CN102034091A - Light spot identifying method and device for digital sun sensor - Google Patents
Light spot identifying method and device for digital sun sensor Download PDFInfo
- Publication number
- CN102034091A CN102034091A CN 201010567899 CN201010567899A CN102034091A CN 102034091 A CN102034091 A CN 102034091A CN 201010567899 CN201010567899 CN 201010567899 CN 201010567899 A CN201010567899 A CN 201010567899A CN 102034091 A CN102034091 A CN 102034091A
- Authority
- CN
- China
- Prior art keywords
- hot spot
- frame image
- facula
- current frame
- difference
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Image Analysis (AREA)
Abstract
The invention provides a light spot identifying method and device for a digital sun sensor. The method comprises the following steps of: obtaining an estimated movement distance of the light spot of a former frame of image of the digital sun sensor in the current frame of image; calculating an actual movement distance of the light spot of the current frame of image relative to the light spot of the former frame of image, comparing the actual movement distance with the estimated movement distance, and marking the light spot of the current frame of image according to a comparison result. In the invention, by identifying the light spot according to the movement track of the light spot, the error generated by distinguishing the light spot with the light spot change rule of the energy cosine effect is overcome, meanwhile, no special narrow belt filter is added for reducing the intensity of the reached earthlight avoiding the effect of the earthlight to the digital sun sensor so that the implementation is simple, and the reliable work of the digital sun sensor is guaranteed; and meanwhile, the device can be realized based on the FPGA (Field Programmable Gata Array), which is beneficial to the integrated design of the digital sun sensor.
Description
Technical field
The present invention relates to the picture signal treatment technology, relate in particular to a kind of spot identification method and device that is used for digital sun sensor.
Background technology
Sun sensor is to be the reference bearing with the sun, in order to measure a kind of attitude sensor of angle between a certain axon of spacecraft such as sun sight line and satellite or the coordinate plane.Based on the principle of work of the digital sun sensor of face two field picture sensor and single hole mask as shown in Figure 1, sunray is through the printing opacity aperture O of optical mask, be transmitted to and form hot spot L on the imageing sensor, the incident angle difference of sunray, facula position is just different, digital sun sensor calculates the incident angle β of sunray according to facula position, thereby determines the attitude of spacecrafts such as satellite.
Usually, earth light only influences the main interference veiling glare of digital sun sensor reliably working, and the disclosed method of earth light influence of light digital sun sensor reliably working that prevents has at present: by special mounting means digital sun sensor is installed; Perhaps, avoid earth light to enter digital sun sensor by spectral filtering as far as possible, and by the hot spot feature identification and reject earth light, thereby overcome the influence of earth light to a certain extent.
But, when adopting the method for special mounting mode, under the state of the improper attitude of satellite, or run into the situation of the strong direct reflection of the earth, as the glacier reflection, earth light will enter the field range of digital sun sensor, if earth light is the normal incidence direction only, when sunshine is the oblique incidence direction, the hot spot that both form can't be distinguished according to light intensity, and then influence the reliably working of digital sun sensor.
When reducing the earth light light intensity that arrives digital sun sensor by spectral filtering, and distinguish the ground photospheric facula that solar facula and earth light form according to spot size and intensity, guarantee the reliably working of digital sun sensor, determine the state of spacecrafts such as satellite.Yet, theoretical foundation according to spot size and intensity, distinguishes solar facula and ground photospheric facula in the method for this spectral filtering is: think that the rule of conversion of hot spot light intensity satisfies energy cosine effect, and this hypothesis has not only been ignored the spectral filtering sector-meeting characteristic that transmissivity changes with the variation of solar incident angle degree, and this specific character can be obvious along with the increase of spectral filter thickness more; The temperature characterisitic of also having ignored imageing sensor, promptly under the situation of identical incident light energy, the spot intensity that forms on the imageing sensor can change along with variation of temperature.Therefore, distinguish solar facula according to the Changing Pattern of energy cosine effect in this method and can exist, even can judge by accident, make the reliability of digital sun sensor work reduce than mistake with the ground photospheric facula.
Summary of the invention
In view of this, fundamental purpose of the present invention is to provide a kind of spot identification method that is used for digital sun sensor, can realize the differentiation of solar facula and ground photospheric facula, thereby avoid the influence of earth light to digital sun sensor, guarantee the reliably working of digital sun sensor, a kind of FPGA implement device of described method is provided simultaneously, helps the integrated design of digital sun sensor.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of spot identification method that is used for digital sun sensor, described method comprises the steps:
Obtain the estimated moving distance of hot spot in current frame image of digital sun sensor former frame image; Calculate the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image; Actual displacement and estimated moving distance are compared, the hot spot of current frame image is carried out mark according to comparative result.
Further, the hot spot of described calculating current frame image with respect to the actual displacement of the hot spot of former frame image is: calculate the facula mass center mould corresponding with the coordinate difference of the facula mass center of current frame image of former frame image, obtain the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image.
