CN103438905B - A kind of star sensor star catalogue complete evaluation method - Google Patents
A kind of star sensor star catalogue complete evaluation method Download PDFInfo
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- CN103438905B CN103438905B CN201310398353.7A CN201310398353A CN103438905B CN 103438905 B CN103438905 B CN 103438905B CN 201310398353 A CN201310398353 A CN 201310398353A CN 103438905 B CN103438905 B CN 103438905B
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Abstract
The present invention relates to a kind of star sensor star catalogue complete evaluation method in Star navigation system technology.Comprise: determine star sensor optical axis Observable celestial sphere region Lower and upper bounds scope; Celestial sphere is expressed as a series of spherical triangle, stores each sphere apex coordinate; Solve all sphere centers of circle and radius; Determine that nautical star is positioned at the condition of border circular areas; Determine the condition of spherical triangle subdivision; Carry out four-tuple subdivision; The Observable nautical star result of adding up all spherical triangles obtains the nautical star that this star sensor can observe under any optical axis of whole day ball points to; According to the star sensor Observable nautical star number condition of setting, obtain the complete celestial sphere region of navigational star table and the incomplete celestial sphere region of navigational star table, finally obtain star sensor navigational star table complete evaluation statistics.Compared with the existing technology: star sensor can be provided and can observe that the optical axis of abundant nautical star points to scope and number at whole day ball, effectively can carry out star catalogue complete evaluation.
Description
Technical field
The invention belongs to Star navigation system technical field, relate to a kind of star sensor star catalogue complete evaluation method.
Background technology
Star sensor is a kind of high-precision independent attitude sensor, has the advantages such as volume is little, quality is light, low in energy consumption, achieves apply widely at space industry.In Star-Sensor Design process, building navigational star table is a basic work.In order to ensure that star sensor possesses whole day independent navigation ability, requiring that the navigational star table built must meet star sensor and can both observe abundant nautical star under any optical axis points to, being called that navigational star table is complete.At present, the Completeness of navigational star table has come mainly through Monte Carlo simulation, and it can provide the nautical star number that the lower star sensor of each test optical axis sensing observes, and provides its statistical value, generally judges that whether star catalogue is complete based on its statistical probability.But Monte Carlo simulation can not provide star sensor whole day ball can observe abundant nautical star optical axis point to scope, and in office mean to guarantee to observe downwards nautical star and number, therefore effectively can not carry out star catalogue complete evaluation.
Summary of the invention
For above-mentioned problems of the prior art, the present invention proposes a kind of star sensor star catalogue complete evaluation method based on Grid data model, utilize Grid data model to show complete evaluation to the partitioned representation of celestial sphere to realize whole day soccer star.
Now the inventive method design and technical solution are described below:
Basic thought of the present invention is the multiresolution and hierarchical organization characteristic that utilize Grid data model to have, complete the partitioned representation of celestial sphere, relative position relation condition both when navigation star meets star sensor observable condition, obtains the complete evaluation result of star sensor star catalogue at whole day ball.
In order to realize foregoing invention thought, a kind of star sensor star catalogue of the present invention complete evaluation method, is characterized in that: implementation method comprises the following steps:
Step 1: star sensor Observable celestial sphere region Lower and upper bounds scope when determining that star sensor optical axis is positioned at circular celestial sphere region;
Step 2: the partitioned representation method obtaining celestial sphere based on octahedra Grid and four-tuple subdivision, and then celestial sphere is expressed as a series of spherical triangle, store the apex coordinate of each spherical triangle under three-dimensional system of coordinate;
Step 3: the circumscribed circle center of circle and the radius that solve all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle;
Step 4: determine that nautical star is positioned at the condition of the border circular areas of described Lower and upper bounds;
Step 5: determine whether spherical triangle continues the condition of subdivision:
Step 6: for the spherical triangle of inabundant subdivision, carry out further four-tuple subdivision to it, then repeat step 2,3,4,5 until all spherical triangles fully subdivision;
Step 7: the Observable nautical star result of adding up all spherical triangles, just obtains this star sensor under any optical axis of whole day ball points to, its nautical star that can observe;
Step 8: according to the star sensor Observable nautical star number condition of setting, obtains the complete celestial sphere region of navigational star table and the incomplete celestial sphere region of navigational star table, finally obtains star sensor navigational star table complete evaluation statistics.
