CN106586041B - A kind of Mars target simulation method for deep space exploration - Google Patents
A kind of Mars target simulation method for deep space exploration Download PDFInfo
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Abstract
The present invention relates to a kind of Mars target simulation methods for deep space exploration, belong to deep space exploration application field.In order to solve the existing prior art lack it is a kind of being capable of the method simulated of position to Mars, size, profile, imaging orientation, imaging gray scale, there is the shortcomings that technological gap in engineering practice, and proposes a kind of Mars target simulation method for deep space exploration.It include: that Mars centre coordinate is transformed into display plane coordinate system and projector coordinates system from heliocentric ecliptic coordinate system；The imaging size of Mars is calculated according to the relative distance relationship of the imaging viewing field of Mars probes and Mars and Mars probes；Simulation Mars is by the region that the sun illuminates and the region not being illuminated；The imaging orientation of Mars profile is calculated according to the relative positional relationship of the sun, Mars, detector；The magnitude of Mars is mapped to the gray scale of computer, to be shown on interface.The present invention is suitable for deep space exploration simulation softward.
Description
Technical field
The present invention relates to a kind of Mars target simulation methods for deep space exploration, belong to deep space exploration application field.
Background technique
The cost of Mars probes is extremely expensive, and spends a large amount of manpower and material resources, improves the precision of Mars probes, drop
The failure of low Mars probes becomes inevitable requirement.However the practical starry sky of attitude sensor captured in real-time of Mars probes is not
Reality, and involve great expense, and be difficult to accomplish real-time and dynamic, this just proposes requirement to Mars target simulation.
In extraterrestrial target simulation, the mainstream technology of use is Dynamic Star simulator.The working principle of Dynamic Star simulator
It is: according to the celestial body attitude angle and orbital position of the simulation computer output received, determines to be that clock star is quick by coordinate transform
Direction corresponding to sensor optical axis, and extract the star chart that star sensor corresponds in visual field from star library and be sent to star chart generator
On.Since the input signal of star sensor is the nautical star of infinite point, simulator must be by optical system with parallel
Light mode exports, and receives for star sensor.
However, fixed star picture point is Mars background, and Mars ontology target simulation is also it in terms of Mars target simulation research
In important component part.Mars cannot be regarded as a little in closer distance, at this time the coordinate analogy method and infinite point of Mars
Fixed star analogy method it is different, while must include the simulation of Mars size in the target simulation of Mars.Since Mars is not light
Source, mainly by reflected sunlight, this just needs the light and shade to Mars, profile, imaging orientation, imaging gray scale to carry out for the brightness of Mars
Simulation, thus Mars target simulation be one from the distant to the near, descending process.Need the position to Mars, size, wheel
Wide, imaging orientation, imaging gray scale are simulated.
Current star analogue technique is concentrated mainly on fixed star picture point simulation aspect, work not yet occurs in the simulation of Mars ontology
The example of journey practice.
Summary of the invention
The purpose of the present invention is to solve the prior art lack it is a kind of being capable of position to Mars, size, profile, imaging
, there is the shortcomings that technological gap in the method that orientation, imaging gray scale are simulated, and propose a kind of for deep space in engineering practice
The Mars target simulation method of detection.
Size is imaged in a kind of Mars target simulation method for deep space exploration, including Mars coordinate simulation steps, Mars
Gray scale simulation steps are imaged in simulation steps, Mars image profiles simulation steps, Mars imaging orientation simulation steps and Mars: its
In
Mars coordinate simulation steps are used to Mars centre coordinate transforming to display plane from heliocentric ecliptic coordinate system and sit
Mark system and projector coordinates system；
Mars is imaged size simulation steps and is used for according to the imaging viewing field and Mars of Mars probes and Mars probes
Relative distance relationship calculates the imaging size of Mars；
Mars image profiles simulation steps are used to simulate Mars by region that the sun illuminates and the region not being illuminated；
Mars is imaged orientation simulation steps and is used to calculate Mars wheel according to the relative positional relationship of the sun, Mars, detector
Wide imaging orientation；
Mars imaging gray scale simulation steps are used to for the magnitude of Mars being mapped to the gray scale of computer, to be shown in interface
On.