Further, described actual displacement and estimated moving distance are compared, according to comparative result the hot spot of current frame image are carried out mark and be specially:
Calculate the absolute difference of actual displacement and estimated moving distance, when difference absolute value during less than default estimation maximum deviation, then absolute difference with estimate that maximum deviation is consistent, otherwise absolute difference is inconsistent with the estimation maximum deviation;
When both unanimities, and the hot spot of described former frame image is labeled as solar facula or ground during photospheric facula, and then the hot spot with described current frame image is labeled as solar facula or ground photospheric facula, if there is another hot spot then to be labeled as ground photospheric facula or solar facula;
When both are inconsistent, and the hot spot of described former frame image is when being labeled as solar facula or ground photospheric facula, and then the hot spot with described current frame image is labeled as ground photospheric facula or solar facula, if there is another hot spot then to be labeled as solar facula or ground photospheric facula.
Wherein, when the hot spot of described former frame image did not have the hot spot mark, described method also comprised:
According to the hot spot of hot spot characteristic matching current frame image and the hot spot of former frame image, when having a hot spot that is complementary at least, the hot spot that will be complementary is labeled as the supposition solar facula;
Correspondingly, the described estimated moving distance of hot spot in the next frame image that obtains digital sun sensor former frame image is specially: the estimated moving distance of supposition solar facula in current frame image that obtains digital sun sensor former frame image;
The hot spot of described calculating current frame image is specially with respect to the actual displacement of the hot spot of former frame image: calculate the actual displacement of the supposition solar facula of current frame image with respect to the supposition solar facula of former frame image.
Further, describedly be specially according to the hot spot of hot spot characteristic matching current frame image and the hot spot of former frame image:
The total pixel of hot spot of the hot spot of calculating former frame image and the hot spot of current frame image and the absolute difference of hot spot maximum gradation value;
When the absolute difference of the absolute difference of the total pixel of described hot spot and described hot spot maximum gradation value during respectively less than default maximum total pixel difference and maximum gradation value difference, both couplings then.
Further, described actual displacement and estimated moving distance are compared, according to comparative result the hot spot of current frame image being carried out mark is specially: the actual displacement of calculation assumption solar facula and the absolute difference of estimated moving distance, when described absolute difference during less than default estimation maximum deviation, suppose that then mark is correct, otherwise, suppose that mark is incorrect;
Suppose when mark is correct, the supposition solar facula of current frame image is labeled as solar facula, if there is another hot spot then to be labeled as the ground photospheric facula; Suppose when mark is incorrect, the supposition solar facula of current frame image is labeled as the ground photospheric facula, if there is another hot spot then to be labeled as solar facula.
A kind of spot identification device that is used for digital sun sensor, described device comprises the spot identification judge module, is used for according to the hot spot motion track, distinguishes and identification solar facula and ground photospheric facula, and, the hot spot of current frame image is carried out mark according to recognition result.
Further, described spot identification judge module also comprises: hot spot maximum gradation value comparison sub-module, be used to calculate the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum gradation value difference are compared;
The total pixel comparison sub-module of hot spot is used to calculate the total pixel value difference absolute value of hot spot of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum total pixel difference are compared;
Actual displacement calculating sub module, be used to calculate the facula mass center mould corresponding of described former frame image of the memory stores of described digital sun sensor, obtain the actual displacement of the hot spot of described current frame image with respect to the hot spot of described former frame image with the coordinate difference of the facula mass center of the described current frame image of storage;
The displacement comparison sub-module is used to calculate the absolute difference of described actual displacement calculating sub module actual displacement that obtains and the estimated moving distance that obtains, and described absolute difference and default estimation maximum deviation are compared;
State machine is judged in identification, is used for the facula information according to former frame image and current frame image, and the output result of above-mentioned submodule, and analysis and judgement is finished identification and mark to the hot spot of current frame image; The read/write address generator is used to read required facula information, and storage identification judges that the hot spot mark result of state machine output is to the hot spot mark memory.
Further, when described device is realized based on FPGA, described hot spot maximum gradation value comparison sub-module is realized by subtracter and comparer, subtracter is used for the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot maximum gradation value of hot spot of former frame image of computing store storage and current frame image, comparer is used for described absolute difference and the maximum gradation value difference of presetting are compared, and comparative result is exported to identification judge state machine;
The total pixel comparison sub-module of described hot spot is realized by subtracter and comparer, subtracter is used for the total pixel value difference absolute value of hot spot of the hot spot of the total pixel of hot spot of former frame image spot of computing store storage and current frame image, comparer is used for described absolute difference and the total pixel difference of default maximum are compared, and comparative result is exported to identification judge state machine;
Described actual displacement submodule is by X subtracter, Y subtracter and ask the modular arithmetic device to realize, the X subtracter is used to calculate the difference of X coordinate of the facula mass center of the X coordinate of facula mass center of former frame image of described memory stores and current frame image; The Y subtracter is used to calculate the difference of Y coordinate of the facula mass center of the Y coordinate of facula mass center of former frame image of described memory stores and current frame image; Ask the modular arithmetic device to be used for the coordinate difference that X subtracter and Y subtracter obtain is asked mould, obtain the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image;
Described displacement comparison sub-module is realized by subtracter and comparer, subtracter is used to calculate the absolute difference of asking modular arithmetic device actual displacement that obtains and the estimated moving distance that obtains, comparer is used for described absolute difference and the estimation maximum deviation of presetting are compared, and comparative result is exported to identification judge state machine.
