CN107121691B - A fast pointing and tracking device and method - Google Patents

Abstract

The invention relates to a quick pointing and tracking device, which is characterized in that: the optical system, the optical filter, the CCD camera, the first GPS antenna, the second GPS antenna and the GPS/INS host are fixedly connected on the connecting plate in sequence; the target observation mirror is fixedly connected below the connecting plate; the connecting plate is arranged on the equatorial telescope; the equatorial instrument is arranged on the bracket; the CCD camera is connected with the computer through a cable; the first GPS antenna is connected with the GPS/INS host through a cable; the second GPS antenna is connected with the GPS/INS host through a cable; the GPS/INS host is connected with the computer through a cable; the equatorial instrument is connected with the computer through a cable. The tracking device can finish quick pointing and high-precision tracking of a selected star or a target, and the polar axis alignment of the equatorial telescope is realized by the tracking device by means of position and attitude angle information provided by a dual-antenna GPS/INS combined navigation and positioning system. The photoelectric imaging tracking system and the equatorial telescope tracking system are combined together for application by using a Kalman filtering technology, so that the system has stronger anti-interference capability.

Description

A fast pointing and tracking device and method

technical field

The invention relates to a fast pointing and tracking device and method, belonging to the technical field of automatic control.

technical background

At present, there are two main methods used to track stars. One is to use equatorial mounts to point and track stars, but there are disadvantages such as long polar axis alignment time and large pointing errors, and when tracking for a long time , the error accumulation effect will cause the tracked star to run out of the tracking field of view and cause the target to be lost. Second, the use of photoelectric imaging tracking system to track stars can achieve high tracking accuracy, but when occlusion occurs, the tracked star target will be lost. However, the combination of the two tracking methods in an appropriate way to complete the tracking of stars has not yet been reported.

Here, a composite method of pointing and tracking of stars is proposed, which combines equatorial tracking and photoelectric tracking by Kalman filtering, which can not only ensure high tracking accuracy, but also prevent the tracked target from being blocked due to occlusion. lost. When tracking the selected stars, if the target characteristics are good, the photoelectric imaging system is used for tracking, and the correction of the accumulated error of the equatorial mount can be completed during the tracking process; when the target characteristics are not good, the equatorial mount system is used for tracking . At the same time, it is proposed to apply the dual-antenna GPS/INS integrated navigation and positioning system to the polar axis alignment of the equatorial mount to achieve fast and accurate polar axis alignment of the equatorial mount. Through the above principles and methods, fast pointing and high-precision tracking of selected stars can be achieved, which has broad application prospects, and will greatly improve the efficiency of pointing and tracking of selected stars, saving manpower and material resources.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a fast pointing and tracking device and method, which can complete fast pointing and high-precision tracking of selected stars or targets. The tracking device uses the position and attitude provided by the dual-antenna GPS/INS combined navigation and positioning system. The angular information enables polar alignment of the equatorial mount. The photoelectric imaging tracking system and the equatorial mount tracking system are combined with the Kalman filter technology, which makes the system have strong anti-interference ability.

The technical scheme of the present invention is realized as follows: a fast pointing and tracking device, which consists of a computer, an optical system, an optical filter, a CCD camera, a first GPS antenna, a second GPS antenna, a GPS/INS host, a connecting board, a viewing The target mirror, the equatorial mount and the bracket are formed; it is characterized in that: the optical system, the optical filter, the CCD camera, the first GPS antenna, the second GPS antenna, and the GPS/INS host are sequentially fixed on the connecting plate; Connected under the connecting plate; the connecting plate is placed on the equatorial mount; the equatorial mount is placed on the bracket; the CCD camera is connected to the computer through a cable; the first GPS antenna is connected to the GPS/INS host through a cable; the second GPS antenna is connected through a cable The cable is connected with the GPS/INS host; the GPS/INS host is connected with the computer through the cable; the equatorial mount is connected with the computer through the cable.