The invention has the benefit that can light and shade to Mars, profile, imaging orientation, imaging gray scale carry out it is comprehensive
Simulation, can effectively be applied in the ground target simulated testing system of Mars probes.
Detailed description of the invention
Fig. 1 is the flow chart of the Mars target simulation method for deep space exploration of the invention；
Fig. 2 is that SKY2000 of the invention simplifies star catalogue schematic diagram；
Fig. 3 is heliocentric ecliptic coordinate system and attitude sensor coordinate system relation schematic diagram；
Fig. 4 is the schematic diagram of any fixed star coordinate；
Fig. 5 is attitude sensor coordinate system and CMOS plane coordinate system relation schematic diagram；
Fig. 6 is the schematic diagram at viewing field of camera angle；
Fig. 7 is that size simulation schematic diagram is imaged in Mars；
The schematic diagram for the plane that Fig. 8 is the sun, Mars, detector are constituted；
Fig. 9 is Mars profile day volume geometric model figure；
Figure 10 is Mars profile two-dimension projection；
Figure 11 is that orientation schematic diagram is imaged in Mars difference.
Specific embodiment
Specific embodiment 1: the Mars target simulation method for deep space exploration of present embodiment, as shown in Figure 1,
Including Mars coordinate simulation steps SA, Mars imaging size simulation steps SB, Mars image profiles simulation steps SC, Mars imaging
Gray scale simulation steps SE is imaged in orientation simulation steps SD and Mars: where
Mars coordinate simulation steps SA is used to Mars centre coordinate transforming to display plane from heliocentric ecliptic coordinate system
Coordinate system.
Size simulation steps SB is imaged for the imaging viewing field and Mars and Mars probes according to Mars probes in Mars
Relative distance relationship calculate the imaging size of Mars.
Mars image profiles simulation steps SC is used to simulate Mars by region that the sun illuminates and the region not being illuminated.
Mars is imaged orientation simulation steps SD and is used to calculate Mars according to the relative positional relationship of the sun, Mars, detector
The imaging orientation of profile.
Mars imaging gray scale simulation steps SE is used to for the magnitude of Mars being mapped to the gray scale of computer, to be shown in interface
On.
It should be noted that, although the sequence executed has been write in Fig. 1, but without specific successively suitable between each step
Sequence, the purpose of the present invention can also be reached by executing after reversed order.
Since Mars cannot be regarded as a little, nor light source, so the present invention to its coordinate, size, profile, imaging orientation with
And imaging gray scale is simulated.The present invention carries out the coordinate simulation of Mars first, and Mars probes optical axis direction is being determined
On the basis of, it is assumed that Mars is handled with the presence of its center dot formula by translation transformation, rotation transformation and Unitary coordinateization, will
Mars centre coordinate is transformed to from heliocentric ecliptic coordinate system and is shown under display plane coordinate system and projector coordinates system under J2000
Show.After Mars probes optical axis direction and imaging center coordinate has been determined, pass through the imaging viewing field and fire of Mars probes
The relative distance relationship of star and Mars probes completes the simulation to Mars imaging size.Then to the sun, Mars, detector
Celestial body Geometric Modeling is carried out, the region that Mars is illuminated by the sun and the region in dark are simulated.Then pass through the sun, fire
Star, detector three relative positional relationship complete to Mars profile imaging orientation simulation.It is finally theoretical using diffusing reflection
Celestial body reflection model of the irradiation of sunlight on Mars is established, is obtained after the luminance information of Mars according to identical Linear Mapping
The gray scale that Mars magnitude is mapped to computer is shown.