The spot identification method that is used for digital sun sensor provided by the invention is distinguished identification solar facula and ground photospheric facula according to the motion track of hot spot, thereby has been avoided the influence of earth light to digital sun sensor; Not only overcome according to the hot spot Changing Pattern of energy cosine effect and distinguished the existing error of hot spot; Do not need simultaneously digital sun sensor is added special narrow-band filtering to reduce the earth light light intensity that arrives, reduced the design difficulty of digital sun sensor, guaranteed the reliably working of digital sun sensor; Described in addition device can also be realized based on FPGA, helps the integrated design of digital sun sensor.
Description of drawings
Fig. 1 is the principle of work synoptic diagram of digital sun sensor;
Fig. 2 is used for the realization flow synoptic diagram of the spot identification method of digital sun sensor for the present invention;
Fig. 3 is used for the functional module of the spot identification device of digital sun sensor and forms synoptic diagram for the present invention;
Fig. 4 is used for the composition structural representation of the spot identification device of digital sun sensor based on the FPGA realization for Fig. 3.
Embodiment
Basic thought of the present invention: obtain the estimated moving distance of digital sun sensor former frame image spot in current frame image; Calculate the actual displacement of current frame image hot spot, actual displacement and estimated moving distance are compared, the current frame image hot spot is carried out mark according to comparative result with respect to the former frame image.
For making the purpose, technical solutions and advantages of the present invention clearer, by the following examples and with reference to accompanying drawing, the present invention is described in more detail.
Fig. 2 shows the realization flow that the present invention is used for the spot identification method of digital sun sensor, and as shown in Figure 2, described method comprises the steps:
Step S201, the power-on reset signal of digital sun sensor triggers the image sequence initialization of variable, is 1 with image sequence variable K assignment;
Wherein, described image sequence variable is used to represent that digital sun sensor works as the frame number of the image of pre-treatment.
Step S202, digital sun sensor judge present frame promptly the facula information of K two field picture handle and whether finish, if, execution in step S203 then, otherwise, press some cycles or real-time repeated execution of steps S202;
Wherein, described facula information is handled and is meant the facula mass center coordinate that obtains the K two field picture, hot spot number, the total pixel of hot spot, hot spot maximum gradation value etc.; Described some cycles can be set according to user's needs.
Step S203 judges whether the K two field picture has hot spot, if, execution in step S204, otherwise, execution in step S216;
In this step, whether hot spot number that specifically can be by judging the K two field picture that facula information is obtained in handling determines whether K two field picture have hot spot greater than 0: when the hot spot number greater than 0 the time, then the K two field picture has hot spot; Otherwise the K two field picture does not have hot spot.
Step S204 judges further whether K equals 1, if, execution in step S216 then, otherwise, execution in step S205;
Step S205 judges former frame is whether the K-1 two field picture has hot spot, if, execution in step S206, otherwise, execution in step S216;
In this step, whether hot spot number that specifically can be by judging the K-1 two field picture that facula information is obtained in handling determines whether K-1 two field picture have hot spot greater than 0: when the hot spot number greater than 0 the time, then the K-1 two field picture has hot spot; Otherwise the K-1 two field picture does not have hot spot.
Step S206 judges whether the hot spot of K-1 two field picture has mark, if, execution in step S207, otherwise, execution in step S210;
In this step, when the hot spot of K-1 two field picture has the hot spot mark, illustrate the hot spot of K-1 two field picture is distinguished, and mark solar facula and/or ground photospheric facula, need execution in step S207 this moment; When the hot spot of K-1 two field picture does not have the hot spot mark, illustrate also and the hot spot of K-1 two field picture is not distinguished, need execution in step S210.
Step S207, obtain digital sun sensor to the solar facula of K-1 two field picture at the i.e. estimated moving distance ds^ in the K two field picture of next frame;
Particularly, in this step, when the existing solar facula of K-1 two field picture also has the ground photospheric facula, in order to improve treatment effeciency, digital sun sensor can select one to estimate: if solar facula is estimated, then obtain the estimated moving distance ds^ of solar facula; If photospheric facula is estimated over the ground, then obtain the estimated moving distance de^ of ground photospheric facula;
In this step, digital sun sensor is estimated solar facula or ground photospheric facula, specifically can be according to satellite orbit parameter, the sun or earth movements parameter, and mark solar facula or the position of photospheric facula in the K-1 two field picture, ground, estimate that it is at i.e. displacement ds^ or the de^ in the K two field picture of next frame.