The present invention further provides a kind of star sensor star catalogue complete evaluation method, it is characterized in that: the concrete steps of " the determining star sensor Observable region bound " described in step 1 are:
Step 1.1: the circular celestial sphere region for radius being r, and radius is the circular visual field star sensor of R, when star sensor optical axis is positioned at this circular celestial sphere region, the Observable celestial sphere region of upper bound defining this star sensor is be the center of circle with this center of circle, circular celestial sphere region, take R+r as the circular celestial sphere region of radius, and the Observable celestial sphere region of down bound defining this star sensor is be the center of circle with this center of circle, circular celestial sphere region, take R-r as the circular celestial sphere region of radius;
Step 1.2: when to be positioned at radius be the circular optional position, celestial sphere region of r to star sensor optical axis, star sensor visual field must comprise star sensor Observable celestial sphere region of down bound, be contained in star sensor Observable celestial sphere region of upper bound, the nautical star that definition is positioned at bound two region is respectively Observable upper bound nautical star and Observable lower bound nautical star;
Step 1.3: if the nautical star that both comprise is identical, force criterion must as drawn a conclusion by folder: when the radius being positioned at this discussion for star sensor optical axis is the circular optional position, celestial sphere region of r, star sensor Observable nautical star is determined, be exactly Observable upper bound nautical star or Observable lower bound nautical star, and can be determined by above-mentioned steps.
The present invention further provides a kind of star sensor star catalogue complete evaluation method, it is characterized in that: the concrete steps of " solve the circumscribed circle center of circle and the radius of all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle " described in step 3 are:
Step 3.1: the circumscribed circle center of circle and the radius that solve all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle;
Step 3.2: the elementary cell respectively circumscribed circle of each spherical triangle being discussed in step 1 star sensor Observable region bound, is called and points to circle;
Step 3.3: analyze Observable upper bound nautical star when star sensor optical axis is positioned at this border circular areas and Observable lower bound nautical star;
Step 3.4: be the round variable set up respectively for storing Observable upper bound nautical star and Observable lower bound nautical star of sensing that each spherical triangle is corresponding, for storing result of calculation.
The present invention further provides a kind of star sensor star catalogue complete evaluation method, it is characterized in that: " the determining that nautical star is positioned at the condition of the border circular areas of described Lower and upper bounds " described in step 4 refers to that this nautical star is less than the radius of Lower and upper bounds border circular areas apart from the angular distance at described Lower and upper bounds border circular areas center.
The present invention further provides a kind of star sensor star catalogue complete evaluation method, it is characterized in that: the concrete steps " determining whether spherical triangle continues the condition of subdivision " described in step 5 are:
Step 5.1: add up Observable upper bound nautical star corresponding to each spherical triangle and Observable lower bound nautical star, if both are identical, defines the spherical triangle fully subdivision of its correspondence;
Step 5.2: if both are incomplete same, defines the inabundant subdivision of spherical triangle of its correspondence;
The present invention further provides a kind of star sensor star catalogue complete evaluation method, it is characterized in that: the concrete steps of " finally the obtaining star sensor navigational star table complete evaluation statistics " described in step 8 are:
Step 8.1: for the spherical triangle of abundant subdivision, the spherical triangle apex coordinate of correspondence, circumscribed circle central coordinate of circle, radius size, Observable nautical star are stored in outcome variable, add up for result;
Step 8.2: for the spherical triangle of inabundant subdivision, further four-tuple subdivision is carried out to it, then repeats step 2,3,4,5, until all spherical triangles fully subdivision;
Step 8.3: the Observable nautical star result of adding up all spherical triangles, just obtains this star sensor under any optical axis of whole day ball points to, its nautical star that can observe.