The content of each step is specifically described below:
Mars coordinate simulation steps: main purpose is determining Mars in display plane coordinate system and projector coordinates system
Coordinate.It determines that the centre coordinate optical axis of Mars probes is directed toward first, the attitude quaternion for describing Mars probes is converted to
The right ascension of the optical axis, declination.Then by Mars coordinate under heliocentric ecliptic coordinate system SKY2000 star catalogue and Mars probes coordinate to appearance
Coordinate under state sensor coordinate system is converted, and concrete implementation step is to be to Mars probes by Mars coordinate translation
Center on the three axis coordinate system parallel with heliocentric ecliptic coordinate system, then is handled by Unitary coordinateization and sets Mars to fire
On a unit ball centered on star detector.Fire is determined finally by with the similar rotation transformation processing that fixed star coordinate determines
Centre coordinate of the star in display plane coordinate system and projector coordinates system.
Size simulation steps are imaged in Mars: the simulation of Mars size determines what Mars was imaged on CMOS photo coordinate system
Range.The present invention has determined Mars by the imaging viewing field and Mars of Mars probes and the relative distance relationship of Mars probes
Imaging size, then pass through the pixel number for being sized to picture of the simulation pixel dimension of CMOS phase machine side battle array.
Mars image profiles simulation steps: the simulation of Mars profile simulates Mars on CMOS plane coordinate system and is shone by the sun
Bright region and the region in dark.The present invention is using plane formed by the sun, Mars and Mars probes as benchmark plane
On the basis of establish a day volume geometric model, obtained Mars to detector vector and Mars to solar vector angle be 0-
Two-dimensional imaging profile of the Mars profile in CMOS plane at 180 °.And by the scalar product for judging vector, Mars is obtained to spy
It surveys the profile of device vector and Mars to solar vector angle not at 0-180 ° and determines method.
Orientation simulation steps are imaged in Mars: Mars imaging orientation determines that Mars is illuminated the direction in region.The present invention by
Vector r of the sun to Mars0Imaging orientation of the Mars in the battle array of the face CMOS has been determined.First by vector r0In day heart ecliptic coordiantes
System is transformed into attitude sensor coordinate system, obtains vector r0', r0' it is r under CMOS plane coordinate system0", by imaging surface and r0″
Vertical relation obtain the imaging orientation of Mars.
The simulation steps of Mars imaging gray scale: due to more focusing on Mars profile in the simulation of Mars ontology, so of the invention
It is theoretical using ideal Lambertian reflection, it is assumed that Mars imaging gray scale does not change with observation angle.
Specific embodiment 2: the present embodiment is different from the first embodiment in that: the method also includes institute
State the pre-treatment step executed before each step, the pre-treatment step specifically:
Parameter in each data item in SKY2000 star catalogue is deleted, only retains each data item at J2000
The right ascension of fixed star, declination, magnitude parameter information, and all data item are arranged in descending order according to right ascension.
Fig. 2 is that SKY2000 simplifies star catalogue schematic diagram.
As shown in Fig. 2, star catalogue is exactly the file for recording fixed star asterisk, position and stars and other information in astronomy.The present invention makes
With SKY2000 star catalogue, and star catalogue is deleted, only retain human eye can magnitude in identification range, contain under J2000
Three parameter informations of right ascension, declination, magnitude of fixed star, magnitude range 0-6 amount to 5062 fixed stars.This star catalogue is guaranteeing foot
Under enough high precision, deleted fixed star number, voluntarily, the garbages such as spectrum, search efficiency can be accelerated, while using TXT
Format is stored, and is provided conveniently for the search of software.Star catalogue first is classified as the right ascension of fixed star, and second is classified as the declination of fixed star,
Third is classified as the magnitude of fixed star, and all data carry out descending arrangement according to right ascension, and right ascension is by value within the scope of 0-2 π, covering
Whole day ball.
Other steps and parameter are same as the specific embodiment one.
Specific embodiment 3: the present embodiment is different from the first and the second embodiment in that:
Mars coordinate simulation steps include:
Step A1: determine that the centre coordinate optical axis of Mars probes is directed toward.
Step A2: the attitude quaternion for being used to describe Mars probes is converted to right ascension, the declination of the optical axis.
Step A3: it is quick that Mars coordinate of the heliocentric ecliptic coordinate system under star catalogue and Mars probes coordinate are converted into posture
Coordinate under sensor coordinate system.
