CN103439976A - Automatic star finding and guiding control system and control method thereof - Google Patents
Automatic star finding and guiding control system and control method thereof Download PDFInfo
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Abstract
The invention provides an automatic star finding and guiding control system. The automatic star finding and guiding control system comprises an equatorial telescope, an astronomical telescope, a stepping motor, a stepping motor controller and a star guiding device. The equatorial telescope receives a signal output by the stepping motor controller and sends the signal to the stepping motor to control the astronomical telescope to work. The control system further comprises a telescope control module which is connected with an LCD and a keyboard and is further connected with the stepping motor controller in a communicated mode. The star guiding device comprises a star guiding camera, a TFT touch display screen and a star guiding control module, the star guiding camera and the TFT touch display screen are respectively connected with the star guiding control module, and the star guiding control module is connected with the telescope control module a USART in a serial communication mode. The star guiding control module processes and detects data of the star guiding camera, and then sends a control order to the telescope control module. The invention further provides an automatic star finding and guiding control method, a target star can be tracked in real time in the processes of finding and guiding the star, and the tracked result can be displayed on the TFT touch display screen in real time.
Description
[technical field]
The present invention relates to improve the accuracy of observation of astronomical telescope and simplify the feedback system of observation process, relate in particular to allow astronomical telescope there is Automatic-searching target celestial body, from motion tracking, guiding real time calibration function in control system and the control method thereof of automatic star-seeking and the guiding of one.
[background technology]
Astronomical test method is to carry out collection information by observation, and at present, astronomical telescope is the important tool of observation celestial body.The most brightness of it aerial celestial body is very dark, if will observe it, must use photographic equipment to expose for a long time to it, and the enough brightness of accumulative total could be presented in the script appearance of celestial body in face of us.And in long exposure process, it is constant that target celestial body must remain on the fixed position in the telescope visual field always, not so the image of taking can be smudgy, this just need telescope for a long time accurately the tracking target celestial body (because of earth rotation, the position of celestial body on high is can be mobile, along with the increase of telescope multiple, the visual field diminishes, and this moves effect can be more obvious).The effect of guiding is in the long-time tracing process of telescope, while due to reasons such as mechanical precision or pole axis are inaccurate, causing telescope accurately not follow the tracks of celestial body, by the movement of monitoring asterism, automatically adjust telescope, make target celestial body remain on fixed position, the visual field always.Guiding is very important in astronomical sight, for the observation of deep sky object indispensable device especially, precision own is seemed to particularly important lower small-sized astronomical telescope.And the realization of guiding function must be on existing tracking equipment.
The guiding scheme of current home and abroad main flow, generally to obtain the image of guiding telescope by special-purpose guiding CCD, after the image that the guiding software of computer end transmits as acquisition guiding CCD such as GuideMaster, PHD, the variation of the position by the asterism on the Real-Time Monitoring image, send corresponding order and proofreaied and correct to tracking equipment.So current guiding scheme needs the computer of an operation guiding program, if in the wild need to be equipped with notebook computer and can support the long playing large capacity movable power supply of this computer.Simultaneously, outstanding guiding software will be collected corresponding expense, also need the buying expenses of computer accordingly; Based on above reason, current guiding scheme is difficult to accomplish that collection seeks the system of star, tracking and guiding and one, the intricate and Portable belt not of while information flow direction.
In addition, the guiding camera is equivalent to people's eyes, is connected on guiding telescope, for obtaining the image of telescope.The guiding CCD of specialty need to take into account camera function usually, needs the improvement of each side to make the exposure thermal noise little, and namely signal to noise ratio (S/N ratio) is high, and the photographic quality of acquisition is high.Also need the guiding signal that computer is sended over to be resolved simultaneously, usually also can add the guiding interface function, fall command analysis and control again the telescope plant equipment afterwards, so cost is generally higher.
[summary of the invention]
The invention provides a kind of cost low, be easy to carry, the set automatic star-seeking, from motion tracking and automatic guiding in one and there is control system and the control method thereof of automatic star-seeking and the guiding of real time calibration feedback function.
