CN103729644A - Satellite tracking method, overcoming interference caused when fixed star passes through probe window, of foundation optical measuring equipment - Google Patents
Satellite tracking method, overcoming interference caused when fixed star passes through probe window, of foundation optical measuring equipment Download PDFInfo
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- CN103729644A CN103729644A CN201310671423.1A CN201310671423A CN103729644A CN 103729644 A CN103729644 A CN 103729644A CN 201310671423 A CN201310671423 A CN 201310671423A CN 103729644 A CN103729644 A CN 103729644A
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Abstract
The invention discloses a satellite tracking method, overcoming interference caused when a fixed star passes through a probe window, of foundation optical measuring equipment, and belongs to the field of target satellite tracking methods utilizing the image processing technology. Through the tracking method, all light spots in a tracking window can be monitored and judged anytime by increasing an identification method of a target satellite, then the target satellite can be effectively screened out and identified, an interference source is excluded, and the foundation optical measuring equipment can track the sole target satellite continuously. The satellite tracking method is fast, accurate, simple and reliable, and has potential value for popularization and application.
Description
Technical field
The invention belongs to the target satellite tracking field that utilizes image processing techniques, be specifically related to a kind of ground optical measuring device and overcome the satellite tenacious tracking method that fixed star passes through detection window interference.
Background technology
Earth's orbit by a large amount of satellite rings around, in order to grasp each satellite, at the orbit in space and to each satellite spatial position, accurately locate, the a large amount of optical measuring apparatus in ground carry out real-time follow-up monitoring to satellite, constantly update satellite spatial position, revise in time satellite orbit data.
Traditional ground optical measuring device satellite tracking method all adopts the image processing techniquess such as edge detection method, gravity model appoach conventionally.For example, utilize edge detection method to ground flash ranging telescope institute track up to target satellite photo carry out rim detection, by photo disposal, be gray level image, obtain the pixel coordinate value of target satellite in tracking window simultaneously.Target satellite is rendered as a single white hot spot in tracking window, and is rendered as single grey without any the deep space background of jamming target.
The miss distance that the pixel coordinate value of target satellite in tracking window and the phasor difference between the central point pixel coordinate of tracking window self are commonly referred to target satellite.Optical measuring device, by take miss distance as according to driving tracking window to move to the direction of eliminating miss distance, is realized following the trail of reliably continuously satellite target with this.
Yet along with optical measuring device detectivity constantly promotes, it is more and more that it can detect extraterrestrial target, in the deep space background in universe, the fixed star of different brightness may enter suddenly and pass tracking window, becomes target jamming source.
Except target satellite, also there is a target jamming source.Interference source is the hot spot that the fixed star in deep space background produces in gray level image.In including the gray level image of interference source, interference source is rendered as white hot spot equally, traditional image processing method cannot the two effectively be identified it, because the energy in target jamming source often surpasses the energy of target satellite, therefore utilize traditional image processing techniques tracking satellite, easily there is following the tracks of the phenomenon of the fixed star that energy is higher, cause target satellite to be followed and lose, tracing task failure.
Summary of the invention
In order to solve center of gravity, the normal image Processing Algorithm such as rim detection are when Ground Treatment optical measuring device Satellite Tracking task, when the fixed star in deep space background enters as interference source and passes tracking window, in including the gray level image of interference source, interference source and target satellite are all rendered as white hot spot, traditional image processing method cannot the two effectively be identified it, may cause tracking window then the higher fixed star of tracking energy, causing target satellite to be followed loses, the technical matters of tracing task failure, the invention provides a kind of ground optical measuring device and overcome the satellite tracking method that fixed star passes through detection window interference.