Step A4: determine Mars in the centre coordinate of display plane coordinate system and projector coordinates system.
Specifically, the expression formula of the right ascension of the optical axis in the optical axis determines in step A1 method and step A2, declination
Determine method are as follows:
Current invention assumes that attitude sensor and detector body are connected, that is, think that detector body coordinate system and posture are sensitive
Device coordinate system is overlapped.The posture of detector is provided with quaternary number form formula, i.e., attitude sensor coordinate system is sat relative to day heart ecliptic
Mark the positional relationship of system.OZ axis is oriented to the attitude sensor optical axis in the present invention, determines that the optical axis is directed toward, that is, determines the red of the optical axis
Through, declination, as shown in Figure 3:
O-UVW is heliocentric ecliptic coordinate system, and OU axis is directed toward the first point of Aries, and O-XYZ is attitude sensor coordinate system, then OZ axis is
The detector optical axis is directed toward, and ON is the intersection of O-XY plane and O-UV plane, and OM is vertical with ON in O-XY plane.OZ axis and OW axis
Angle is θ, and OX axis is with intersection ON angle
If the attitude quaternion of detector is q=[q1, q2, q3, q4]T, wherein the direction of preceding Three Represents Euler's axis, the
Four represent Euler's corner, meet constraint condition:
q1 2+q2 2+q3 2+q4 2=1 (1-1)
Direction cosine matrix are as follows:
The attitude matrix stated by attitude quaternion are as follows:
Quaternary counts to the transformation for mula between Eulerian angles under 3-1-3 rotary mode:
θ=arccos (Azz) (1-5)
Wherein AijFor the element in formula direction cosine matrix.
If the right ascension of the optical axis, declination are (α0,δ0), the right ascension of the optical axis, declination can calculate:
Wherein, right ascension value in 0-2 π, needs by judging Azx、AzyTo judge locating quadrant.Declination is in-pi/2-pi/2
Interior value.Thus it has been determined that the optical axis is directed toward, the optical axis, which is directed toward, combines visual field, for judging fixed star whether in effective viewing field's range
It is interior.
The detailed process of step A3 are as follows:
Heliocentric ecliptic coordinate system belongs to celestial coordinate system.In SKY2000 star catalogue, all star places are all in celestial sphere
It is indicated, is needed celestial coordinate system to attitude sensor coordinate system transformation in the form of right ascension, declination under coordinate system.Due to fixed star
Range finder and day heart are all abnormal remote, then detector then can be ignored at a distance from the sun, day heart ecliptic celestial sphere
Coordinate system may be regarded as that origin is identical with attitude sensor coordinate system, and transformation of such fixed star to attitude sensor coordinate system can be examined only
Consider rotation transformation and does not have to consider translation transformation.If attitude matrix is A.
According to Rotating Transition of Coordinate theory, obtain:
Wherein U, V, W are fixed star picture point coordinate under celestial coordinate system, and X, Y, Z are fixed star picture point in attitude sensor coordinate
It is lower coordinate.
If the matrix for rotating around x axis the angle θ is Rx(θ), the matrix around y-axis, the z-axis rotation angle θ is respectively R accordinglyy(θ)、Rz
(θ).Wherein:
In addition, attitude matrix is related with the rotation sequence of coordinate system, the x-axis of coordinate system, y are respectively represented with number 1,2,3
Axis and z-axis.Then there are 12 kinds of Euler's rotation sequences, can indicate as follows:
The present invention uses Eulerian angles rotation sequence for 3-1-3 mode, each time rotation angle be successively denoted as ψ,And θ.Then revolve
Turn A to be denoted asThen there is following relationship:
Obtain the attitude matrix of Euler's angie type are as follows:
Fixed star indicates in celestial coordinate system position by right ascension, declination, and three-dimensional coordinate is such as under right ascension, declination to celestial coordinate system
Shown in Fig. 4, formula expression are as follows:
In formula: U, V, W are three-dimensional coordinate under celestial coordinate system.