In order to realize the foregoing invention purpose, the technical solution used in the present invention is:
The control system of automatic star-seeking and guiding, comprise equatorial telescope, astronomical telescope, stepper motor, controllor for step-by-step motor and guider, and the signal that equatorial telescope sends by the reception controllor for step-by-step motor is controlled the action of astronomical telescope to stepper motor; This control system also comprises the telescope control module, the telescope control module is connected with respectively LCD display and keyboard by the I/O interface, the telescope control module also is connected by I/O interface and described controllor for step-by-step motor, and the telescope control module is controlled the orientation of astronomical telescope by controllor for step-by-step motor control step motor; Described guider comprises guiding camera, TFT touch display screen and guiding control module, the guiding camera is connected with the guiding control module by the I/O interface respectively with the TFT touch display screen, between described guiding control module and telescope control module, by the USART serial communication, be connected, the guiding control module process the data of guiding camera and detect after control command is sent to the telescope control module.
Preferably, described guiding control module is the STM32F407VGT6 microprocessor.
Preferably, described telescope control module is AVR ATmega128 chip.
Preferably, described guiding camera is the OV7725 camera.
Preferably, described controllor for step-by-step motor is the TB6560AHQ motor drive module.
Preferably, described LCD display is LCD1602 display operation screen.
The control method of automatic star-seeking and guiding comprises and seeks star and two steps of guiding:
Seeking star comprises the following steps:
The first step: the telescope control module switches on power and starts working, and by the keyboard be connected with the telescope control module, under the LCD display be connected with the telescope control module is auxiliary, the keyboard input command enters the star process of looking for;
Second step: adjustment astronomical telescope, and find a bright star of easily finding to be placed in the central authorities in the astronomical telescope visual field, right ascension, the declination axis coordinate of this bright star of inquiry in the database of telescope control module, perhaps by keyboard, open the database of telescope control module, from the database of telescope control module, after the coordinate of this celestial body of selection, will automatically insert correlation;
The 3rd step: input needs the target star coordinate of finding, and the coordinate of the celestial body that need to observe from the data base querying of telescope control module by keyboard, insert correlation automatically;
The 4th step: after completing, by the telescope control module, calculate, controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and start to adjust declination axis, start to adjust the right ascension axle after declination axis puts in place and rotate corresponding angle, turn corresponding angle thereby control astronomical telescope, start to look for the star process;
The 5th step: after finding the target celestial body, will enter automatic tracing process, the right ascension axle of equatorial telescope continues operation with certain speed, and the coordinate of this celestial body is automatically made to reference coordinate, records this coordinate, to facilitate, looks for next target celestial body;
Guiding comprises the following steps:
The first step: guider switches on power and starts working, and by TFT touch display screen display working condition;
Second step: the guiding camera, by the guiding control module be connected with the serial communication of telescope control module, obtains the image of target celestial body in astronomical telescope definite in seeking the star process, and it is presented on the TFT touch display screen in real time;
The 3rd step: the TFT touch display screen shows the image of target celestial body in astronomical telescope, clicks the image of target celestial body on the TFT touch display screen, and the guiding signal sends to the telescope control module by the guiding control module, starts guiding;
The 4th step: after starting guiding, at first preserve the coordinate figure of image on the TFT touch display screen of target celestial body on the TFT touch display screen in the guiding control module, and this coordinate figure, as the reference coordinate in the guiding process, is drawn red circle to point out around this target celestial body image on the TFT touch display screen simultaneously; Then, start to detect the movement of this target celestial body, the coordinate of this target celestial body of Real-time Obtaining on the TFT touch display screen, again with the guiding control module in the reference coordinate of this target celestial body of preserving compare, draw yellow circle to point out around the celestial body image of this target celestial body after moving on the TFT touch display screen simultaneously;
The 5th step: last, guiding control module conversion target celestial body on the TFT touch display screen, produce the coordinate difference, send calibration command after converting to the telescope control module, then controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and astronomical telescope and rotate corresponding angle, reach real-time follow-up target celestial body, guarantee that the image of target celestial body is presented on the TFT touch display screen all the time in real time;
The 6th step: in the guiding process, constantly repeat the 4th step and the 5th step, until need the star watching of guiding to finish.