Step S208 calculates a certain hot spot in the K two field picture with respect to the solar facula of K-1 two field picture or the actual displacement d of ground photospheric facula;
When step S207 is when the solar facula of K-1 two field picture is estimated to obtain ds^, then from the optional hot spot of K frame, calculate its actual displacement d with respect to the solar facula of K-1 two field picture, particularly, the facula mass center coordinate of solar facula in the K-1 two field picture that obtains the facula mass center coordinate of the described hot spot of K two field picture that obtains in the facula information processing and obtain, the coordinate difference of the described K two field picture that calculating is obtained and the facula mass center coordinate of K-1 two field picture, and described coordinate difference asked mould, promptly obtain the actual displacement d of described hot spot with respect to the solar facula of K-1 two field picture;
When step S207 is when the ground photospheric facula of K-1 two field picture is estimated to obtain de^, then from the optional hot spot of K frame, calculate its actual displacement d with respect to ground photospheric facula corresponding in the K-1 two field picture, particularly, obtain in the facula mass center coordinate of described hot spot of the K two field picture that facula information obtains in handling and the K-1 two field picture that obtains the facula mass center coordinate of photospheric facula, the coordinate difference of the described K two field picture that calculating is obtained and the facula mass center coordinate of K-1 two field picture, and described coordinate difference asked mould, promptly obtain the actual displacement d of described hot spot with respect to the ground photospheric facula of K-1 two field picture.
Step S209, more described d and ds^ or de^, and the hot spot of K two field picture is carried out mark, execution in step S216 then according to comparative result;
In this step,, then calculate the absolute difference of described d and ds^, if described absolute difference is less than default estimation maximum deviation, then both unanimities when step S207 is when the solar facula of K-1 two field picture is estimated to obtain ds^; Otherwise both are inconsistent.When comparative result for both when consistent, then current hot spot is labeled as solar facula, if another hot spot is arranged, then be labeled as the ground photospheric facula; When comparative result for both when inconsistent, then current hot spot is labeled as the ground photospheric facula, if another hot spot is arranged, then be labeled as solar facula.
When step S207 is when the ground photospheric facula of K-1 two field picture is estimated to obtain de^, then calculate the absolute difference of described d and de^, if described absolute difference during, then both unanimities less than default estimation maximum deviation; Otherwise both are inconsistent.When comparative result for both when consistent, then current hot spot is labeled as the ground photospheric facula, if another hot spot is arranged, then be labeled as solar facula; When comparative result for both when inconsistent, then current hot spot is labeled as solar facula, if another hot spot is arranged, then be labeled as the ground photospheric facula.
Step S210 is according to the hot spot of hot spot characteristic matching K two field picture and K-1 two field picture;
In this step, specifically mate according to the total pixel of hot spot of the hot spot of the total pixel of hot spot of the hot spot of K-1 two field picture, hot spot maximum gradation value etc. and K two field picture, hot spot maximum gradation value etc., the total pixel of hot spot of a certain hot spot in can mark K-1 two field picture is that Pixel (k-1), hot spot maximum gradation value are Im (k-1), the total pixel of the hot spot of a certain hot spot is that Pixel (k), hot spot maximum gradation value are Im (k) in the K two field picture, if then satisfy the following formula condition: | Pixel (k)-Pixel (k-1) |＜10; | Im (k)-Im (k-1) |＜15, can think that then a certain hot spot is complementary in a certain hot spot in the described K two field picture and the described K-1 two field picture, maximum total pixel difference and maximum gradation value that in the wherein above-mentioned formula 10 and 15 is respectively default are poor, maximum total pixel difference and maximum gradation value difference can specifically be provided with according to the pixel and the gray shade scale of hot spot, in the present embodiment, the gray shade scale of hot spot is 1～255, the pixel that obtains hot spot according to experiment is 50～100, more preferably, it is 10 that maximum total pixel difference can be set, and the maximum gradation value difference is 15.
Whether step S211 exists a hot spot that is complementary at least, if, execution in step S212, otherwise, execution in step S216;
Step S212 supposes that this hot spot that is complementary is a solar facula, and is labeled as the supposition solar facula;
In this step, the hot spot that this can be complementary is assumed to solar facula, also can be assumed to the ground photospheric facula, is that this coupling hot spot is labeled as the supposition solar facula in the present embodiment, describes; Can certainly be assumed to the ground photospheric facula, if should mate hot spot is labeled as photospheric facula potentially, then subsequent step is similar with the step of supposition solar facula, just specifically judges according to the motion track of ground photospheric facula, repeats no more.
Step S213 obtains the estimated moving distance ds^ of above-mentioned supposition solar facula in the K-1 two field picture;
Wherein, digital sun sensor carries out track to the supposition solar facula and estimates, specifically can be according to satellite orbit parameter, sun's motion parameter and the position of supposition solar facula in the K-1 two field picture, estimate that it is at the i.e. displacement ds^ in the K two field picture of next frame.
