CN103439976B - Automatic star-seeking and the control system of guiding and control method thereof - Google Patents
Automatic star-seeking and the control system of guiding and control method thereof Download PDFInfo
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Abstract
The automatic star-seeking of present invention offer and the control system of guiding, including equatorial, astronomical telescope, motor, controllor for step-by-step motor and guider, equatorial is by receiving the signal that controllor for step-by-step motor sends to motor and the action controlling astronomical telescope；This control system also includes telescope control module, and telescope control module connects LCD display and keyboard, and telescope control module is also connected with described controllor for step-by-step motor；Described guider includes that guiding photographic head, TFT touch display screen and guiding control module, guiding photographic head and TFT touch display screen and are connected with guiding control module respectively, it is connected by USART serial communication between described guiding control module and telescope control module, after the data of guiding control module process guiding photographic head detection, control command is sent to telescope control module；The present invention also provides for the control method of a kind of automatic star-seeking and guiding, it is ensured that touch on display screen at TFT seeking during star and guiding real-time tracking target celestial body showing 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, especially relate to
And allow astronomical telescope have Automatic-searching target celestial body, from motion tracking, guiding real time calibration function in one
Automatic star-seeking and the control system of guiding and control method thereof.
[background technology]
Astronomical test method is to carry out gather information by observation, and at present, astronomical telescope is observation celestial body
Important tool.It most brightness of aerial celestial body is very dark, to observe it, it is necessary to use photographic equipment pair
It exposes for a long time, and the script appearance of celestial body could be presented in face of us by accumulative enough brightness.
And in long exposure process, target celestial body must be always held at the fixed position in the telescope visual field not
Become, the image not so shot can be smudgy, this be accomplished by telescope the most accurately follow the tracks of target celestial body (because of
Earth rotation, celestial body on high in position can move, along with the increase of telescope multiple, the visual field diminishes,
This moves effect and can become apparent from).The effect of guiding is during telescope is followed the tracks of for a long time, due to
When the reasons such as mechanical precision or pole axis are inaccurate cause telescope accurately can not follow the tracks of celestial body, by monitoring the shifting of punctate opacity of the cornea
Dynamic, automatically adjust telescope, make target celestial body be always held at fixed position, the visual field.Guiding is in astronomical observation
It is very important, for the observation necessary devices especially of deep sky object, the small astronomy relatively low to precision own
Then it is particularly important for telescope.And the realization of guiding function must be on tracking equipment.
The guiding scheme of home and abroad main flow at present, obtains the figure of guiding telescope generally by special guiding CCD
Picture, guiding software such as GuideMaster, PHD of computer end etc. obtain the image that guiding CCD transmits
After, by the change of the position of the punctate opacity of the cornea on monitoring image in real time, send corresponding order and carry out to tracking equipment
Correction.So current guiding scheme needs a computer running guiding program, if in the wild, need
Notebook computer to be equipped with and this computer long playing Large Copacity portable power source can be supported.Meanwhile, outstanding
Guiding software will collect corresponding expense, also need to the buying expenses of computer accordingly；Based on above reason, mesh
Front guiding scheme is difficult to collect the system seeking star, tracking and guiding with one, and information flow direction is crisscross multiple simultaneously
Miscellaneous and not Portable belt.
It addition, guiding photographic head is equivalent to the eyes of people, it is connected on guiding telescope, for obtaining the figure in telescope
Picture.The guiding CCD of specialty typically requires and takes into account camera function, needs the improvement of each side to make to expose heat and makes an uproar
Sound is little, and namely signal to noise ratio is high, it is thus achieved that photographic quality high.Also need to the guiding that computer is sended over simultaneously
Signal resolves, and the most also can add guiding interface function, control telescope machinery after fall command analysis again
Equipment, so cost is the highest.
[summary of the invention]
The present invention provides a kind of low cost, is easy to carry, set automatic star-seeking, from motion tracking and automatic guiding in
One and there is the automatic star-seeking of real time calibration feedback function and the control system of guiding and control method thereof.