The detailed process of step A4 are as follows:
After fixed star picture point is realized from celestial coordinate system to the coordinate transform of attitude sensor, it is also necessary to by posture sensitivity
Device coordinate system is converted to photo coordinate system.Photo coordinate system is cmos imaging face battle array.
Two-dimensional plane coordinate system, i.e. photo coordinate system are established on the focal plane of attitude sensor, are made as plane coordinates
The X-axis of system is consistent with the X-direction of attitude sensor coordinate system, makes the Y-axis and attitude sensor coordinate system Y of photo coordinate system
Axis direction is consistent, as shown in Figure 5.
If the coordinate that any fixed star projects to photo coordinate system is (x, y), x and y are indicated in CMOS phase machine side battle array
Pixel number.If the actual size of CMOS camera pixel is respectively tmpPixelsizeX and tmpPixelsizeY, wherein
TmpPixelsizeX indicates that the Pixel size of face battle array X-direction, tmpPixelsizeY indicate the Pixel size of face battle array Y-direction.Then
By following relational expression:
NxFor the pixel number in the battle array X-direction of camera cmos imaging face, NyFor the picture in the battle array Y-direction of camera cmos imaging face
First number, f are the focal length of camera.Known viewing field of camera is FOVx×FOVy, then it can be obtained by Fig. 6:
Wherein X, Y and Z are coordinate under attitude sensor coordinate system.
Other steps and parameter are the same as one or two specific embodiments.
Specific embodiment 4: unlike one of present embodiment and specific embodiment one to three:
In step A2, the right ascension α of the optical axis0, declination δ0Expression formula such as formula (1-7) and (1-8) shown in, wherein Azx=2
(q1q3+q2q4), Azy=2 (q2q3-q1q4), Azz=-q1 2-q2 2+q3 2+q4 2, q1,q2,q3,q4Respectively attitude quaternion q=
[q1,q2,q3,q4]TRespective components.
Other steps and parameter are identical as one of specific embodiment one to three.
Specific embodiment 5: unlike one of present embodiment and specific embodiment one to four:
Size simulation steps are imaged in Mars
Step B1: fire is determined by the imaging viewing field and Mars of Mars probes and the relative distance relationship of Mars probes
The imaging size of star.
Step B2: pass through the pixel number for being sized to picture of the simulation pixel dimension of CMOS phase machine side battle array.
Detailed process is as follows:
First carry out Mars target simulation:
Fixed star cannot be regarded as a little compared to Mars, so Mars target simulation must include the simulation of Mars size.Due to fire
Star is not light source, and mainly by reflected sunlight, this just needs the position to Mars, size, profile, imaging side for the brightness of Mars
Position, light and shade simulated, so Mars target simulation be one from the distant to the near, by small and big process.
Mars centre coordinate transformation is carried out again:
For size, the profile etc. for simulating Mars, the imaging position of Mars is first obtained.Assume initially that Mars with a point
Form exists, this has related to the transformation at Mars center, including translation transformation, rotation transformation and Unitary coordinateization processing.
Since fixed star distance is abnormal remote, can not consider due to coordinate translation bring error.The present invention is according to J2000
Mars coordinate and Mars probes coordinate determine the position between the sun, Mars and detector three under lower heliocentric ecliptic coordinate system
Relationship, wherein coordinate unit is kilometer, causes numerical value very big.Assuming that coordinate of the Mars under O-UVW coordinate system is (um,vm,
wm), coordinate of the detector under heliocentric ecliptic coordinate system is (us,vs,ws).If the Mars coordinate after translating is (u 'm,v’m,
w’m), coordinate system moves to centered on Mars probes at this time, and three axis are parallel with heliocentric ecliptic coordinate system.