Step S214 calculates the supposition solar facula of K two field picture, with respect to the actual displacement d of supposition solar facula in the K-1 two field picture;
Be specially, obtain the facula mass center coordinate of the supposition solar facula of the facula mass center coordinate of described supposition solar facula of the K two field picture that facula information obtains in handling and the K-1 two field picture that obtains, the coordinate difference of the described K two field picture that calculating is obtained and the supposition solar facula center-of-mass coordinate of K-1 two field picture, and described coordinate difference asked mould, that is: obtain the actual displacement d of the supposition solar facula of described K two field picture with respect to the supposition solar facula of K-1 two field picture;
Step S215 calculates the absolute difference of described d and ds^, and when described absolute difference during less than default estimation maximum deviation, then absolute difference is consistent with the estimation maximum deviation; Otherwise absolute difference is inconsistent with the estimation maximum deviation.When comparative result for both when consistent, then current supposition solar facula is labeled as solar facula, if another hot spot is arranged, then be labeled as the ground photospheric facula; When comparative result for both when inconsistent, then current supposition solar facula is labeled as the ground photospheric facula, if another hot spot is arranged, then be labeled as solar facula, then execution in step S216;
Step S216 is to the value increase by 1 of image sequence variable K, execution in step S202.
Fig. 3 shows the composition structure of functional module that the present invention is used for the spot identification device of digital sun sensor, facula information processing module 11 among the figure and track estimation module 12 are other functional module of digital sun sensor, storer 14 is the facula information memory storage of digital sun sensor, and it further comprises hot spot mark memory 141, hot spot number storer 142, hot spot maximum gradation value storer 143, the total pixel memories 144 of hot spot and facula mass center coordinate storage 145; Described device comprises spot identification judge module 13, is used for according to the hot spot motion track, distinguishes also identification solar facula and ground photospheric facula, and according to recognition result, and the hot spot of current frame image is carried out mark.
Further, spot identification judge module 13 comprises hot spot maximum gradation value comparison sub-module 131, the total pixel comparison sub-module 132 of hot spot, actual displacement calculating sub module 133 and displacement comparison sub-module 134, identification judgement state machine 135, read/write address generator 136.
Wherein, hot spot maximum gradation value comparison sub-module 131, be used to calculate the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum gradation value difference are compared;
The total pixel comparison sub-module 132 of hot spot is used to calculate the total pixel value difference absolute value of hot spot of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum total pixel difference are compared;
Actual displacement calculating sub module 133, be used to calculate the facula mass center mould corresponding of the described former frame image of described memory stores, obtain the actual displacement of the hot spot of described current frame image with respect to the hot spot of described former frame image with the coordinate difference of the facula mass center of the described current frame image of storage;
Displacement comparison sub-module 134 is used to calculate the absolute difference of described actual displacement calculating sub module actual displacement that obtains and the estimated moving distance that obtains, and described absolute difference and default estimation maximum deviation are compared;
Read/write address generator 136 is used for producing read-write hot spot mark memory 141, hot spot number storer 142, hot spot maximum gradation value storer 143, the total pixel memories 144 of hot spot and facula mass center coordinate storage 145 address signals.
In addition, the described spot identification device that is used for digital sun sensor can be based on field programmable gate array (Field Programmable Gate Array, FPGA) realize, again because existing digital sun sensor great majority also are based on the realization that FPGA carries out, therefore more help the integrated design of described device and digital sun sensor, Fig. 4 shows the composition structure of the spot identification device that is used for digital sun sensor of the present invention's realization based on the FPGA realization, wherein, the fpga chip that described device uses can be the fpga chip XCV300 of Xilinx, as shown in Figure 4, wherein, facula information processing module 11, identical among track estimation module 12 and storer 14 and Fig. 3 repeats no more.
By high-speed integrated circuit hardware description language (Very-High-Speed Integrated CircuitHardwareDescription Language, VHDL) fpga chip is programmed, obtain discerning the specific implementation of judging state machine 235, identification judges that state machine 235 is used for doing analysis and judgement according to the facula information of obtaining, and finishes identification and mark to the current frame image hot spot.
In like manner fpga chip is programmed by VHDL, the specific implementation of read/write address generator 236, read/write address generator 236 is used to read or preserve the facula information of image, comprises hot spot mark, hot spot number, hot spot maximum gradation value, the total pixel 4 of hot spot and facula mass center coordinate.
In like manner fpga chip is programmed by VHDL, obtain subtracter 2311 and comparer 2312, subtracter 2311 and comparer 2312 are the specific implementation of hot spot maximum gradation value comparison sub-module 131 among Fig. 3, subtracter 2311 is used to calculate the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot maximum gradation value of hot spot of former frame image of hot spot maximum gradation value storer 143 storages and current frame image, comparer 2312 is used for described absolute difference and the maximum gradation value difference of presetting are compared, can set when described absolute difference during less than described maximum gradation value difference, output 1, otherwise export 0, in like manner, also can set when described absolute difference during less than described maximum gradation value difference, output 0, otherwise export 1.