The technical scheme that technical solution problem of the present invention is taked is as follows:
Ground optical measuring device overcomes fixed star and passes through the satellite tracking method that detection window disturbs and comprise the following steps:
Step 1: gather image, utilize conventional satellite tracking method to calculate the miss distance of the formed spot center of target satellite in each frame gray level image;
Step 2: ask for that in gray level image, the gray-scale value of the formed spot center of target satellite is as the brightness reference quantity of target satellite light spot energy value described in step 1, it specifically comprises following sub-step:
Step 2.1: calculate the gray-scale value En ask for the formed spot center of target satellite in six frame gray level images up-to-date described in step 1, (n=0,1 ... 5), wherein, in up-to-date present frame gray level image, the gray-scale value meter of the formed spot center of target satellite is made E
0, in the continuous five frame gray level images before present frame, the gray-scale value of the formed spot center of target satellite is counted respectively and is made E
1, E
2, E
3, E
4and E
5;
Step 2.2: E described in calculation procedure 2.1
1, E
2, E
3, E
4and E
5mean value E
on average;
Step 2.3: utilize formula Diff
satellite=| E
on average-E
0| calculate the mean value E of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
satellite;
Step 3: ask for the gray-scale value summation of gray level image described in step 1, as the brightness reference quantity of energy summation in tracking window, it specifically comprises following sub-step:
Step 3.1: obtain the total gray-scale value Gn of up-to-date six frame gray level images tracking window separately described in step 1, (n=0,1 by calculating respectively ... 5), wherein, the gray-scale value summation meter of up-to-date present frame tracking window gray level image is made G
0, the continuous five frame tracking window gray level images gray-scale value summation separately before present frame is counted respectively and is made G
1, G
2, G
3, G
4and G
5:
Step 3.2: G described in calculation procedure 3.1
1, G
2, G
3, G
4and G
5mean value G
on average;
Step 3.3: utilize formula Diff
window=| G
on average-G
0| calculate the mean value G of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
windowabsolute value;
Step 4: whether have interference source in judgement present frame gray level image:
The resolution of the edge detection algorithm adopting according to step 1 to gradation of image value, provides respectively two fault-tolerant threshold value T of error
1and T
2, and to logical formula Diff
satellite< T
1aMP.AMp.Amp Diff
window< T
2carry out logical calculated, if the value of logical formula result is true, order performs step five; If the value of logical formula result is false, skips steps five directly performs step six;
Step 5: the displacement according to the vector negative value of the miss distance described in step 1 as tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 7;
Step 6: calculate the satellite trajectory vector of next frame according to Satellite Tracking trajectory predictions method, it specifically comprises following sub-step:
Step 6.1: transfer each continuous satellite pixel coordinate historical data that present frame 14 frames before comprise miss distance, using the coordinate points of these 14 satellites absolute position in pixel coordinate system as prediction reference point, to calculate the prediction locus of target satellite by straight-line equation;
Step 6.2: adopt least squares line fitting method to 14 described in step 6.1 continuous satellite pixel coordinate prediction reference point calculation process, draw an approximate satellite trajectory straight-line equation M; Obtain satellite along the motion vector direction K of this equation simultaneously;
Step 6.3: the meter of the time interval between each frame described in step 6.1 is made to M
step-length, the moving step length predicted value as satellite motion vector on time transverse axis t;
Step 6.4: respectively by M described in step 6.3
step-lengthwith direction vector K substitution satellite trajectory straight-line equation M described in step 6.2, can draw the predictive frame coordinate figure of satellite;
Again by the step-length M between the co-ordinates of satellite in last frame satellite photo and each frame
step-lengthsubstitution straight path equation, can calculate the prediction coordinate points position of satellite in next frame gray level image respectively;
Step 6.5: the previous frame satellite absolute coordinates point in pixel coordinate system of present frame described in step 6.1 of take is starting point, and to take the predictive frame coordinate figure of the satellite described in step 6.4 be terminal, solves a step-length M
step longunder satellite predicted position vector A;
Step 6.6: using described in step 6.5 satellite predicted position vector A as the displacement of tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 5;
Step 7: the displacement with step 5 or the given tracking window of step 6 drives tracking window, changes its azimuth of lay;
Step 8: return to step 1, the circulation execution step one Satellite Tracking process to step 7.
The invention has the beneficial effects as follows: this tracking is by increasing the recognition methods of target satellite, thereby can monitor at any time and judge all hot spots in tracking window, and then Effective selection and identify target satellite, get rid of interference source, guarantee the tracking target satellite that ground optical measuring device can be unique all the time.The method fast, accurately, simply, reliably, has the potential value of applying.
Accompanying drawing explanation
Fig. 1 is that a kind of ground optical measuring device of the present invention overcomes the overview flow chart that fixed star passes through the satellite tenacious tracking method of detection window interference;
Fig. 2 is the sub-process figure of step 6 in the present invention.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further details.
As shown in Figure 1 to Figure 2, ground optical measuring device of the present invention overcomes fixed star and passes through the satellite tracking method that detection window disturbs and comprise the steps:
Step 1: gather image, utilize conventional satellite tracking method to calculate the miss distance of the formed spot center of target satellite in each frame gray level image, and the vector negative value of this miss distance is adjusted to the foundation of direction as tracking window carries out next frame track up to target satellite before.
Step 2: ask for that in gray level image, the gray-scale value of the formed spot center of target satellite is as the brightness reference quantity of target satellite light spot energy value described in step 1, it specifically comprises following sub-step:
Step 2.1: calculate the gray-scale value En ask for the formed spot center of target satellite in six frame gray level images up-to-date described in step 1, (n=0,1 ... 5), wherein, the central point of hot spot adopts centroid algorithm or centre of form algorithm to calculate conventionally, the gray-scale value meter of the formed spot center of target satellite in up-to-date present frame gray level image is made to E simultaneously
0, in the continuous five frame gray level images before present frame, the gray-scale value of the formed spot center of target satellite is counted respectively and is made E
1, E
2, E
3, E
4and E
5.
Step 2.2: E described in calculation procedure 2.1
1, E
2, E
3, E
4and E
5mean value E
on average.
Step 2.3: utilize formula Diff
satellite=| E
on average-E
0| calculate the mean value E of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
satellite.
Step 3: ask for the gray-scale value summation of gray level image described in step 1, as the brightness reference quantity of energy summation in tracking window, it specifically comprises following sub-step:
Step 3.1: obtain the total gray-scale value Gn of up-to-date six frame gray level images tracking window separately described in step 1, (n=0,1 by calculating respectively ... 5), wherein, the gray-scale value summation meter of up-to-date present frame tracking window gray level image is made G
0, the continuous five frame tracking window gray level images gray-scale value summation separately before present frame is counted respectively and is made G
1, G
2, G
3, G
4and G
5:
Step 3.2: G described in calculation procedure 3.1
1, G
2, G
3, G
4and G
5mean value G
on average.
Step 3.3: utilize formula Diff
window=| G
on average-G
0| calculate the mean value G of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
windowabsolute value.
Step 4: whether have interference source in judgement present frame gray level image:
The resolution of the edge detection algorithm adopting according to step 1 to gradation of image value, provides respectively two fault-tolerant threshold value T of error
1and T
2, and to logical formula Diff
satellite< T
1aMP.AMp.Amp Diff
window< T
2carry out logical calculated, if the value of logical formula result is true, order performs step five.If the value of logical formula result is false, skips steps five directly performs step six.
Step 5: result of determination represents only to have target satellite in tracking window, does not have interference source, and the displacement according to the vector negative value of the miss distance described in step 1 as tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 7.
Step 6: result of determination represents in tracking window, except target satellite, also to have other interference sources simultaneously, calculates the satellite trajectory vector of next frame according to Satellite Tracking trajectory predictions method, and it specifically comprises following sub-step:
Step 6.1: transfer each continuous satellite pixel coordinate historical data that present frame 14 frames before comprise miss distance, using the coordinate points of these 14 satellites absolute position in pixel coordinate system as prediction reference point, to calculate the prediction locus of target satellite by straight-line equation.
Step 6.2: adopt least squares line fitting method to 14 described in step 6.1 continuous satellite pixel coordinate prediction reference point calculation process, draw an approximate satellite trajectory straight-line equation M.Obtain satellite along the motion vector direction K of this equation simultaneously.
Step 6.3: the meter of the time interval between each frame described in step 6.1 is made to M
step-length, the moving step length predicted value as satellite motion vector on time transverse axis t.
Step 6.4: respectively by M described in step 6.3
step-lengthwith direction vector K substitution satellite trajectory straight-line equation M described in step 6.2, can draw the predictive frame coordinate figure of satellite.
Again by the step-length M between the co-ordinates of satellite in last frame satellite photo and each frame
step-lengthsubstitution straight path equation, can calculate the prediction coordinate points position of satellite in next frame gray level image respectively.
Step 6.5: the previous frame satellite absolute coordinates point in pixel coordinate system of present frame described in step 6.1 of take is starting point, and to take the predictive frame coordinate figure of the satellite described in step 6.4 be terminal, solves a step-length M
step longunder satellite predicted position vector A.
Step 6.6: using described in step 6.5 satellite predicted position vector A as the displacement of tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 5.
Step 7: the displacement with step 5 or the given tracking window of step 6 drives tracking window, changes its azimuth of lay.
Step 8: return to step 1, the circulation execution step one Satellite Tracking process to step 7.
This tracking is by increasing the recognition methods of target satellite, thereby can monitor at any time and judge all hot spots in tracking window, and then Effective selection and identify target satellite, get rid of interference source, guarantee the tracking target satellite that ground optical measuring device can be unique all the time.The method fast, accurately, simply, reliably, has the potential value of applying.
Claims (1)
1. ground optical measuring device overcomes the satellite tracking method that fixed star passes through detection window interference, it is characterized in that,
The method comprises the steps:
Step 1: gather image, utilize conventional satellite tracking method to calculate the miss distance of the formed spot center of target satellite in each frame gray level image;
Step 2: ask for that in gray level image, the gray-scale value of the formed spot center of target satellite is as the brightness reference quantity of target satellite light spot energy value described in step 1, it specifically comprises following sub-step:
Step 2.1: calculate the gray-scale value En ask for the formed spot center of target satellite in six frame gray level images up-to-date described in step 1, (n=0,1 ... 5), wherein, in up-to-date present frame gray level image, the gray-scale value meter of the formed spot center of target satellite is made E
0, in the continuous five frame gray level images before present frame, the gray-scale value of the formed spot center of target satellite is counted respectively and is made E
1, E
2, E
3, E
4and E
5;
Step 2.2: E described in calculation procedure 2.1
1, E
2, E
3, E
4and E
5mean value E
on average;
Step 2.3: utilize formula Diff
satellite=| E
on average-E
0| calculate the mean value E of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
satellite;
Step 3: ask for the gray-scale value summation of gray level image described in step 1, as the brightness reference quantity of energy summation in tracking window, it specifically comprises following sub-step:
Step 3.1: obtain the total gray-scale value Gn of up-to-date six frame gray level images tracking window separately described in step 1, (n=0,1 by calculating respectively ... 5), wherein, the gray-scale value summation meter of up-to-date present frame tracking window gray level image is made G
0, the continuous five frame tracking window gray level images gray-scale value summation separately before present frame is counted respectively and is made G
1, G
2, G
3, G
4and G
5:
Step 3.2: G described in calculation procedure 3.1
1, G
2, G
3, G
4and G
5mean value G
on average;
Step 3.3: utilize formula Diff
window=| G
on average-G
0| calculate the mean value G of present frame gray-scale value and present frame continuous five frames before
on averagebetween difference Diff
windowabsolute value;
Step 4: whether have interference source in judgement present frame gray level image:
The resolution of the edge detection algorithm adopting according to step 1 to gradation of image value, provides respectively two fault-tolerant threshold value T of error
1and T
2, and to logical formula Diff
satellite< T
1aMP.AMp.Amp Diff
window< T
2carry out logical calculated, if the value of logical formula result is true, order performs step five; If the value of logical formula result is false, skips steps five directly performs step six;
Step 5: the displacement according to the vector negative value of the miss distance described in step 1 as tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 7;
Step 6: calculate the satellite trajectory vector of next frame according to Satellite Tracking trajectory predictions method, it specifically comprises following sub-step:
Step 6.1: transfer each continuous satellite pixel coordinate historical data that present frame 14 frames before comprise miss distance, using the coordinate points of these 14 satellites absolute position in pixel coordinate system as prediction reference point, to calculate the prediction locus of target satellite by straight-line equation;
Step 6.2: adopt least squares line fitting method to 14 described in step 6.1 continuous satellite pixel coordinate prediction reference point calculation process, draw an approximate satellite trajectory straight-line equation M; Obtain satellite along the motion vector direction K of this equation simultaneously;
Step 6.3: the meter of the time interval between each frame described in step 6.1 is made to M
step-length, the moving step length predicted value as satellite motion vector on time transverse axis t;
Step 6.4: respectively by M described in step 6.3
step-lengthwith direction vector K substitution satellite trajectory straight-line equation M described in step 6.2, can draw the predictive frame coordinate figure of satellite;
Again by the step-length M between the co-ordinates of satellite in last frame satellite photo and each frame
step-lengthsubstitution straight path equation, can calculate the prediction coordinate points position of satellite in next frame gray level image respectively;
Step 6.5: the previous frame satellite absolute coordinates point in pixel coordinate system of present frame described in step 6.1 of take is starting point, and to take the predictive frame coordinate figure of the satellite described in step 6.4 be terminal, solves a step-length M
step longunder satellite predicted position vector A;
Step 6.6: using described in step 6.5 satellite predicted position vector A as the displacement of tracking window, simultaneously by E
0meter is made E
1, by G
0meter is made G
1and upgrade historical data according to the mode postponing, then enter step 5;
Step 7: the displacement with step 5 or the given tracking window of step 6 drives tracking window, changes its azimuth of lay;
Step 8: return to step 1, the circulation execution step one Satellite Tracking process to step 7.
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Cited By (4)
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| CN107063231A (en) * | 2017-03-22 | 2017-08-18 | 南京农业大学 | A kind of tractor method of motion vector prediction based on binocular vision |
| CN107272746A (en) * | 2017-06-30 | 2017-10-20 | 中国科学院长春光学精密机械与物理研究所 | A kind of tracking of medium and low earth orbit satellites |
| CN113703009A (en) * | 2021-07-30 | 2021-11-26 | 中国人民解放军91977部队 | Satellite detection offshore target capability evaluation system and method |
| CN115267854A (en) * | 2022-09-22 | 2022-11-01 | 鹏城实验室 | Advanced alignment method and device based on satellite trajectory prediction |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107063231A (en) * | 2017-03-22 | 2017-08-18 | 南京农业大学 | A kind of tractor method of motion vector prediction based on binocular vision |
| CN107063231B (en) * | 2017-03-22 | 2020-06-30 | 南京农业大学 | Tractor motion vector prediction method based on binocular vision |
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| CN113703009A (en) * | 2021-07-30 | 2021-11-26 | 中国人民解放军91977部队 | Satellite detection offshore target capability evaluation system and method |
| CN113703009B (en) * | 2021-07-30 | 2022-03-25 | 中国人民解放军91977部队 | Satellite detection offshore target capability evaluation system and method |
| CN115267854A (en) * | 2022-09-22 | 2022-11-01 | 鹏城实验室 | Advanced alignment method and device based on satellite trajectory prediction |
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