The invention has the beneficial effects as follows:
The control system of automatic star-seeking of the present invention and guiding has automatic star-seeking, from motion tracking and automatic guiding function, and realize automatic star-seeking, the real-time feedback system be integrated in one from motion tracking and automatic guiding function, reach the system that integrates special-purpose guiding camera and processor, the selection of guiding camera more meets the effect of guiding and does not have camera function, and the parsing to the guiding order no longer is arranged on the guiding control module of guiding camera, and be arranged in the telescope control module of astronomical telescope, thereby alleviate work and the interference of guiding camera, and significantly reduce the cost of whole system, simultaneously, make the observation data of guiding camera gained through being transferred to guiding control module and telescope control module, generate feedback signal after analyzing and processing respectively, controlling astronomical telescope by controllor for step-by-step motor rotates, overcome the time error produced because of earth rotation, remain that astronomical telescope is synchronized with the movement with seeing celestial body, has improved the degree of accuracy of controlling greatly.
[accompanying drawing explanation]
Fig. 1 is the block diagram of system of the present invention;
Fig. 2 is the process flow diagram in automatic star-seeking process of the present invention;
Fig. 3 is the process flow diagram in automatic guiding process of the present invention.
[embodiment]
The control system of automatic star-seeking and guiding, as shown in Figure 1, comprise equatorial telescope 1, astronomical telescope 2, stepper motor 3, controllor for step-by-step motor 4 and guider 5, the signal that equatorial telescope 1 sends by reception controllor for step-by-step motor 4 is controlled the action of astronomical telescope 2 to stepper motor 3; This control system also comprises telescope control module 6, telescope control module 6 is connected with respectively LCD display 7 and keyboard 8 by the I/O interface, telescope control module 6 also is connected by I/O interface and described controllor for step-by-step motor 4, and telescope control module 6 is controlled the orientation of astronomical telescope by controllor for step-by-step motor 4 control step motors 3; Described guider 5 comprises guiding camera 50, TFT touch display screen 51 and guiding control module 52, guiding camera 50 is connected with guiding control module 52 by the I/O interface respectively with TFT touch display screen 51, between described guiding control module 52 and telescope control module 6, by the USART serial communication, be connected, the guiding control module process the data of guiding camera and detect after control command is sent to the telescope control module.
Wherein, the guiding control module is the STM32F407VGT6 microprocessor, and the telescope control module is AVR ATmega128 chip, and the guiding camera is the OV7725 camera, controllor for step-by-step motor is the TB6560AHQ motor drive module, and LCD display is LCD1602 display operation screen; Whole control system has automatic star-seeking, from motion tracking and automatic guiding function, and realize the real-time feedback system that these functions are integrated in one, reach and integrate special-purpose guiding camera and processor; The guiding camera is selected the OV7725 camera, more meet the effect of guiding and do not there is camera function, and in seeking star, guiding process, parsing to the guiding order no longer is arranged on the guiding control module of guiding camera, and be arranged in the telescope control module of astronomical telescope, thereby alleviate work and the interference of guiding camera, significantly reduce the cost of whole system.