In order to realize foregoing invention purpose, the technical solution used in the present invention is:
Automatic star-seeking and the control system of guiding, including equatorial, astronomical telescope, motor, stepping electricity
Machine controller and guider, equatorial is by receiving the signal that sends to motor of controllor for step-by-step motor
Control the action of astronomical telescope；This control system also includes telescope control module, and telescope control module is led to
Cross I/O interface and be connected to LCD display and keyboard, telescope control module also by I/O interface with
Described controllor for step-by-step motor is connected, and telescope control module controls stepping electricity by controllor for step-by-step motor
Machine controls the orientation of astronomical telescope；Described guider includes that guiding photographic head, TFT touch display screen
Touch display screen with guiding control module, guiding photographic head and TFT to be controlled with guiding by I/O interface respectively
Module connects, between described guiding control module and telescope control module by USART serial communication even
Connect, after the data of guiding control module process guiding photographic head detection, control command is sent to telescope control
Module；The observation data of guiding photographic head gained, through being transferred to guiding control module and telescope control module, are divided
Not Fen Xichuli after generate feedback signal, by controllor for step-by-step motor control astronomical telescope rotate；Guiding is taken the photograph
As head is by the guiding control module being connected with telescope control module serial communication, obtain during seeking star true
Fixed target celestial body image in astronomical telescope, and its display in real time is touched on display screen at TFT；
Described telescope control module and guiding control module use the embedded platform of integration.
Preferably, described guiding control module is STM32F407VGT6 microprocessor.
Preferably, described telescope control module is AVRATmega128 chip.
Preferably, described guiding photographic head is OV7725 photographic head.
Preferably, described controllor for step-by-step motor is TB6560AHQ motor drive module.
Preferably, described LCD display is LCD1602 display operation screen.
Automatic star-seeking and the control method of guiding, including seeking star and two steps of guiding:
Seek star to comprise the following steps:
The first step: telescope control module switches on power and starts working, by be connected with telescope control module
Keyboard, under the LCD display auxiliary being connected with telescope control module, input through keyboard order enters and seeks star
Process；
Second step: adjustment astronomical telescope, and find the bright star of an easy searching to be placed in the astronomical telescope visual field
Central authorities, the data base of telescope control module inquires about the right ascension axial coordinate of this bright star, declination axis coordinate,
Or opened the data base of telescope control module by keyboard, select from the data base of telescope control module
Correlation will be automatically filled in after the coordinate of this bright star；
3rd step: input needs the target satellite coordinate found, by keyboard from the data base of telescope control module
Inquiry needs the coordinate of the celestial body of observation, is automatically filled in correlation；
4th step: after completing, is calculated by telescope control module, and controllor for step-by-step motor is to motor
Sending order, control equatorial and start to adjust declination axis, declination axis then starts to adjust right ascension axle and rotates phase after putting in place
The angle answered, thus control astronomical telescope and turn corresponding angle, start to seek star process；
5th step: after finding target celestial body, will enter from motion tracking process, and the right ascension axle of equatorial is with certain
Speed continues to run with, and the coordinate of this target celestial body is automatically made reference coordinate, records this coordinate, with
Conveniently look for next target celestial body；
Guiding comprises the following steps:
The first step: guider switches on power and starts working, and touch display screen display working condition by TFT；
Second step: owing to telescope control module and guiding control module use the embedded platform of integration, lead
Star photographic head, by the guiding control module being connected with telescope control module serial communication, obtains and is seeking star process
The middle target celestial body determined image in astronomical telescope, and its display in real time is touched display screen at TFT
On；
3rd step: TFT touches the image of target celestial body in display screen display astronomical telescope, clicks on TFT and touches
The image of target celestial body on display screen, guiding signal is sent to telescope control module by guiding control module, then
Start guiding；
4th step: after starting guiding, first preserves TFT in guiding control module and touches target satellite on display screen
The image of body touches the coordinate figure on display screen at TFT, and this coordinate figure is as the reference during guiding
Coordinate, touches this target celestial body image peripheral on display screen at TFT simultaneously and draws red circle to point out；Then,
Start to detect the movement of this target celestial body, obtain this target celestial body in real time and touch the coordinate on display screen at TFT,
Compare with the reference coordinate of this target celestial body of preservation in guiding control module again, touch at TFT simultaneously
Huang circle is drawn to point out around star images after this target celestial body moves on display screen；
5th step: last, guiding control module conversion target celestial body TFT touch produce on display screen seat
Mark difference, after conversion, transmission calibration command is to telescope control module, and then controllor for step-by-step motor is to stepping electricity
Machine sends order, controls equatorial and rotates corresponding angle with astronomical telescope, reaches real-time tracking target celestial body,
Ensure that the image of target celestial body shows the most in real time to touch on display screen at TFT；
6th step: during guiding, constantly repeats the 4th step and the 5th step, until needing the star watching of guiding
Till end.
