture.For example: select 2029 * 2044 CCD face battle array in the embodiments of the invention, represent that promptly selected CCD face battle array comprises 2029 * 2044 pixels, and the pixel number on the horizontal ordinate direction is 2029 that if represent horizontal ordinate with x, then the desirable maximal value of x is 2029; Pixel number on the ordinate direction is 2044, if represent ordinate with y, then the desirable maximal value of y is 2044.Each pixel in the CCD face battle array carries out unique identification with abscissa value and ordinate value respectively.
By synoptic diagram shown in Figure 2 as can be seen, the pixel that exists some projections not cover fully at the projecting edge of sun picture, embodiments of the invention to the disposal route of the pixel that projection does not cover fully are: the lattice that the upper left corner is projected covering is considered as being projected fully covering, and the lattice that the upper left corner is not projected covering is considered as not being projected covering.Through after the above-mentioned processing, the perspective view that obtains can obtain the image element information that projection covers as shown in Figure 3 from Fig. 3.
It is to be noted, the processing of the pixel that among the present invention projection is not covered fully not only comprises above-mentioned method, also comprise other disposal routes, for example: the lattice that the upper left corner is projected covering is considered as not being projected covering, and the lattice that the upper left corner is not projected covering is considered as being projected fully covering.
According to the image element information that projection shown in Figure 3 covered, adopt average weighted algorithm computation to go out the barycenter of projection, the formula of weighted mean algorithm is:
X＝∑xf(x，y)/∑f(x，y) (1)
Y＝∑yf(x，y)/∑f(x，y) (2)
Above-mentioned formula (1), (2) in, X represents the horizontal ordinate of projected centroids present position in CCD face battle array, Y represents the ordinate of projected centroids present position in CCD face battle array, x represents to be projected in the CCD face battle array horizontal ordinate of the pixel point of covering, y represents to be projected in the CCD face battle array ordinate of the pixel point of covering, f (x, y) corresponding horizontal ordinate and ordinate are respectively x in the expression CCD face battle array, the pixel value of the pixel point of y, ∑ xf (x, y) be projected the weighted sum of amassing of the pixel point horizontal ordinate and the pixel value of covering in the expression CCD face battle array, ∑ f (x, y) be projected the weighted sum of the pixel point pixel value of covering in the expression CCD face battle array, (x y) is projected the weighted sum of amassing of the pixel point ordinate and the pixel value of covering to ∑ yf in the expression CCD face battle array.
When telescope is opened, need aim at the sun by the CCD camera in staff's hand-guided telescope lens barrel terminal takes pictures, thereby obtain first width of cloth sun picture after telescope is opened, telescope calculates the barycenter of first projection of width of cloth sun picture on CCD face battle array according to above-mentioned formula (1), (2), and the barycenter that obtains is the standard barycenter of CCD face battle array.Telescope compares the projected centroids that obtains in the step 102 and the standard barycenter of CCD face battle array, thereby obtains centroid offset, and the formula that calculates centroid offset is:
OffsetX＝X-X
0 (3)
OffsetY＝Y-Y
0 (4)
In above-mentioned formula (3), (4), X represents the horizontal ordinate of projected centroids present position in CCD face battle array, and Y represents the ordinate of projected centroids present position in CCD face battle array, X
0The horizontal ordinate of expression standard barycenter present position in CCD face battle array, Y
0The ordinate of expression standard barycenter present position in CCD face battle array, OffsetX represents to be projected in the centroid offset of horizontal ordinate direction, be at right ascension (RA to the corresponding sun picture of standard barycenter institute in the sun picture clapped and the CCD face battle array, Right Ascension) description of the direction upper deviation, OffsetY represents to be projected in the centroid offset of ordinate direction, be in declination (DEC, Declination) description of the direction upper deviation to the corresponding sun picture of standard barycenter institute in the sun picture clapped and the CCD face battle array.
For example: the projected centroids that obtains through formula (1), the weighting algorithm of (2) is (1020,1025), with (1010,1020) and standard barycenter (1015,1022) bring the centroid offset that calculates in above-mentioned formula (3), (4) into and be (5,3), this shows that projected centroids has been offset the position of 5 pixel points with respect to the standard barycenter on the RA direction, be offset the position of 3 pixel points on the DEC direction.