A method for fast pointing and tracking, characterized in that the specific steps are as follows:

(1) First, power on the computer, CCD camera, GPS/INS host, and equatorial mount respectively, and enter the working state;

(2) Use the optical system, filter, and CCD camera to image the selected star, calculate the spot position coordinates through the spot centroid algorithm, and adjust the equatorial mount so that the star is imaged at the center of the target surface of the CCD camera;

(3) Obtain the position coordinates, pitch angle, azimuth angle, and roll angle of the equatorial mount in the WGS-84 coordinate system through the GPS/INS host;

(4) Adjust the equatorial mount so that the pitch angle is zero degrees, the roll angle is zero degrees, and the azimuth angle points to the north direction to achieve polar axis alignment of the equatorial mount;

(5) Establish a Kalman filter algorithm model. The input of the model includes the coordinates of the spot position, the elevation angle and azimuth angle of the equatorial mount, and the model output is the elevation angle and azimuth angle of the equatorial mount;

(6) The computer receives the miss distance information provided by the CCD camera and the angle information provided by the equatorial mount, and makes the required pitch angle and azimuth angle when the computer generates the composite control after passing the Kalman filter algorithm model;

(7) The information output by the computer controls the movement of the equatorial mount and realizes the continuous pointing and tracking of the designated stars; the pointing and tracking of the selected stars are completed through the above steps.

The positive effect of the invention is that it can complete the fast pointing and high-precision tracking of the selected star or target, and the tracking device realizes the polar axis alignment of the equatorial mount by means of the position and attitude angle information provided by the dual-antenna GPS/INS combined navigation and positioning system . The photoelectric imaging tracking system and the equatorial mount tracking system are combined with the Kalman filter technology, which makes the system have strong anti-interference ability. The tracking can be completed even when the target characteristics are poor, and it has the function of automatically eliminating the accumulation of errors, which greatly improves the practicability and application value of the system.

Description of drawings

Figure 1 is a schematic diagram of the composition of the inventive device and method.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments: as shown in Figure 1, a fast pointing and tracking device consists of a computer 1, an optical system 2, an optical filter 3, a CCD camera 4, the first GPS antenna 5 , the second GPS antenna 6, the GPS/INS host 7, the connecting plate 8, the target mirror 9, the equatorial mount 10, and the bracket 11; it is characterized in that: an optical system 2, a filter 3, a CCD camera 4, a first GPS The antenna 5, the second GPS antenna 6, and the GPS/INS host 7 are sequentially fixed on the connection plate 8; the sight glass 9 is fixedly connected under the connection plate 8; the connection plate 8 is placed on the equatorial mount 10; the equatorial mount 10 is placed On the bracket 11; wherein the CCD camera 4 is connected to the computer 1 through a cable; the first GPS antenna 5 is connected to the GPS/INS host 7 through a cable; the second GPS antenna 6 is connected to the GPS/INS host 7 through a cable; GPS The /INS host 7 is connected to the computer 1 through a cable; the equatorial mount 10 is connected to the computer 1 through a cable.

Among them, equatorial mount: Celestron C8A-CGEM equatorial mount; GPS/INS integrated navigation and positioning system host: NV-GI-M120 model; CCD camera: IVG-B0620 model; GPS antenna: survey GPS antenna.

Example 1

Connect the computer 1, the optical system 2, the filter 3, the CCD camera 4, the first GPS antenna 5, the second GPS antenna 6, the GPS/INS host 7, the connecting plate 8, the sight glass 9, the equatorial mount 10, and the bracket 11. They are connected together in the manner shown in Figure 1 of the description.

The implementation steps are as follows:

(1) Turn on the computer 1, the CCD camera 4, the GPS/INS host 7, and the equatorial mount 10, respectively, to power on the self-check and enter the working state.

(2) Select the star as Sirius, use optical system 2, filter 3, and CCD camera 4 to image Sirius, calculate the coordinates of the spot position through the spot centroid algorithm, and adjust the equatorial mount 10 to image Sirius at the center of the target surface of CCD camera 4 .