The control method of automatic star-seeking and guiding, is characterized in that, comprises and seek star and two steps of guiding:
As shown in Figure 2, seeking star comprises the following steps:
The first step: the telescope control module switches on power and starts working, and by the keyboard be connected with the telescope control module, under the LCD display be connected with the telescope control module is auxiliary, the keyboard input command enters the star process of looking for;
Second step: adjustment astronomical telescope, and find a bright star of easily finding to be placed in the central authorities in the astronomical telescope visual field, right ascension, the declination axis coordinate of this bright star of inquiry in the database of telescope control module, perhaps by keyboard, open the database of telescope control module, from the database of telescope control module, after the coordinate of this celestial body of selection, will automatically insert correlation;
The 3rd step: input needs the target star coordinate of finding, and the coordinate of the celestial body that need to observe from the data base querying of telescope control module by keyboard, insert correlation automatically;
The 4th step: after completing, by the telescope control module, calculate, controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and start to adjust declination axis, start to adjust the right ascension axle after declination axis puts in place and rotate corresponding angle, turn corresponding angle thereby control astronomical telescope, start to look for the star process;
The 5th step: after finding the target celestial body, will enter automatic tracing process, the right ascension axle of equatorial telescope continues operation with certain speed, and the coordinate of this celestial body is automatically made to reference coordinate, records this coordinate, to facilitate, looks for next target celestial body;
As shown in Figure 3, guiding comprises the following steps:
The first step: guider switches on power and starts working, and by TFT touch display screen display working condition;
Second step: the guiding camera, by the guiding control module be connected with the serial communication of telescope control module, obtains the image of target celestial body in astronomical telescope definite in seeking the star process, and it is presented on the TFT touch display screen in real time;
The 3rd step: the TFT touch display screen shows the image of target celestial body in astronomical telescope, clicks the image of target celestial body on the TFT touch display screen, and the guiding signal sends to the telescope control module by the guiding control module, starts guiding;
The 4th step: after starting guiding, at first preserve the coordinate figure of image on the TFT touch display screen of target celestial body on the TFT touch display screen in the guiding control module, and this coordinate figure, as the reference coordinate in the guiding process, is drawn red circle to point out around this target celestial body image on the TFT touch display screen simultaneously; Then, start to detect the movement of this target celestial body, the coordinate of this target celestial body of Real-time Obtaining on the TFT touch display screen, again with the guiding control module in the reference coordinate of this target celestial body of preserving compare, draw yellow circle to point out around the celestial body image of this target celestial body after moving on the TFT touch display screen simultaneously;
The 5th step: last, guiding control module conversion target celestial body on the TFT touch display screen, produce the coordinate difference, send calibration command after converting to the telescope control module, then controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and astronomical telescope and rotate corresponding angle, reach real-time follow-up target celestial body, guarantee that the image of target celestial body is presented on the TFT touch display screen all the time in real time;
The 6th step: in the guiding process, constantly repeat the 4th step and the 5th step, until need the star watching of guiding to finish.
The above embodiment just, for preferred embodiment of the present invention, not limits practical range of the present invention with this, and the equivalence that all shapes according to the present invention, structure and principle are done changes, and all should be covered by protection scope of the present invention.
Claims (7)
1. the control system of automatic star-seeking and guiding, comprise equatorial telescope, astronomical telescope, stepper motor, controllor for step-by-step motor and guider, and the signal that equatorial telescope sends by the reception controllor for step-by-step motor is controlled the action of astronomical telescope to stepper motor; It is characterized in that:
This control system also comprises the telescope control module, the telescope control module is connected with respectively LCD display and keyboard by the I/O interface, the telescope control module also is connected by I/O interface and described controllor for step-by-step motor, and the telescope control module is controlled the orientation of astronomical telescope by controllor for step-by-step motor control step motor;
Described guider comprises guiding camera, TFT touch display screen and guiding control module, the guiding camera is connected with the guiding control module by the I/O interface respectively with the TFT touch display screen, between described guiding control module and telescope control module, by the USART serial communication, be connected, the guiding control module process the data of guiding camera and detect after control command is sent to the telescope control module.
2. the control system of automatic star-seeking according to claim 1 and guiding, is characterized in that, described guiding control module is the STM32F407VGT6 microprocessor.
3. the control system of automatic star-seeking according to claim 1 and guiding, is characterized in that, described telescope control module is AVR ATmega128 chip.
4. the control system of automatic star-seeking according to claim 1 and guiding, is characterized in that, described guiding camera is the OV7725 camera.
5. the control system of automatic star-seeking according to claim 1 and guiding, is characterized in that, described controllor for step-by-step motor is the TB6560AHQ motor drive module.
6. the control system of automatic star-seeking according to claim 1 and guiding, is characterized in that, described LCD display is LCD1602 display operation screen.