According to coordinate translation transformation theory, obtain:
u′m=um-us (2-1)
v′m=vm-vs (2-2)
w′m=wm-ws (2-3)
Under heliocentric ecliptic coordinate system, Mars and detector coordinates are provided with actual distance, and numerical value is huge, are being calculated
Very burden is caused in the process, needs that the coordinate after translation is normalized.After normalization, it is believed that Mars with
On a unit ball centered on Mars probes.If the coordinate after Mars normalization is (um1,vm1,wm1), if Mars is by flat
The original coordinates for moving transformation are (u'm,v'm,w'm), then meet following formula:
The rotation transformation at Mars center is related to from heliocentric ecliptic coordinate system to attitude sensor coordinate system transformation, by posture
Sensor coordinate system is converted to photo coordinate system, is finally that photo coordinate system is flat to display plane coordinate system and projector
The transformation of areal coordinate system, basic process are consistent with the transformation of fixed star.
Size simulation process is imaged in Mars:
Relative to the simulation of fixed star picture point, Mars diameter with distance ratio is larger to ignore, so Mars is in the face CMOS
Imaging size in battle array is also required to simulate.In distance of the detector close to the Mars stage, the Mars probes optical axis is directed toward Mars
Center, then Mars probes are located at field of view center position, just like relationship shown in Fig. 7.
It is considered herein that Mars is a perfect sphere.As shown in fig. 7, FOV is visual field, the then fire for being R for radius
For star, there is following relationship:
Wherein R is Mars radius, and l is distance of the detector to Mars, and r is half that Mars is imaged in CMOS phase machine side battle array
Diameter, r is also needed to be scaled pixel expression by size Expressing at this time.
Other steps and parameter are identical as one of specific embodiment one to four.
Specific embodiment 6: unlike one of present embodiment and specific embodiment one to five:
In step B2, the pixel number of imaging is determined by following formula:
Pixel dimension in known CMOS phase machine side battle array X-direction is tmpPixelsizeX, the picture in phase machine side battle array Y-direction
Elemental size is tmpPixelsizeY, then has following conversion formula:
Wherein nxFor pixel number shared in X-direction, nyFor pixel number shared in Y-direction.
Other steps and parameter are identical as one of specific embodiment one to five.
Specific embodiment 7: unlike one of present embodiment and specific embodiment one to five:
Mars image profiles simulation steps include:
Step C1: it using plane formed by the sun, Mars and Mars probes as benchmark plane, calculates Mars and is sweared to detector
Amount with Mars to solar vector angle be 0-180 ° when, two-dimensional imaging profile of the Mars profile in CMOS plane.
Detailed process is as follows:
The simulation of Mars profile simulates the region that Mars is illuminated by the sun on CMOS photo coordinate system and in dark
Region.Mars is not light source, and brightness is mainly derived from reflected sunlight, for Mars, it is believed that sunlight with
Directional light is irradiated to Mars, and each moment has one and half Mars to be illuminated by the sun, and another hemisphere is in dark state.Separately
Outside, since detector is to the difference of Mars observation position, then causing Mars to be imaged in phase machine side battle array also will appear light and shade situation,
The profile of namely Mars is different, carries out celestial body Geometric Modeling to the sun, Mars, detector for this, as shown in Figure 8.
With plane O formed by the sun, Mars and Mars probessOmOpFor benchmark plane.Since Mars is sphere, never
Same angular observation is all sphere, OsOmOpPlace plane may be different from Mars revolution plane and mars equatorial plane.As
Basis can establish day volume geometric model as shown in Figure 9.
As shown in figure 9, with the sun, Mars, detector plane OsOmOpFor benchmark plane.O in this figuremXmYmPlane be with
Areocentric and and OsOmOpThe plane that datum plane is overlapped, OmPositioned at Mars center, YmAxis is directed toward the sun, parallel with sunlight
And reversed, XmAxis and YmAxis is vertical and is directed toward Mars penumbra, ZmAxis and XmAxis, YmAxis constitutes the right-hand rule, wherein justifying
AFCE is light and shade boundary circle.Mars probes also are located at OmXmYmThis plane, it is assumed that OmG is Mars to detector vector, OmD is
Mars is to solar vector.OmG and OmD angle is θ.FK is perpendicular to YmAxis, so having:
OmK=Rsin α (2-12)
Wherein R is Mars radius, and α is ∠ KFOm。
Then have for any point M on semicircle AFC:
O'mK=R'sin α (2-13)
Wherein O 'mThe center of circle of flat circle where M, K ' are intersection point, and R ' is the radius of place flat circle.It can obtain Mars
Profile two-dimensional projection is as shown in Figure 10.