In like manner fpga chip is programmed by VHDL, obtain subtracter 2321 and comparer 2322, subtracter 2321 and comparer 2322 is the specific implementation of the total pixel comparison sub-module 132 of hot spot among Fig. 3: subtracter 2321 is used to calculate the total pixel value difference absolute value of hot spot of the hot spot of the total pixel of hot spot of former frame image spot of total pixel memories 144 storages of hot spot and current frame image, comparer 2322 is used for described absolute difference and the total pixel difference of default maximum are compared, can set when described absolute difference during less than the total pixel difference of described maximum, output 1, otherwise export 0, in like manner, also can set when described absolute difference during less than described maximum gradation value difference, output 0, otherwise export 1.
In like manner fpga chip is programmed by VHDL, obtain X subtracter 2331, Y subtracter 2332 and ask modular arithmetic device 2333, X subtracter 2331, Y subtracter 2332 and ask modular arithmetic device 2333 specific implementation for actual displacement calculating sub module 133 among Fig. 3, X subtracter 2331 are used to calculate the difference of X coordinate of the facula mass center of the X coordinate of facula mass center of former frame image of facula mass center coordinate storage 145 storages and current frame image; Y subtracter 2332 is used to calculate the difference of Y coordinate of the facula mass center of the Y coordinate of facula mass center of former frame image of facula mass center coordinate storage 145 storages and current frame image; Ask modular arithmetic device 2333 to be used for the coordinate difference that X subtracter 2331 and Y subtracter 2332 obtain is asked mould, obtain the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image.
In like manner fpga chip is programmed by VHDL, obtain subtracter 2341 and comparer 2342, subtracter 2341 and comparer 2342 is the specific implementation of displacement comparison sub-module 134 among Fig. 3: subtracter 2341 is used to calculate the absolute difference of asking the estimated moving distance that actual displacement that modular arithmetic device 2333 obtains and described track estimation module 12 obtain, comparer 2342 is used for described absolute difference and the estimation maximum deviation of presetting are compared, can set when described absolute difference during less than described estimation maximum deviation, output 1, otherwise export 0, in like manner, also can set when described absolute difference during less than described maximum gradation value difference, output 0, otherwise export 1.
Spot identification method and the device that is used for digital sun sensor provided by the invention, distinguish identification solar facula and ground photospheric facula according to the motion track of hot spot, thereby avoided the influence of earth light to digital sun sensor, not only overcome according to the hot spot Changing Pattern of energy cosine effect and distinguished the existing error of hot spot, do not need simultaneously digital sun sensor is added special narrow-band filtering to reduce the earth light light intensity that arrives, reduce the design difficulty of digital sun sensor, guaranteed the reliably working of digital sun sensor; Said apparatus can also be realized based on FPGA simultaneously, helps the integrated design of digital sun sensor.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (9)
1. a spot identification method that is used for digital sun sensor is characterized in that described method comprises the steps:
Obtain the estimated moving distance of hot spot in current frame image of digital sun sensor former frame image;
Calculate the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image;
Actual displacement and estimated moving distance are compared, the hot spot of current frame image is carried out mark according to comparative result.
2. method according to claim 1 is characterized in that, the hot spot of described calculating current frame image with respect to the actual displacement of the hot spot of former frame image is:
Calculate the facula mass center mould corresponding of former frame image, obtain the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image with the coordinate difference of the facula mass center of current frame image.
3. method according to claim 1 is characterized in that, described actual displacement and estimated moving distance is compared, and according to comparative result the hot spot of current frame image is carried out mark and is specially:
Calculate the absolute difference of actual displacement and estimated moving distance, when difference absolute value during less than default estimation maximum deviation, then absolute difference with estimate that maximum deviation is consistent, otherwise absolute difference is inconsistent with the estimation maximum deviation;
When both unanimities, and the hot spot of described former frame image is labeled as solar facula or ground during photospheric facula, and then the hot spot with described current frame image is labeled as solar facula or ground photospheric facula, if there is another hot spot then to be labeled as ground photospheric facula or solar facula;
When both are inconsistent, and the hot spot of described former frame image is when being labeled as solar facula or ground photospheric facula, and then the hot spot with described current frame image is labeled as ground photospheric facula or solar facula, if there is another hot spot then to be labeled as solar facula or ground photospheric facula.
4. method according to claim 1 is characterized in that, when the hot spot of described former frame image did not have the hot spot mark, described method also comprised:
According to the hot spot of hot spot characteristic matching current frame image and the hot spot of former frame image, when having a hot spot that is complementary at least, the hot spot that will be complementary is labeled as the supposition solar facula;
Correspondingly, the described estimated moving distance of hot spot in the next frame image that obtains digital sun sensor former frame image is specially: the estimated moving distance of supposition solar facula in current frame image that obtains digital sun sensor former frame image;
The hot spot of described calculating current frame image is specially with respect to the actual displacement of the hot spot of former frame image: calculate the actual displacement of the supposition solar facula of current frame image with respect to the supposition solar facula of former frame image.