7. the control method of automatic star-seeking and guiding, is characterized in that, comprises and seek star and two steps of guiding:
Seeking star comprises the following steps:
The first step: the telescope control module switches on power and starts working, and by the keyboard be connected with the telescope control module, under the LCD display be connected with the telescope control module is auxiliary, the keyboard input command enters the star process of looking for;
Second step: adjustment astronomical telescope, and find a bright star of easily finding to be placed in the central authorities in the astronomical telescope visual field, right ascension, the declination axis coordinate of this bright star of inquiry in the database of telescope control module, perhaps by keyboard, open the database of telescope control module, from the database of telescope control module, after the coordinate of this celestial body of selection, will automatically insert correlation;
The 3rd step: input needs the target star coordinate of finding, and the coordinate of the celestial body that need to observe from the data base querying of telescope control module by keyboard, insert correlation automatically;
The 4th step: after completing, by the telescope control module, calculate, controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and start to adjust declination axis, start to adjust the right ascension axle after declination axis puts in place and rotate corresponding angle, turn corresponding angle thereby control astronomical telescope, start to look for the star process;
The 5th step: after finding the target celestial body, will enter automatic tracing process, the right ascension axle of equatorial telescope continues operation with certain speed, and the coordinate of this celestial body is automatically made to reference coordinate, records this coordinate, to facilitate, looks for next target celestial body;
Guiding comprises the following steps:
The first step: guider switches on power and starts working, and by TFT touch display screen display working condition;
Second step: the guiding camera, by the guiding control module be connected with the serial communication of telescope control module, obtains the image of target celestial body in astronomical telescope definite in seeking the star process, and it is presented on the TFT touch display screen in real time;
The 3rd step: the TFT touch display screen shows the image of target celestial body in astronomical telescope, clicks the image of target celestial body on the TFT touch display screen, and the guiding signal sends to the telescope control module by the guiding control module, starts guiding;
The 4th step: after starting guiding, at first preserve the coordinate figure of image on the TFT touch display screen of target celestial body on the TFT touch display screen in the guiding control module, and this coordinate figure, as the reference coordinate in the guiding process, is drawn red circle to point out around this target celestial body image on the TFT touch display screen simultaneously; Then, start to detect the movement of this target celestial body, the coordinate of this target celestial body of Real-time Obtaining on the TFT touch display screen, again with the guiding control module in the reference coordinate of this target celestial body of preserving compare, draw yellow circle to point out around the celestial body image of this target celestial body after moving on the TFT touch display screen simultaneously;
The 5th step: last, guiding control module conversion target celestial body on the TFT touch display screen, produce the coordinate difference, send calibration command after converting to the telescope control module, then controllor for step-by-step motor will send order to stepper motor, control equatorial telescope and astronomical telescope and rotate corresponding angle, reach real-time follow-up target celestial body, guarantee that the image of target celestial body is presented on the TFT touch display screen all the time in real time;
The 6th step: in the guiding process, constantly repeat the 4th step and the 5th step, until need the star watching of guiding to finish.
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| CN104698582A (en) * | 2015-03-24 | 2015-06-10 | 中国科学院国家天文台南京天文光学技术研究所 | Astronomical site-selecting instrument guide star device and working method thereof |
| CN108021146A (en) * | 2017-12-07 | 2018-05-11 | 佛山市顺德区博通光电有限公司 | A kind of intelligent radio seeks star control method |
| CN109862328A (en) * | 2019-03-22 | 2019-06-07 | 时光互联（北京）技术有限公司 | A kind of space theatre outdoor scene real-time exhibition method |
| CN110352420A (en) * | 2018-09-13 | 2019-10-18 | 陈加志 | A kind of telescope based on image recognition searches star method, searches star device and telescope |
| CN111158135A (en) * | 2020-03-04 | 2020-05-15 | 崔恩博 | Correcting device and method suitable for horizontal telescope |
| CN115793227A (en) * | 2023-02-08 | 2023-03-14 | 南通斯密特森光电科技有限公司 | Day and night dual-purpose automatic star viewing method |
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| CN111158135A (en) * | 2020-03-04 | 2020-05-15 | 崔恩博 | Correcting device and method suitable for horizontal telescope |
| CN111158135B (en) * | 2020-03-04 | 2024-06-07 | 崔恩博 | Correction device and method suitable for horizon telescope |
| CN115793227A (en) * | 2023-02-08 | 2023-03-14 | 南通斯密特森光电科技有限公司 | Day and night dual-purpose automatic star viewing method |
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