According to vector angle relationship it is found that the value range of two vector angles is 0-180 °, and Mars is sweared to detector
Amount may be such as the vector O in Fig. 9mH, vector angle is not just the value in 0-180 ° at this time, and profile also can be different, do thus to
Amount product is to make a decision.
Other steps and parameter are identical as one of specific embodiment one to six.
Specific embodiment 8: unlike one of present embodiment and specific embodiment one to seven:
Orientation simulation steps are imaged in Mars
Step D1: will be by the vector r of the sun to Mars0It is transformed into attitude sensor coordinate system in heliocentric ecliptic coordinate system,
Obtain the vector r under attitude sensor coordinate system0′；
Step D2: by the r under attitude sensor coordinate system0' be converted to the vector r under CMOS plane coordinate system0″；
Step D3: by cmos imaging face and r0" vertical relation obtain the imaging orientation of Mars.
Detailed process is as follows:
Mars imaging orientation determines that Mars is illuminated the direction in region.Imaging Mars profile can be presented in the battle array of the face CMOS
Different direction is equally as shown below crescent for the position not shined upon in CMOS photo coordinate system
Shape, but a variety of imaging orientation may be presented, three kinds of situations therein are depicted in Figure 11；It should be noted that actual conditions
There should be countless situation, Figure 11 only writes out illustrative three kinds.
If the vector of the sun to Mars is r0, vector r0Determine that orientation is imaged in Mars, at this time vector r0It is sat in day heart ecliptic
Mark system, by vector r0It is transformed into attitude sensor coordinate system, obtains vector r0′。
Vector r under attitude sensor coordinate system0', under photo coordinate system with XbAngle formed by axis forward direction is γ.
Wherein the value range of γ is 0-2 π, can judge the value angle of γ by judging the positive and negative value of x and y.
Other steps and parameter are identical as one of specific embodiment one to seven.
Specific embodiment 9: unlike one of present embodiment and specific embodiment one to eight:
Gray scale simulation steps are imaged in Mars
Step E1: the magnitude of Mars is mapped to the gray scale of computer by following linear gradation formula:
Gray=75+30 (6-m) (2-15)
Wherein, gray is magnitude gray value, and m is magnitude.
Specifically, magnitude is the amount for measuring celestial body luminosity, it is the bright-dark degree for measuring celestial body, gray value refers to
Color depth in black white image, range are divided into 256 graduation, i.e. 0-255, and gray scale is exactly no color, and rgb color component is complete
Portion is equal.Magnitude is indicated by computer gray value in the present invention, and using tri- component equal principles of RGB, then gray value and RGB appoint
One component is equal, can indicate are as follows:
F (x, y)=(R (x, y), G (x, y), B (x, y))/3 (2-16)
Using formula (2-15) to the stars such as 0-6 carry out gray scale linearisation, when it is equal be 6m when, gray value 75 works as magnitude
When for 0m, reach maximum gradation value 255, that is, most bright.
Although fixed star can be regarded as point light source, indicate that fixed star can make fixed star on the display device with a pixel
It is abnormal small, it is not easy to be shot and be extracted, so designing more pixels to indicate a fixed star.Multiple pixels have no effect on
The identification of later period star chart in edge detection process, needs to extract the mass center of fixed star, not only can guarantee accuracy in this way, but also
It can guarantee the visibility of fixed star.
Other steps and parameter are identical as one of specific embodiment one to eight.
The present invention can also have other various embodiments, without deviating from the spirit and substance of the present invention, this field
Technical staff makes various corresponding changes and modifications in accordance with the present invention, but these corresponding changes and modifications all should belong to
The protection scope of the appended claims of the present invention.