The invention has the beneficial effects as follows:
The automatic star-seeking of the present invention and the control system of guiding have automatic star-seeking, from motion tracking and automatic guiding merit
Can, and realize automatic star-seeking, the real-time feedback system that is integrated in one from motion tracking and automatic guiding function,
Reaching to integrate special guiding photographic head and the system of processor, the selection of guiding photographic head more meets guiding
Effect and not there is camera function, and the guiding that the parsing of guiding order is no longer arranged on guiding photographic head controls
In module, and it is provided in the telescope control module of astronomical telescope, thus alleviates the work of guiding photographic head
Make and interference, and the cost of whole system is greatly reduced；Simultaneously so that the observation data of guiding photographic head gained
Through being transferred to guiding control module and telescope control module, generate feedback signal respectively after analyzing and processing, pass through
Controllor for step-by-step motor controls astronomical telescope and rotates, and overcomes the time error produced because of earth rotation, all the time
Keep astronomical telescope to be synchronized with the movement with by sight celestial body, substantially increase the degree of accuracy of control.
[accompanying drawing explanation]
Fig. 1 is the block diagram of system of the present invention；
Fig. 2 is the flow chart during automatic star-seeking of the present invention；
Fig. 3 is the flow chart during automatic guiding of the present invention.
[detailed description of the invention]
Automatic star-seeking and the control system of guiding, as it is shown in figure 1, include equatorial 1, astronomical telescope 2,
Motor 3, controllor for step-by-step motor 4 and guider 5, equatorial 1 is by receiving step motor control
Device 4 gives the signal that motor 3 sends and the action controlling astronomical telescope 2；This control system also includes hoping
Remote mirror control module 6, telescope control module 6 is connected to LCD display 7 He by I/O interface
Keyboard 8, telescope control module 6 is connected with described controllor for step-by-step motor 4 also by I/O interface,
Telescope control module 6 controls motor 3 by controllor for step-by-step motor 4 and controls the side of astronomical telescope
Position；Described guider 5 includes that guiding photographic head 50, TFT touch display screen 51 and guiding control module
52, guiding photographic head 50 and TFT touches display screen 51 respectively by I/O interface and guiding control module 52
Connect, between described guiding control module 52 and telescope control module 6 by USART serial communication even
Connect, after the data of guiding control module process guiding photographic head detection, control command is sent to telescope control
Module.
Wherein, guiding control module is STM32F407VGT6 microprocessor, and telescope control module is AVR
ATmega128 chip, guiding photographic head is OV7725 photographic head, and controllor for step-by-step motor is TB6560AHQ
Motor drive module, LCD display is LCD1602 display operation screen；Whole control system has automatic seeking
Star, from motion tracking and automatic guiding function, and realize the real-time feedback system that these functions are integrated in one, reach
To integrating special guiding photographic head and processor；Guiding photographic head selects OV7725 photographic head, more meets
The effect of guiding and not there is camera function, and during seeking star, guiding, to the parsing of guiding order no longer
It is arranged in the guiding control module of guiding photographic head, and is provided in the telescope control module of astronomical telescope
In, thus alleviate work and the interference of guiding photographic head, the cost of whole system is greatly reduced.
Automatic star-seeking and the control method of guiding, it is characterised in that include seeking star and two steps of guiding:
Comprise the following steps as in figure 2 it is shown, seek star:
The first step: telescope control module switches on power and starts working, by be connected with telescope control module
Keyboard, under the LCD display auxiliary being connected with telescope control module, input through keyboard order enters and seeks star
Process；
Second step: adjustment astronomical telescope, and find the bright star of an easy searching to be placed in the astronomical telescope visual field
Central authorities, the data base of telescope control module inquires about the right ascension axial coordinate of this bright star, declination axis coordinate,
Or opened the data base of telescope control module by keyboard, select from the data base of telescope control module
Correlation will be automatically filled in after the coordinate of this bright star；
3rd step: input needs the target satellite coordinate found, by keyboard from the data base of telescope control module
Inquiry needs the coordinate of the celestial body of observation, is automatically filled in correlation；
4th step: after completing, is calculated by telescope control module, and controllor for step-by-step motor is to motor
Sending order, control equatorial and start to adjust declination axis, declination axis then starts to adjust right ascension axle and rotates phase after putting in place
The angle answered, thus control astronomical telescope and turn corresponding angle, start to seek star process；
5th step: after finding target celestial body, will enter from motion tracking process, and the right ascension axle of equatorial is with certain