Telescope is according to the centroid offset production burst signal that obtains, and the pulse signal that generates is exported to motor, by motor telescopical orientation adjusted, and the standard barycenter is adjusted on the position that overlaps with projected centroids the most at last.
Be to realize the full-sun area guiding method of the invention described above, the present invention also provides a kind of full-sun area guiding system, and as shown in Figure 4, this system comprises: projection acquisition module 10, centroid calculation module 20, centroid offset acquisition module 30 and barycenter adjusting module 40.Projection acquisition module 10 is used to obtain the projection of sun picture on CCD face battle array, and this projection is offered centroid calculation module 20.Centroid calculation module 20 connects projection acquisition module 10, is used for obtaining according to the weighted mean algorithm barycenter of projection.Centroid offset acquisition module 30 connects centroid calculation module 20, is used for the barycenter of projection and the standard barycenter of CCD face battle array are compared, and obtains centroid offset and offers barycenter adjusting module 40.Barycenter adjusting module 40 is used for according to centroid offset production burst signal standard barycenter and projected centroids being adjusted on the position that overlaps.
Through experiment showed, that full-sun area guiding method of the present invention and system have higher leading precision.As shown in Figure 5 and Figure 6, Fig. 5 is the tracking accuracy synoptic diagram of leading test result on the RA direction, and Fig. 6 is the tracking accuracy synoptic diagram of leading test result on the DEC direction, and the horizontal ordinate among the figure is represented the sampling time, and ordinate is represented tracking accuracy.The camera exposure time in this experiment is 40 milliseconds, is 30 minutes to the tracking time of the sun.From Fig. 5, Fig. 6 as can be seen, full-sun area guiding method of the present invention and the system tracking accuracy on the RA direction is 0.9395 ', tracking accuracy on the DEC direction is 0.2134 ", hence one can see that, full-sun area guiding method of the present invention and system to the tracking accuracy of the sun than higher.
In sum, full-sun area guiding method provided by the present invention and system, the leading precision is higher; And the present invention does not need to carry out light path design, realizes simple; In addition, full-sun area guiding of the present invention system can conveniently be transplanted on the telescope, need not telescope and too much transforms, and therefore realizes that cost is also lower.It is pointed out that full-sun area guiding method of the present invention and system not only are applicable in the telescope, for need the solar facilities that the sun is followed the tracks of also being suitable for.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (7)
1, a kind of full-sun area guiding method is characterized in that, comprising:
Obtain the projection of sun picture on charge coupled device ccd face battle array, make the projected area size of described CCD face battle array greater than described sun picture;
Obtain the barycenter of described projection according to the weighted mean algorithm;
The barycenter of described projection and the standard barycenter of described CCD face battle array are compared, obtain centroid offset; Wherein, described standard barycenter is to utilize described weighted mean algorithm first width of cloth sun picture of gained on the described CCD face battle array to be calculated the barycenter of the projection of gained;
According to described centroid offset production burst signal, keep described standard barycenter constant, described projected centroids is adjusted on the position that overlaps with described standard barycenter.
2, according to the described full-sun area guiding method of claim 1, it is characterized in that, describedly obtain sun picture being projected as on CCD face battle array: obtain CCD camera in the telescope lens barrel terminal to the sun resulting sun picture of taking pictures, and the sun that is obtained is looked like to be projected on the described CCD face battle array.
According to claim 1 or 2 described full-sun area guiding methods, it is characterized in that 3, the described projected centroids that obtains according to the weighted mean algorithm is:
X＝∑xf(x，y)/∑f(x，y)，
Y＝∑yf(x，y)/∑f(x，y)，
Wherein, X represents the horizontal ordinate of described projected centroids present position in CCD face battle array, Y represents the ordinate of described projected centroids present position in CCD face battle array, x represents to be projected in the described CCD face battle array horizontal ordinate of the pixel point of covering, y represents to be projected in the described CCD face battle array ordinate of the pixel point of covering, (x, y) corresponding horizontal ordinate and ordinate are respectively the pixel value of the pixel point of x, y to f in the described CCD face battle array of expression.