Claims (9)
1. a kind of Mars target simulation method for deep space exploration, which is characterized in that including Mars coordinate simulation steps, Mars
Size simulation steps, Mars image profiles simulation steps, Mars imaging orientation simulation steps and Mars is imaged, gray scale mould is imaged
Quasi- step: where
Mars coordinate simulation steps are used to Mars centre coordinate transforming to display plane coordinate system from heliocentric ecliptic coordinate system；
Mars is imaged size simulation steps and is used for according to the opposite of the imaging viewing field and Mars of Mars probes and Mars probes
Distance relation calculates the imaging size of Mars；
Mars image profiles simulation steps are used to simulate Mars by region that the sun illuminates and the region not being illuminated；
Mars is imaged orientation simulation steps and is used to calculate Mars profile according to the relative positional relationship of the sun, Mars, detector
Orientation is imaged；
Mars imaging gray scale simulation steps are used to for the magnitude of Mars being mapped to the gray scale of computer, to be shown on interface.
2. the method according to claim 1, wherein pre- the method also includes being executed before each step
Processing step, the pre-treatment step specifically:
Parameter in each data item in SKY2000 star catalogue is deleted, each data item fixed star at J2000 is only retained
Right ascension, declination, magnitude parameter information, and all data item are arranged in descending order according to right ascension.
3. the method according to claim 1, wherein the Mars coordinate simulation steps include:
Step A1: determine that the centre coordinate optical axis of Mars probes is directed toward；
Step A2: the attitude quaternion for being used to describe Mars probes is converted to right ascension, the declination of the optical axis；
Step A3: Mars coordinate of the heliocentric ecliptic coordinate system under star catalogue and Mars probes coordinate are converted into attitude sensor
Coordinate under coordinate system；
Step A4: determine Mars in the centre coordinate of display plane coordinate system and projector coordinates system.
4. according to the method described in claim 3, it is characterized in that, in the step A2, the right ascension α of the optical axis0, declination δ0Table
Up to formula are as follows:
Wherein, Azx=2 (q1q3+q2q4), Azy=2 (q2q3-q1q4), Azz=-q1 2-q2 2+q3 2+q4 2,
q1,q2,q3,q4Respectively attitude quaternion q=[q1,q2,q3,q4]TRespective components.
5. the method according to claim 1, wherein Mars imaging size simulation steps include:
Step B1: Mars is determined by the imaging viewing field and Mars of Mars probes and the relative distance relationship of Mars probes
Size is imaged；
Step B2: pass through the pixel number for being sized to picture of the simulation pixel dimension of CMOS phase machine side battle array.
6. according to the method described in claim 5, it is characterized in that, the pixel number of imaging is by following formula in the step B2
It determines:
Wherein, nxFor pixel number shared in X-direction, nyFor pixel number shared by Y-direction, tmpPixelsizeX is CMOS phase machine side battle array
Pixel dimension in X-direction, tmpPixelsizeY are the pixel dimension in phase machine side battle array Y-direction；R is that Mars is imaged on CMOS
Radius in phase machine side battle array.
7. the method according to claim 1, wherein Mars image profiles simulation steps include:
Step C1: using plane formed by the sun, Mars and Mars probes as benchmark plane, calculate Mars to detector vector and
Mars to solar vector angle be 0-180 ° when, two-dimensional imaging profile of the Mars profile in CMOS plane.
8. the method according to claim 1, wherein Mars imaging orientation simulation steps include:
Step D1: will be by the vector r of the sun to Mars0It is transformed into attitude sensor coordinate system in heliocentric ecliptic coordinate system, obtains appearance
Vector r under state sensor coordinate system0′；
Step D2: by the r under attitude sensor coordinate system0' be converted to the vector r under CMOS plane coordinate system0″；
Step D3: by cmos imaging face and r0" vertical relation obtain the imaging orientation of Mars.
9. the method according to claim 1, wherein Mars imaging gray scale simulation steps include:
Step E1: the magnitude of Mars is mapped to the gray scale of computer by following linear gradation formula:
Gray=75+30 (6-m)
Wherein, gray is magnitude gray value, and m is magnitude.
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