(3) Take the position point of the equatorial mount as the coordinate center, establish a geographic coordinate system, and obtain the position coordinates, pitch angle, azimuth angle of the equatorial mount 10 in the WGS-84 coordinate system under the geographic coordinate system through the GPS/INS host 7, roll angle.

(4) Adjust the equatorial mount 10 so that the pitch angle is zero degrees, the roll angle is zero degrees, and the azimuth angle points to the true north direction to realize the polar axis alignment of the equatorial mount 10 .

(5) Establish a Kalman filter algorithm model. The input of the model includes the coordinates of the spot position, the elevation angle and azimuth angle of the equatorial mount 10. After the Kalman filter algorithm, the model output is the elevation angle and azimuth angle of the equatorial mount (10). .

(6) The computer 1 receives the miss distance information provided by the CCD camera 4 and the angle information provided by the equatorial mount 10, and makes the required pitch angle and azimuth angle when the computer 10 generates the composite control after passing the Kalman filter algorithm model.

(7) The information output by the computer 1 controls the movement of the equatorial mount 10, and realizes the continuous pointing and tracking of the designated stars. When the Sirius signal is good, the tracking is mainly completed by the location coordinates of Sirius provided by the CCD camera 4. When the Sirius signal is not good, for example, when there is a cloud or other occlusion, the tracking is mainly completed by the azimuth and pitch angle information provided by the equatorial mount 10.

Complete the pointing and tracking of the selected Sirius through the above steps.

Claims (2)

1. A fast pointing and tracking device, consisting of a computer, an optical system, an optical filter, a CCD camera, a first GPS antenna, a second GPS antenna, a GPS/INS host, a connecting plate, a sight glass, an equatorial mount, and a bracket It is characterized in that: optical system, optical filter, CCD camera, the first GPS antenna, the second GPS antenna, the GPS/INS host are sequentially fixed on the connection board; the GPS/INS host obtains the WGS-84 coordinates of the equatorial mount Position coordinates, pitch angle, azimuth angle and roll angle under the system; the sight glass is fixed under the connecting plate; the connecting plate is placed on the equatorial mount; the equatorial mount is placed on the bracket; the CCD camera is connected to the computer through a cable The first GPS antenna is connected to the GPS/INS host through a cable; the second GPS antenna is connected to the GPS/INS host through a cable; the GPS/INS host is connected to the computer through a cable; the equatorial mount is connected to the computer through a cable; the computer Receiving the miss distance information provided by the CCD camera and the angle information provided by the equatorial mount, the computer generates the required pitch angle and azimuth angle for composite control through the Kalman filtering algorithm model, and the input of the Kalman filtering algorithm model includes the spot position coordinates , the elevation and azimuth of the equatorial mount. 2. a method for fast pointing and tracking, characterized in that the concrete steps are as follows: (1) First, power on the computer, CCD camera, GPS/INS host, and equatorial mount respectively to self-check and enter the working state; (2) Use the optical system, filter, and CCD camera to image the selected star, calculate the spot position coordinates through the spot centroid algorithm, and adjust the equatorial mount so that the star is imaged at the center of the target surface of the CCD camera; (3) Obtain the position coordinates, pitch angle, azimuth angle, and roll angle of the equatorial mount in the WGS-84 coordinate system through the GPS/INS host; (4) Adjust the equatorial mount so that the pitch angle is zero degrees, the roll angle is zero degrees, and the azimuth angle points to the north direction to achieve polar axis alignment of the equatorial mount; (5) Establish a Kalman filter algorithm model. The input of the model includes the coordinates of the spot position, the elevation angle and azimuth angle of the equatorial mount, and the model output is the elevation angle and azimuth angle of the equatorial mount; (6) The computer receives the miss distance information provided by the CCD camera and the angle information provided by the equatorial mount, and makes the required pitch angle and azimuth angle when the computer generates the composite control after passing the Kalman filter algorithm model; (7) The information output by the computer controls the movement of the equatorial mount and realizes the continuous pointing and tracking of the designated stars; the pointing and tracking of the selected stars are completed through the above steps.

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