According to the described full-sun area guiding method of claim 1, it is characterized in that 4, the described barycenter and the standard barycenter of CCD face battle array with projection compares and obtain centroid offset and be:
The horizontal ordinate of described projected centroids and the horizontal ordinate of described standard barycenter are subtracted each other, obtain the described centroid offset that is projected on the right ascension direction;
The ordinate of described projected centroids and the ordinate of described standard barycenter are subtracted each other, obtain the described centroid offset that is projected on the declination direction.
5, according to claim 1 or 4 described full-sun area guiding methods, it is characterized in that, the described sun picture that obtains is before the projection on the charge coupled device ccd face battle array, this method also comprises: when telescope is opened, CCD camera in the control telescope lens barrel terminal is aimed at the sun and is taken pictures, thereby obtain first width of cloth sun picture after described telescope is opened, and according to the barycenter of described first projection of width of cloth sun picture on CCD face battle array of weighted mean algorithm computation, and then obtain the standard barycenter of described CCD face battle array.
6, according to claim 1 or 4 described full-sun area guiding methods, it is characterized in that, described standard barycenter and projected centroids being adjusted on the position that overlaps according to centroid offset production burst signal is: according to the described centroid offset production burst signal that is projected on right ascension direction and the declination direction, and according to described pulse signal described standard barycenter and projected centroids are adjusted on the position of coincidence.
7, a kind of full-sun area guiding system is characterized in that, comprising: projection acquisition module, centroid calculation module, centroid offset acquisition module and barycenter adjusting module; Wherein,
Described projection acquisition module is used to obtain the projection of sun picture on CCD face battle array, makes the projected area size of described CCD face battle array greater than described sun picture, and described projection is offered described centroid calculation module;
Described centroid calculation module is used for obtaining according to the weighted mean algorithm barycenter of described projection;
Described centroid offset acquisition module is used for the barycenter of described projection and the standard barycenter of described CCD face battle array are compared, and obtains centroid offset and offers described barycenter adjusting module; Wherein, described standard barycenter is to utilize described weighted mean algorithm first width of cloth sun picture of gained on the described CCD face battle array to be calculated the barycenter of the projection of gained;
Described barycenter adjusting module is used for keeping described standard barycenter constant according to described centroid offset production burst signal, and described projected centroids is adjusted on the position that overlaps with described standard barycenter.
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| CN102445949B (en) * | 2011-10-20 | 2013-11-06 | 浙江中控太阳能技术有限公司 | System and method for positioning heliostat |
| CN102722183B (en) * | 2012-06-15 | 2014-03-12 | 中国科学院安徽光学精密机械研究所 | Image tracking system and image tracking algorithm for double-cylinder multi-FOV (field of view) sun photometer |
| CN102778900A (en) * | 2012-08-22 | 2012-11-14 | 湘电集团有限公司 | Counterglow tracking method and tracking system for disc type solar thermal power generation system |
| CN102928972B (en) * | 2012-12-05 | 2014-09-17 | 南京中科天文仪器有限公司 | Solar telescope guider taking optical wedge as refractive element |
| CN104061868A (en) * | 2014-03-13 | 2014-09-24 | 常州机电职业技术学院 | Online detection method of electric wire with coarse appearance |
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| JP2005038270A (en) * | 2003-07-17 | 2005-02-10 | Naoto Ichikawa | Solar power generation device on water |
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| US6289268B1 (en) * | 2000-03-02 | 2001-09-11 | Hughes Electronics Corp. | Attitude determination system and method |
| CN1298091A (en) * | 2000-12-08 | 2001-06-06 | 中国科学院紫金山天文台 | Precise azimuth measuring method |
| JP2002222015A (en) * | 2001-01-26 | 2002-08-09 | Matsushita Electric Works Ltd | Sun tracking device |
| JP2005038270A (en) * | 2003-07-17 | 2005-02-10 | Naoto Ichikawa | Solar power generation device on water |
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