Step 8.4: according to the star sensor Observable nautical star number condition of setting, obtains the complete celestial sphere region of navigational star table and the incomplete celestial sphere region of navigational star table, finally obtains star sensor navigational star table complete evaluation result.
The inventive method superiority is compared with the existing technology: can provide star sensor whole day ball can observe abundant nautical star optical axis point to scope and in office mean to guarantee to observe downwards nautical star and number, effectively can carry out star catalogue complete evaluation.
Accompanying drawing explanation
Fig. 1: star sensor Observable celestial sphere region of upper bound schematic diagram
Fig. 2: star sensor Observable celestial sphere region of down bound schematic diagram
Fig. 3: the celestial sphere partitioned representation method schematic diagram that four-tuple subdivision obtains
Fig. 4: the circumscribed circle schematic diagram of celestial sphere division and spherical triangle
Embodiment
Now the specific embodiment of the invention is applied to emulation experiment, its application process is described in further detail:
Embodiment
Experiment condition: assembling computing machine (CPU:i3-2120, internal memory: 3.48GB), Matlab7.1, emulation star sensor is 8 ° × 8 ° circular visual fields, and emulation containing 2837 nautical stars, represents corresponding nautical star with sequence number with navigational star table.For octahedra Grid subdivision 6 times, obtain 32768, spherical triangle, its circumradius maximal value is about 1.2 °.
Concrete implementation step is as follows:
Step 1: determine star sensor Observable region bound
Step 1.1: the circular celestial sphere region for radius being r=1.27 °, and radius is the circular visual field star sensor of R=4 °, when star sensor optical axis is positioned at this circular celestial sphere region, the Observable celestial sphere region of upper bound defining this star sensor be with this center of circle, circular celestial sphere region be the center of circle, the circular celestial sphere region that is radius with R+r=5.27 °, the Observable celestial sphere region of down bound defining this star sensor is be the center of circle with this center of circle, circular celestial sphere region, be the circular celestial sphere region of radius with R-r=2.73 °;
Step 1.2: when to be positioned at radius be the circular optional position, celestial sphere region of r=1.27 ° to star sensor optical axis, star sensor visual field must comprise star sensor Observable celestial sphere region of down bound, be contained in star sensor Observable celestial sphere region of upper bound, the nautical star that definition is positioned at bound two region is respectively Observable upper bound nautical star and Observable lower bound nautical star;
Step 1.3: if the nautical star that both comprise is identical, sequence number as Observable upper bound nautical star is (2186, 2189, 2251), the sequence number of Observable lower bound nautical star is also (2186, 2189, 2251), force criterion must as drawn a conclusion by folder: when the radius being positioned at this discussion for star sensor optical axis is the circular optional position, celestial sphere region of r=1.27 °, star sensor Observable nautical star is determined, be exactly Observable upper bound nautical star or Observable lower bound nautical star, and can be determined by above-mentioned steps, namely the sequence number of Observable nautical star is (2186, 2189, 2251).