5. method according to claim 4 is characterized in that, describedly is specially according to the hot spot of hot spot characteristic matching current frame image and the hot spot of former frame image:
The total pixel of hot spot of the hot spot of calculating former frame image and the hot spot of current frame image and the absolute difference of hot spot maximum gradation value;
When the absolute difference of the absolute difference of the total pixel of described hot spot and described hot spot maximum gradation value during respectively less than default maximum total pixel difference and maximum gradation value difference, both couplings then.
6. method according to claim 4 is characterized in that, described actual displacement and estimated moving distance is compared, and according to comparative result the hot spot of current frame image is carried out mark and is specially:
The actual displacement of calculation assumption solar facula and the absolute difference of estimated moving distance when described absolute difference during less than default estimation maximum deviation, suppose that then mark is correct, otherwise, suppose that mark is incorrect;
Suppose when mark is correct, the supposition solar facula of current frame image is labeled as solar facula, if there is another hot spot then to be labeled as the ground photospheric facula; Suppose when mark is incorrect, the supposition solar facula of current frame image is labeled as the ground photospheric facula, if there is another hot spot then to be labeled as solar facula.
7. a spot identification device that is used for digital sun sensor is characterized in that described device comprises the spot identification judge module, be used for according to the hot spot motion track, distinguish also identification solar facula and ground photospheric facula, and according to recognition result, the hot spot of current frame image is carried out mark.
8. device according to claim 7 is characterized in that, described spot identification judge module also comprises:
Hot spot maximum gradation value comparison sub-module is used to calculate the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum gradation value difference are compared;
The total pixel comparison sub-module of hot spot is used to calculate the total pixel value difference absolute value of hot spot of the hot spot of the hot spot of described former frame image and described current frame image, and described absolute difference and default maximum total pixel difference are compared;
Actual displacement calculating sub module, be used to calculate the facula mass center mould corresponding of described former frame image of the memory stores of described digital sun sensor, obtain the actual displacement of the hot spot of described current frame image with respect to the hot spot of described former frame image with the coordinate difference of the facula mass center of the described current frame image of storage;
The displacement comparison sub-module is used to calculate the absolute difference of described actual displacement calculating sub module actual displacement that obtains and the estimated moving distance that obtains, and described absolute difference and default estimation maximum deviation are compared;
State machine is judged in identification, is used for the facula information according to former frame image and current frame image, and the output result of above-mentioned submodule, and analysis and judgement is finished identification and mark to the hot spot of current frame image; The read/write address generator is used to read required facula information, and storage identification judges that the hot spot mark result of state machine output is to the hot spot mark memory.
9. device according to claim 8, it is characterized in that, when described device is realized based on FPGA, described hot spot maximum gradation value comparison sub-module is realized by subtracter and comparer, subtracter is used for the absolute difference of hot spot maximum gradation value of the hot spot of the hot spot maximum gradation value of hot spot of former frame image of computing store storage and current frame image, comparer is used for described absolute difference and the maximum gradation value difference of presetting are compared, and comparative result is exported to identification judge state machine;
The total pixel comparison sub-module of described hot spot is realized by subtracter and comparer, subtracter is used for the total pixel value difference absolute value of hot spot of the hot spot of the total pixel of hot spot of former frame image spot of computing store storage and current frame image, comparer is used for described absolute difference and the total pixel difference of default maximum are compared, and comparative result is exported to identification judge state machine;
Described actual displacement submodule is by X subtracter, Y subtracter and ask the modular arithmetic device to realize, the X subtracter is used to calculate the difference of X coordinate of the facula mass center of the X coordinate of facula mass center of former frame image of described memory stores and current frame image; The Y subtracter is used to calculate the difference of Y coordinate of the facula mass center of the Y coordinate of facula mass center of former frame image of described memory stores and current frame image; Ask the modular arithmetic device to be used for the coordinate difference that X subtracter and Y subtracter obtain is asked mould, obtain the actual displacement of the hot spot of current frame image with respect to the hot spot of former frame image;