Speed continues to run with, and the coordinate of this target celestial body is automatically made reference coordinate, records this coordinate, with
Conveniently look for next target celestial body；
As it is shown on figure 3, guiding comprises the following steps:
The first step: guider switches on power and starts working, and touch display screen display working condition by TFT；
Second step: guiding photographic head by the guiding control module being connected with telescope control module serial communication,
Obtain the target celestial body determined during seeking star image in astronomical telescope, and its display in real time is existed
TFT touches on display screen；
3rd step: TFT touches the image of target celestial body in display screen display astronomical telescope, clicks on TFT and touches
The image of target celestial body on display screen, guiding signal is sent to telescope control module by guiding control module, then
Start guiding；
4th step: after starting guiding, first preserves TFT in guiding control module and touches target satellite on display screen
The image of body touches the coordinate figure on display screen at TFT, and this coordinate figure is as the reference during guiding
Coordinate, touches this target celestial body image peripheral on display screen at TFT simultaneously and draws red circle to point out；Then,
Start to detect the movement of this target celestial body, obtain this target celestial body in real time and touch the coordinate on display screen at TFT,
Compare with the reference coordinate of this target celestial body of preservation in guiding control module again, touch at TFT simultaneously
Huang circle is drawn to point out around star images after this target celestial body moves on display screen；
5th step: last, guiding control module conversion target celestial body TFT touch produce on display screen seat
Mark difference, after conversion, transmission calibration command is to telescope control module, and then controllor for step-by-step motor is to stepping electricity
Machine sends order, controls equatorial and rotates corresponding angle with astronomical telescope, reaches real-time tracking target celestial body,
Ensure that the image of target celestial body shows the most in real time to touch on display screen at TFT；
6th step: during guiding, constantly repeats the 4th step and the 5th step, until needing the star watching of guiding
Till end.
Embodiment described above is simply presently preferred embodiments of the present invention, not limits the enforcement model of the present invention with this
Enclose, the equivalence change that all shapes according to the present invention, structure and principle are made, the protection of the present invention all should be covered by
In the range of.
Claims (7)
1. automatic star-seeking and the control system of guiding, including equatorial, astronomical telescope, motor, stepping
Electric machine controller and guider, equatorial is by receiving the signal that controllor for step-by-step motor sends to motor
And control the action of astronomical telescope；It is characterized in that:
This control system also includes telescope control module, and telescope control module is connected respectively by I/O interface
Having LCD display and keyboard, telescope control module is also by I/O interface and described controllor for step-by-step motor
Being connected, telescope control module controls motor by controllor for step-by-step motor and controls astronomical telescope
Orientation；
Described guider includes that guiding photographic head, TFT touch display screen and guiding control module, and guiding is taken the photograph
Being connected with guiding control module by I/O interface respectively as head and TFT touch display screen, described guiding controls
Being connected by USART serial communication between module with telescope control module, guiding control module processes guiding
After the data of photographic head detection, control command is sent to telescope control module；The sight of guiding photographic head gained
Survey data, through being transferred to guiding control module and telescope control module, generate feedback letter respectively after analyzing and processing
Number, control astronomical telescope by controllor for step-by-step motor and rotate；
Guiding photographic head, by the guiding control module being connected with telescope control module serial communication, obtains and is seeking
The target celestial body determined during star image in astronomical telescope, and its display in real time is touched at TFT
On display screen；
Described telescope control module and guiding control module use the embedded platform of integration.
Automatic star-seeking the most according to claim 1 and the control system of guiding, it is characterised in that described
Guiding control module is STM32F407VGT6 microprocessor.
Automatic star-seeking the most according to claim 1 and the control system of guiding, it is characterised in that described
Telescope control module is AVR ATmega128 chip.
Automatic star-seeking the most according to claim 1 and the control system of guiding, it is characterised in that described
Guiding photographic head is OV7725 photographic head.
Automatic star-seeking the most according to claim 1 and the control system of guiding, it is characterised in that described
Controllor for step-by-step motor is TB6560AHQ motor drive module.
Automatic star-seeking the most according to claim 1 and the control system of guiding, it is characterised in that described
LCD display is LCD1602 display operation screen.
7. automatic star-seeking and the control method of guiding, it is characterised in that include seeking star and two steps of guiding:
Seek star to comprise the following steps:
The first step: telescope control module switches on power and starts working, by be connected with telescope control module
Keyboard, under the LCD display auxiliary being connected with telescope control module, input through keyboard order enters and seeks star
Process；
Second step: adjustment astronomical telescope, and find the bright star of an easy searching to be placed in the astronomical telescope visual field
Central authorities, the data base of telescope control module inquires about the right ascension axial coordinate of this bright star, declination axis coordinate,
Or opened the data base of telescope control module by keyboard, select from the data base of telescope control module
Correlation will be automatically filled in after the coordinate of this bright star；
3rd step: input needs the target satellite coordinate found, by keyboard from the data base of telescope control module
Inquiry needs the coordinate of the celestial body of observation, is automatically filled in correlation；
4th step: after completing, is calculated by telescope control module, and controllor for step-by-step motor is to motor
Sending order, control equatorial and start to adjust declination axis, declination axis then starts to adjust right ascension axle and rotates phase after putting in place
The angle answered, thus control astronomical telescope and turn corresponding angle, start to seek star process；
5th step: after finding target celestial body, will enter from motion tracking process, and the right ascension axle of equatorial is with certain
Speed continues to run with, and the coordinate of this target celestial body is automatically made reference coordinate, records this coordinate, with
Conveniently look for next target celestial body；
Guiding comprises the following steps:
The first step: guider switches on power and starts working, and touch display screen display working condition by TFT；
Second step: owing to telescope control module and guiding control module use the embedded platform of integration, lead
Star photographic head, by the guiding control module being connected with telescope control module serial communication, obtains and is seeking star process
The middle target celestial body determined image in astronomical telescope, and its display in real time is touched display screen at TFT
On；
3rd step: TFT touches the image of target celestial body in display screen display astronomical telescope, clicks on TFT and touches
The image of target celestial body on display screen, guiding signal is sent to telescope control module by guiding control module, then
Start guiding；
4th step: after starting guiding, first preserves TFT in guiding control module and touches target satellite on display screen
The image of body touches the coordinate figure on display screen at TFT, and this coordinate figure is as the reference during guiding
Coordinate, touches this target celestial body image peripheral on display screen at TFT simultaneously and draws red circle to point out；Then,
Start to detect the movement of this target celestial body, obtain this target celestial body in real time and touch the coordinate on display screen at TFT,
Compare with the reference coordinate of this target celestial body of preservation in guiding control module again, touch at TFT simultaneously
Huang circle is drawn to point out around star images after this target celestial body moves on display screen；
5th step: last, guiding control module conversion target celestial body TFT touch produce on display screen seat
Mark difference, after conversion, transmission calibration command is to telescope control module, and then controllor for step-by-step motor is to stepping electricity
Machine sends order, controls equatorial and rotates corresponding angle with astronomical telescope, reaches real-time tracking target celestial body,
Ensure that the image of target celestial body shows the most in real time to touch on display screen at TFT；
6th step: during guiding, constantly repeats the 4th step and the 5th step, until needing the star watching of guiding
Till end.
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| CN104698582B (en) * | 2015-03-24 | 2017-03-29 | 中国科学院国家天文台南京天文光学技术研究所 | The method of work of Astronomical Site Testing instrument guider |
| CN108021146B (en) * | 2017-12-07 | 2018-12-07 | 佛山市顺德区博通光电有限公司 | A kind of intelligent radio seeks star control method |
| WO2020051838A1 (en) * | 2018-09-13 | 2020-03-19 | 陈加志 | Telescope star searching method and device based on image recognition and telescope |
| CN109862328B (en) * | 2019-03-22 | 2021-08-17 | 光速视觉（北京）科技有限公司 | Real-time exhibition method for real scene of planetarium |
| CN115793227B (en) * | 2023-02-08 | 2023-06-20 | 南通斯密特森光电科技有限公司 | Day and night dual-purpose automatic star observing method |
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| CN1808207A (en) * | 2006-02-09 | 2006-07-26 | 南京艾迪尔科技有限公司 | Automatic star search control device for portable astronomical telescope and control method thereof |
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| CN102932597A (en) * | 2012-11-02 | 2013-02-13 | 邱虹云 | Astronomy charge coupled device (CCD) camera controller with wireless fidelity (WIFI) interface |
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| WO2004107012A1 (en) * | 2003-05-30 | 2004-12-09 | Vixen Co., Ltd. | Automatic introduction system of celestial body |
| WO2009057163A1 (en) * | 2007-10-29 | 2009-05-07 | Bercella, Franco | System for the polar position of a telescope |
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| CN1808207A (en) * | 2006-02-09 | 2006-07-26 | 南京艾迪尔科技有限公司 | Automatic star search control device for portable astronomical telescope and control method thereof |
| CN202150052U (en) * | 2011-07-22 | 2012-02-22 | 付陆欣 | Photoelectric automatic astronomical star guiding and star finding system |
| CN102932597A (en) * | 2012-11-02 | 2013-02-13 | 邱虹云 | Astronomy charge coupled device (CCD) camera controller with wireless fidelity (WIFI) interface |
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