Step 2: the partitioned representation of celestial sphere
The celestial sphere partitioned representation method with hierarchical organization characteristic and multi-resolution characteristics can be obtained based on octahedra Grid and four-tuple subdivision, and then celestial sphere can be expressed as a series of spherical triangle, as octahedra Grid obtains 32768 spherical triangles through 6 subdivisions;
Step 3: the circumscribed circle center of circle and the radius that solve each spherical triangle
Solve the circumscribed circle center of circle and the radius of all spherical triangles, circumscribed circle central coordinate of circle as a certain spherical triangle is (0.5774,0.5774,0.5774), radius is 1.27 °, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle; Respectively the circumscribed circle of each spherical triangle is discussed in step 1 elementary cell of star sensor Observable region bound, be called and point to circle.Analyze Observable upper bound nautical star when star sensor optical axis is positioned at this border circular areas and Observable lower bound nautical star; For the variable that the sensing circle that each spherical triangle is corresponding is set up respectively for storing Observable upper bound nautical star and Observable lower bound nautical star, for storing result of calculation;
Step 4: determine that nautical star is positioned at the condition of the border circular areas of described Lower and upper bounds: this nautical star is less than the radius of Lower and upper bounds border circular areas apart from the angular distance at described Lower and upper bounds border circular areas center; As nautical star 2278 is about 1.63 ° apart from the angular distance of (0.0123 ,-0.0123 ,-0.9998), be less than 2.73 °, therefore, nautical star 2278 is positioned at (0.0123,-0.0123 ,-0.9998) radius centered by is in the border circular areas of 2.73 °; Also be less than 5.27 °, therefore, nautical star 2278 radius be also positioned at centered by (0.0123 ,-0.0123 ,-0.9998) is in the border circular areas of 5.27 °;
Step 5: determine whether spherical triangle continues the condition of subdivision
Add up Observable upper bound nautical star corresponding to each spherical triangle and Observable lower bound nautical star, if both are identical, define the spherical triangle fully subdivision of its correspondence, Observable upper bound nautical star as corresponding in certain spherical triangle in step 1.3 and the sequence number of Observable lower bound nautical star are all (2186,2189,2251), then its abundant subdivision; If both are incomplete same, define the inabundant subdivision of spherical triangle of its correspondence, the sequence number of Observable upper bound nautical star as corresponding in certain spherical triangle is (29,171,1653,2278,2825), the sequence number of Observable lower bound nautical star is (2278,2825), then its inabundant subdivision;
Step 6: result is added up
For the spherical triangle of abundant subdivision, the spherical triangle apex coordinate of correspondence, circumscribed circle central coordinate of circle, radius size, Observable nautical star are stored in outcome variable, add up for result; For the spherical triangle of abundant subdivision, further four-tuple subdivision is carried out to it, then repeats step 3,4,5,6, until all spherical triangles fully subdivision (in emulation experiment the abundant subdivision of spherical calotte triangle); Add up the Observable nautical star result of all spherical triangles, just obtain this star sensor under any optical axis of whole day ball points to, its nautical star that can observe.According to the star sensor Observable nautical star number condition of setting, 3 are got in experiment, totally 315323, the complete spherical triangle of navigational star table can be obtained, 152400, the spherical triangle (wherein determining 63216, incomplete spherical triangle) that navigational star table is incomplete, finally obtains star sensor navigational star table complete evaluation result.
Subdivision number of times and all kinds of spherical triangle number
Claims (6)
1. a star sensor star catalogue complete evaluation method, it is characterized in that: the multiresolution utilizing Grid data model to have and hierarchical organization characteristic, complete the partitioned representation of celestial sphere, relative position relation condition both when navigation star meets star sensor observable condition, obtain the complete evaluation result of star sensor star catalogue at whole day ball, comprise the following steps:
Step 1: star sensor Observable celestial sphere region Lower and upper bounds scope when determining that star sensor optical axis is positioned at circular celestial sphere region;
Step 2: the partitioned representation method obtaining celestial sphere based on octahedra Grid and four-tuple subdivision, and then celestial sphere is expressed as a series of spherical triangle, store the apex coordinate of each spherical triangle under three-dimensional system of coordinate;
Step 3: the circumscribed circle center of circle and the radius that solve all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle;
Step 4: determine that nautical star is positioned at the condition of the border circular areas of described Lower and upper bounds;
Step 5: determine whether spherical triangle continues the condition of subdivision:
Step 6: for the spherical triangle of inabundant subdivision, carry out further four-tuple subdivision to it, then repeat step 2,3,4,5 until all spherical triangles fully subdivision;
Step 7: the Observable nautical star result of adding up all spherical triangles, just obtains this star sensor under any optical axis of whole day ball points to, its nautical star that can observe;
Step 8: according to the star sensor Observable nautical star number condition of setting, obtains the complete celestial sphere region of navigational star table and the incomplete celestial sphere region of navigational star table, finally obtains star sensor navigational star table complete evaluation statistics.