Described displacement comparison sub-module is realized by subtracter and comparer, subtracter is used to calculate the absolute difference of asking modular arithmetic device actual displacement that obtains and the estimated moving distance that obtains, comparer is used for described absolute difference and the estimation maximum deviation of presetting are compared, and comparative result is exported to identification judge state machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010567899 CN102034091B (en) | 2010-12-01 | 2010-12-01 | Light spot identifying method and device for digital sun sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010567899 CN102034091B (en) | 2010-12-01 | 2010-12-01 | Light spot identifying method and device for digital sun sensor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102034091A true CN102034091A (en) | 2011-04-27 |
| CN102034091B CN102034091B (en) | 2013-05-22 |
Family
ID=43886955
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010567899 Expired - Fee Related CN102034091B (en) | 2010-12-01 | 2010-12-01 | Light spot identifying method and device for digital sun sensor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102034091B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103411579A (en) * | 2013-07-25 | 2013-11-27 | 北京控制工程研究所 | Image extraction method in linear array APS sun sensor |
| CN104182938B (en) * | 2014-08-18 | 2017-01-18 | 国家电网公司 | Solar facula repairing method of all-sky nephogram |
| CN108827279A (en) * | 2018-04-11 | 2018-11-16 | 西北工业大学 | A kind of analog sun sensor anti-interference method based on earth light |
| CN111121822A (en) * | 2019-12-25 | 2020-05-08 | 南京先进激光技术研究院 | Method for solving automatic correction pointing of star sensor camera by utilizing image recognition |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060042624A1 (en) * | 2004-08-30 | 2006-03-02 | Yaoming Zhang | Heliostat device |
| CN1907809A (en) * | 2006-08-01 | 2007-02-07 | 北京航空航天大学 | High precision APS sun sensor |
| CN101089553A (en) * | 2007-07-06 | 2007-12-19 | 中国科学院上海技术物理研究所 | Method of preventing earth light for digital solar sensor |
| CN101363732A (en) * | 2008-09-17 | 2009-02-11 | 北京航空航天大学 | High frame frequency sun sensor and implementing method thereof |
-
2010
- 2010-12-01 CN CN 201010567899 patent/CN102034091B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060042624A1 (en) * | 2004-08-30 | 2006-03-02 | Yaoming Zhang | Heliostat device |
| CN1907809A (en) * | 2006-08-01 | 2007-02-07 | 北京航空航天大学 | High precision APS sun sensor |
| CN101089553A (en) * | 2007-07-06 | 2007-12-19 | 中国科学院上海技术物理研究所 | Method of preventing earth light for digital solar sensor |
| CN101363732A (en) * | 2008-09-17 | 2009-02-11 | 北京航空航天大学 | High frame frequency sun sensor and implementing method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103411579A (en) * | 2013-07-25 | 2013-11-27 | 北京控制工程研究所 | Image extraction method in linear array APS sun sensor |
| CN103411579B (en) * | 2013-07-25 | 2015-05-27 | 北京控制工程研究所 | Image extraction method in linear array APS sun sensor |
| CN104182938B (en) * | 2014-08-18 | 2017-01-18 | 国家电网公司 | Solar facula repairing method of all-sky nephogram |
| CN108827279A (en) * | 2018-04-11 | 2018-11-16 | 西北工业大学 | A kind of analog sun sensor anti-interference method based on earth light |
| CN108827279B (en) * | 2018-04-11 | 2021-10-26 | 西北工业大学 | Simulated sun sensor anti-interference method based on earth albedo |
| CN111121822A (en) * | 2019-12-25 | 2020-05-08 | 南京先进激光技术研究院 | Method for solving automatic correction pointing of star sensor camera by utilizing image recognition |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102034091B (en) | 2013-05-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230260151A1 (en) | Simultaneous Localization and Mapping Method, Device, System and Storage Medium | |
| CN111983639B (en) | Multi-sensor SLAM method based on Multi-Camera/Lidar/IMU | |
| US11466988B2 (en) | Method and device for extracting key frames in simultaneous localization and mapping and smart device | |
| CN109631896B (en) | Parking lot autonomous parking positioning method based on vehicle vision and motion information | |
| CN109029433A (en) | Join outside the calibration of view-based access control model and inertial navigation fusion SLAM on a kind of mobile platform and the method for timing | |
| CN100498821C (en) | Infrared image real-time target identification and tracking device for movement background, and the method | |
| Qin et al. | Relocalization, global optimization and map merging for monocular visual-inertial SLAM | |
| CN106679634B (en) | A kind of space non-cooperative target pose measuring method based on stereoscopic vision | |
| CN110261870A (en) | It is a kind of to synchronize positioning for vision-inertia-laser fusion and build drawing method | |
| CN111210477A (en) | Method and system for positioning moving target | |
| CN103106659A (en) | Open area target detection and tracking method based on binocular vision sparse point matching | |
| CN100405017C (en) | Method and device for processing signal of hole array sun sensor | |
| US20190182475A1 (en) | Dual camera system for real-time depth map generation | |
| CN102034091B (en) | Light spot identifying method and device for digital sun sensor | |
| CN101363732B (en) | High frame frequency sun sensor and implementing method thereof | |
| CN103198477A (en) | Apple fruitlet bagging robot visual positioning method | |
| CN103391430B (en) | DSP (digital signal processor) based relevant tracking method and special device | |
| CN104680522A (en) | Visual positioning method based on synchronous working of front and back cameras of smart phone | |
| CN103994755A (en) | Space non-cooperative target pose measurement method based on model | |
| Nezhadarya et al. | Boxnet: A deep learning method for 2d bounding box estimation from bird's-eye view point cloud | |
| CN102902975B (en) | Sun positioning method based on complementary metal-oxide-semiconductor transistor (CMOS) navigation camera | |
| Li et al. | A binocular MSCKF-based visual inertial odometry system using LK optical flow | |
| Qimin et al. | A methodology of vehicle speed estimation based on optical flow | |
| CN106408593A (en) | Video-based vehicle tracking method and device | |
| CN113610932A (en) | Binocular camera external parameter calibration method and device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130522 Termination date: 20211201 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |