CN104567867B - Method for stably tracking attitude of star sensor - Google Patents
Method for stably tracking attitude of star sensor Download PDFInfo
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- CN104567867B CN104567867B CN201410838410.3A CN201410838410A CN104567867B CN 104567867 B CN104567867 B CN 104567867B CN 201410838410 A CN201410838410 A CN 201410838410A CN 104567867 B CN104567867 B CN 104567867B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
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Abstract
The invention discloses a method for stably tracking the attitude of a star sensor. The method comprises steps as follows: firstly, establishing a tracking list structure in star sensor software, and recording tracking and identification conditions of star points; comparing and analyzing a matching identification result of each frame of star map of the star sensor and matching identification results of multiple frames of previous star maps to screen out the star points stably tracked by the star sensor; only adopting star pairs capable of being stably tracked by the star sensor to perform attitude calculation. According to the method, only the star pairs which pass multiple-frame verification and can be stably tracked and identified are adopted for attitude calculation, so that effects caused by output attitudes corresponding to star pairs which cannot be stably identified are eliminated.
Description
Technical field
The invention belongs to spacecraft uses Star Sensor field, it is related to a kind of side of star sensor attitude stabilization tracking
Method.
Background technology
Star sensor is a kind of imaging type spatial attitude measurement sensor, is extracted by the asterism to clapped star chart, is recognized
And calculating, export star sensor three-axis attitude information, due to its have high accuracy, high reliability the features such as, be widely used in
In all kinds of spacecrafts such as satellite, airship.Star sensor adopts the observation star extracted from window star chart by fixed star window trace
Point information and navigational star table asterism information carry out star pattern matching identification, and then carry out attitude algorithm.Obtained by star pattern matching identification
The star pair of observation star and nautical star composition, is the basis for carrying out attitude algorithm, directly affects the output attitude accuracy of star sensor
This important indicator.
Existing star sensor is such as《The celestial body segmented positioning technique study of star map image in star sensor》(author：Wei Xin
State, Zhang Guangjun etc.；Source：BJ University of Aeronautics ＆ Astronautics's journal) etc. described in document, directly star pattern matching recognized more obtained by star
To being completely used for attitude algorithm, due to nautical star point tolerance, the into/out visual field of asterism, sensitive chip noise, Space Particle spoke
Penetrate, the impact of the factor such as veiling glare, there is unstable situation to composition per the star obtained by the identification of frame star pattern matching, cause with its work
Attitude algorithm module output for input is unstable, affects the output attitude accuracy of star sensor.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided a kind of star sensor attitude stabilization with
The method of track so that the star for attitude algorithm is stable to composition, so as to improve star sensor output attitude accuracy.
The technical scheme is that：A kind of method of star sensor attitude stabilization tracking, step is as follows：
1) star sensor is obtained after a new frame tracing mode star chart information, carries out asterism extraction and match cognization, is obtained
Identification queue IR, described identification queue IR include that the navigational star number GSId and image planes of each navigation asterism extracts coordinate information；
2) the next node TLn in tracking list TL is obtained；Described tracking list TL be before per frame accumulation with
Track list, including track star number tsn, determine appearance star number qsn and the navigational star number GSId of each tracking list node, continuous loss
Whether number of times LostCycles, tracking number of times TrackedCycles and the node can be used to determine the mark FlgUseToCalc of appearance；
3) the next nautical star IRn in identification queue IR is taken；
4) whether the navigational star number IRn.GSId for comparing the navigational star number TLn.GSId and nautical star IRn of TLn is equal, if phase
Deng this nautical star being rejected from identification queue IR, then execution step 6)；Otherwise, execution step 5)；
5) judge to recognize whether all nautical stars extract and terminate in queue IR, if so, then execution step 7)；Otherwise, perform
Step 3)；
6) the tracking number of times TLn.TrackedCycles for tracking list node TLn adds one, continuously loses number of times
TLn.LostCycles sets to 0, if judging TLn.TrackedCycles more than or equal to tracking threshold value minNumForTracked,
The appearance mark FlgUseToCalc that determines for putting this node is true, and that otherwise puts this node determines appearance mark FlgUseToCalc for non-real；
Judgement terminates rear execution step 8)；Wherein minNumForTracked is positive integer；
7) judge the continuous loss number of times TLn.LostCycles for tracking list node TLn whether more than or equal to miss-threshold
MaxNumForLosted, if so, empties the tracking list node, i.e., the node is set to NullTLNode；Otherwise,
TLn.LostCycles adds one, and that puts this node determines appearance mark FlgUseToCalc for non-real, execution step 8)；Wherein
MaxNumForLosted is positive integer；
8) judge to track all nodes in list and whether extract to terminate, if so, execution step 9)；Otherwise, return to step 2)；
9) it is above-mentioned to be filled out with the node being cleared in remaining nautical star information filling tracking list TL in identification queue IR
The continuous loss number of times for filling node is set to 0, and tracking number of times is set to 1, determines appearance mark and is set to non-real；
10) calculate and obtain non-NULL nodes A in tracking list TL, tracking star number tsn of tracking list TL is set to into A；Meter
Calculation acquisition tracking determines appearance and is masked as genuine nodes B, and appearance star number qsn of determining of tracking list is set to into B；
11) using determining appearance and be masked as the attitude that genuine node nautical star information completes this frame of star sensor in tracking list TL
Resolve and tenacious tracking.
Present invention good effect compared with prior art：
1. propose that star chart culminant star point mass multiframe compares evaluation method, realizes the preferred of match cognization result.Prior art
Many angles that asterism vector and nautical star point vector are observed by adjusting present frame, reject when the larger identification star pair of frame error；
The present invention on the basis of existing technology, increased the multiframe checking of identification star pair, and rejecting can not be by stable between continuous multiple frames
Star pair with identification；
2. stably it is used for the star of attitude algorithm to composition, improves star sensor output attitude accuracy.Prior art is more complete
Into star pattern matching identification after, directly by star pattern matching recognize obtained by star to being completely used for attitude algorithm, when a certain star is to more
When interframe can not be recognized stably, star sensor output attitude error is larger；The present invention is steady only with verify through multiframe, energy
The star of Tracking Recognition is determined to carrying out attitude algorithm, eliminating can not stably impact of the identification star to correspondence output attitude.
Description of the drawings
Fig. 1 is the main flow chart of the present invention.
Specific embodiment
The present invention has been applied to domestic certain small-sized star sensor, as shown in figure 1, specific implementation step is as follows：
1) star sensor is obtained after a new frame tracing mode star chart information, carries out asterism extraction and match cognization, is obtained
Identification queue IR, described identification queue IR include that the navigational star number GSId and image planes of each navigation asterism extracts coordinate information；
2) the next node TLn in tracking list TL is obtained；Described tracking list TL be before per frame accumulation with
Track list, including track star number tsn, determine appearance star number qsn and the navigational star number GSId of each tracking list node, continuous loss
Whether number of times LostCycles, tracking number of times TrackedCycles and the node can be used to determine the mark FlgUseToCalc of appearance；
3) the next nautical star IRn in identification queue IR is taken；
4) whether the navigational star number IRn.GSId for comparing the navigational star number TLn.GSId and nautical star IRn of TLn is equal, if phase
Deng this nautical star being rejected from identification queue IR, then execution step 6)；Otherwise, execution step 5)；
5) judge to recognize whether all nautical stars extract and terminate in queue IR, if so, then execution step 7)；Otherwise, perform
Step 3)；
6) the tracking number of times TLn.TrackedCycles for tracking list node TLn adds one, continuously loses number of times
TLn.LostCycles sets to 0, if judging TLn.TrackedCycles more than or equal to tracking threshold value minNumForTracked,
The appearance mark FlgUseToCalc that determines for putting this node is true, and that otherwise puts this node determines appearance mark FlgUseToCalc for non-real；
Judgement terminates rear execution step 8)；Wherein minNumForTracked is positive integer；
7) judge the continuous loss number of times TLn.LostCycles for tracking list node TLn whether more than or equal to miss-threshold
MaxNumForLosted, if so, empties the tracking list node, i.e., the node is set to NullTLNode；Otherwise,
TLn.LostCycles adds one, and that puts this node determines appearance mark FlgUseToCalc for non-real, execution step 8)；Wherein
MaxNumForLosted is positive integer；
8) judge to track all nodes in list and whether extract to terminate, if so, execution step 9)；Otherwise, return to step 2)；
9) it is above-mentioned to be filled out with the node being cleared in remaining nautical star information filling tracking list TL in identification queue IR
The continuous loss number of times for filling node is set to 0, and tracking number of times is set to 1, determines appearance mark and is set to non-real；
10) calculate and obtain non-NULL nodes A in tracking list TL, tracking star number tsn of tracking list TL is set to into A；Meter
Calculation acquisition tracking determines appearance and is masked as genuine nodes B, and appearance star number qsn of determining of tracking list is set to into B；
11) using determining appearance and be masked as the attitude that genuine node nautical star information completes this frame of star sensor in tracking list TL
Resolve and tenacious tracking.
Table one
Table two
For example, if tracking threshold value be 5, miss-threshold is 3, previous frame recognition result as shown in Table 1, step 1) in it
As shown in Table 2, node 4,12,13 is unidentified due to previous frame, through step 7 for the tracking list of front accumulation) determine appearance be masked as it is non-
Very；Node 10 due to tracking number of times less than tracking threshold value, through step 7) determine appearance and be masked as non-real；The tracking number of times of other nodes
It is all higher than tracking threshold value, therefore through step 6) determine appearance mark and be very.Step 1) in this frame identification the recognized list such as institute of table three
Show.Then through calculating, step 10) tracking list after the renewal that obtains as shown in Table 4, its interior joint 4 is recognized due to present frame
And number of times is tracked more than tracking threshold value, therefore through step 6) determine appearance mark and be changed into true；Node 10 recognizes that tracking is secondary due to present frame
Number has been equal to tracking threshold value, therefore through step 6) determine appearance mark and be changed into true；Node 11,12 is passed through due to present frame nonrecognition
Step 7) determine appearance mark and be changed into non-real, and continuous number of times of losing adds 1；Node 13 is due to present frame nonrecognition and continuously loses number of times
Equal to miss-threshold, therefore through step 7) it is cleared, and through step 9) it is filled to be new node.If using tracking list, on
One frame step 11) carry out attitude algorithm, present frame step 11 with the interior joint 1,2,3,5,6,7,8,9,11 of table two) use table four
Interior joint 1～10 carries out attitude algorithm, wherein the nautical star for determining appearance have three it is different.If not using tracking list,
Previous frame and present frame carry out attitude algorithm with table one, recognized list shown in table three respectively, wherein the nautical star for determining appearance is total to
Have 5 it is different.Understand, star sensor attitude stabilization tracking proposed by the present invention can be in the unstable situation of recognition result
The lower tenacious tracking for realizing attitude.
Table three
Table four
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (1)
1. a kind of method that star sensor attitude stabilization is tracked, it is characterised in that step is as follows：
1) star sensor is obtained after a new frame tracing mode star chart information, carries out asterism extraction and match cognization, is identified
Queue IR, described identification queue IR include that the navigational star number GSId and image planes of each navigation asterism extracts coordinate information；
2) the next node TLn in tracking list TL is obtained；The tracking row that described tracking list TL is accumulated before being per frame
Table, including tracking star number tsn, determine appearance star number qsn and each track list node navigational star number GSId, continuously lose number of times
Whether LostCycles, tracking number of times TrackedCycles and the node can be used to determine the mark FlgUseToCalc of appearance；
3) the next nautical star IRn in identification queue IR is taken；
4) whether the navigational star number IRn.GSId for comparing the navigational star number TLn.GSId and nautical star IRn of TLn is equal, if equal,
This nautical star is rejected from identification queue IR, then execution step 6)；Otherwise, execution step 5)；
5) judge to recognize whether all nautical stars extract and terminate in queue IR, if so, then execution step 7)；Otherwise, execution step
3)；
6) the tracking number of times TLn.TrackedCycles for tracking list node TLn adds one, continuously loses number of times
TLn.LostCycles sets to 0, if judging TLn.TrackedCycles more than or equal to tracking threshold value minNumForTracked,
The appearance mark FlgUseToCalc that determines for putting this node is true, and that otherwise puts this node determines appearance mark FlgUseToCalc for non-real；
Judgement terminates rear execution step 8)；Wherein minNumForTracked is positive integer；
7) judge the continuous loss number of times TLn.LostCycles for tracking list node TLn whether more than or equal to miss-threshold
MaxNumForLosted, if so, empties the tracking list node, i.e., the node is set to NullTLNode；Otherwise,
TLn.LostCycles adds one, and that puts this node determines appearance mark FlgUseToCalc for non-real, execution step 8)；Wherein
MaxNumForLosted is positive integer；
8) judge to track all nodes in list and whether extract to terminate, if so, execution step 9)；Otherwise, return to step 2)；
9) it is above-mentioned to be filled section with the node being cleared in remaining nautical star information filling tracking list TL in identification queue IR
The continuous loss number of times of point is set to 0, and tracking number of times is set to 1, determines appearance mark and is set to non-real；
10) calculate and obtain non-NULL nodes A in tracking list TL, tracking star number tsn of tracking list TL is set to into A；Calculating is obtained
Must track and determine appearance and be masked as genuine nodes B, appearance star number qsn of determining of tracking list is set to into B；
11) using determining appearance and be masked as the attitude algorithm that genuine node nautical star information completes this frame of star sensor in tracking list TL
And tenacious tracking.
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| CN109271942A (en) * | 2018-09-26 | 2019-01-25 | 上海七牛信息技术有限公司 | A kind of stream of people's statistical method and system |
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| CN106403929B (en) * | 2016-08-22 | 2019-02-05 | 清华大学 | The fast robust method of calibration of star sensor importance in star map recognition and attitude algorithm |
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