2. a kind of star sensor star catalogue complete evaluation method according to claim 1, is characterized in that: the concrete steps of " the determining star sensor Observable region bound " described in step 1 are:
Step 1.1: the circular celestial sphere region for radius being r, and radius is the circular visual field star sensor of R, when star sensor optical axis is positioned at this circular celestial sphere region, the Observable celestial sphere region of upper bound defining this star sensor is be the center of circle with this center of circle, circular celestial sphere region, take R+r as the circular celestial sphere region of radius, and the Observable celestial sphere region of down bound defining this star sensor is be the center of circle with this center of circle, circular celestial sphere region, take R-r as the circular celestial sphere region of radius;
Step 1.2: when to be positioned at radius be the circular optional position, celestial sphere region of r to star sensor optical axis, star sensor visual field must comprise star sensor Observable celestial sphere region of down bound, be contained in star sensor Observable celestial sphere region of upper bound, the nautical star that definition is positioned at bound two region is respectively Observable upper bound nautical star and Observable lower bound nautical star;
Step 1.3: if the nautical star that both comprise is identical, force criterion must as drawn a conclusion by folder: when the radius being positioned at this discussion for star sensor optical axis is the circular optional position, celestial sphere region of r, star sensor Observable nautical star is determined, be exactly Observable upper bound nautical star or Observable lower bound nautical star, and can be determined by above-mentioned steps.
3. a kind of star sensor star catalogue complete evaluation method according to claim 1, it is characterized in that: the concrete steps of " solve the circumscribed circle center of circle and the radius of all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle " described in step 3 are:
Step 3.1: the circumscribed circle center of circle and the radius that solve all spherical triangles, and the three-dimensional coordinate in the center of circle and the size of radius are stored into the position corresponding with this spherical triangle;
Step 3.2: the elementary cell respectively circumscribed circle of each spherical triangle being discussed in step 1 star sensor Observable region bound, is called and points to circle;
Step 3.3: analyze Observable upper bound nautical star when star sensor optical axis is positioned at this border circular areas and Observable lower bound nautical star;
Step 3.4: be the round variable set up respectively for storing Observable upper bound nautical star and Observable lower bound nautical star of sensing that each spherical triangle is corresponding, for storing result of calculation.
4. a kind of star sensor star catalogue complete evaluation method according to claim 1, is characterized in that: " the determining that nautical star is positioned at the condition of the border circular areas of described Lower and upper bounds " described in step 4 refers to that this nautical star is less than the radius of Lower and upper bounds border circular areas apart from the angular distance at described Lower and upper bounds border circular areas center.
5. a kind of star sensor star catalogue complete evaluation method according to claim 1, is characterized in that: the concrete steps " determining whether spherical triangle continues the condition of subdivision " described in step 5 are:
Step 5.1: add up Observable upper bound nautical star corresponding to each spherical triangle and Observable lower bound nautical star, if both are identical, defines the spherical triangle fully subdivision of its correspondence;
Step 5.2: if both are incomplete same, defines the inabundant subdivision of spherical triangle of its correspondence.
6. a kind of star sensor star catalogue complete evaluation method according to claim 1, it is characterized in that: in the spherical triangle situation of abundant subdivision, the spherical triangle apex coordinate of correspondence, circumscribed circle central coordinate of circle, radius size, Observable nautical star are stored in outcome variable, add up for result.
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| CN111928843B (en) * | 2020-07-31 | 2021-12-21 | 南京航空航天大学 | Star sensor-based medium and long distance target autonomous detection and tracking method |
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