CN107121691B - 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

Fast pointing and tracking device and method

Technical Field

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

Technical Field

Two methods are mainly adopted for tracking stars at present, namely an equatorial telescope is used for pointing and tracking stars, but the defects of long polar axis alignment time, large pointing error and the like exist, and when the stars are tracked for a long time, the error accumulation effect can enable the tracked stars to run out of a tracking visual field to cause target loss. And secondly, the tracking accuracy can be high by using the photoelectric imaging tracking system to track the fixed star, but the tracked fixed star target is lost when occlusion occurs. And the two tracking modes are combined together in a proper mode to complete the tracking of stars, so that no report is made at present.

The pointing and tracking composite method for the fixed star is provided, equatorial tracking and photoelectric tracking are combined together in a Kalman filtering mode, high tracking precision can be guaranteed, and a tracked target cannot be lost due to shielding and the like. When a fixed star is tracked and selected, if the target characteristic is better, a photoelectric imaging system is used for tracking, and meanwhile, the correction of the accumulated error of the equatorial telescope can be completed in the tracking process; when the target characteristics are not good, the tracking is performed by using an equatorial system. Meanwhile, the dual-antenna GPS/INS combined navigation positioning system is applied to polar axis alignment of the equatorial telescope, so that the polar axis of the equatorial telescope can be quickly and accurately aligned. By the principle and the method, the selected fixed star can be quickly pointed and tracked with high precision, the method has wide application prospect, the pointing and tracking efficiency of the selected fixed star is greatly improved, and manpower and material resources are saved.

Disclosure of Invention

The invention aims to provide a quick pointing and tracking device and a quick pointing and tracking method, which can finish quick pointing and high-precision tracking of a selected star or a target. 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.

The technical scheme of the invention is realized as follows: a rapid pointing and tracking device comprises 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 sighting telescope, an equatorial telescope and a bracket; the method 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.

A method for fast pointing and tracking is characterized by comprising the following specific steps:

(1) firstly, respectively electrifying a computer, a CCD camera, a GPS/INS host machine and an equatorial telescope for self-checking and entering a working state;

(2) imaging the selected fixed star by using an optical system, an optical filter and a CCD (charge coupled device) camera, calculating the position coordinate of the light spot through a light spot centroid algorithm, and adjusting an equatorial telescope to enable the fixed star to be imaged at the center of a target surface of the CCD camera;

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

(4) adjusting the equatorial telescope to enable the pitch angle and the roll angle to be zero, enabling the azimuth angle to point to the north direction, and achieving alignment of the polar axis of the equatorial telescope;

(5) establishing a Kalman filtering algorithm model, wherein the input quantity of the model comprises the position coordinates of light spots, the pitch angle and the azimuth angle of the equatorial telescope, and the output quantity of the model is the pitch angle and the azimuth angle of the equatorial telescope;

(6) the computer receives miss distance information provided by the CCD camera and angle information provided by the equatorial telescope, and the required pitch angle and azimuth angle are achieved when the computer generates composite control after passing through a Kalman filtering algorithm model;

(7) the information output by the computer controls the movement of the equatorial telescope to realize the continuous pointing and tracking of the designated fixed star; and completing the pointing and tracking of the selected stars through the steps.

The invention has the advantages that the quick pointing and high-precision tracking of the selected fixed star or target can be completed, and the tracking device realizes the alignment of the polar axis of the equatorial telescope by 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 telescope tracking system are combined together for application by using a Kalman filtering technology, so that the system has stronger anti-interference capability. The tracking can be finished when the target characteristics are poor, and meanwhile, the function of automatically eliminating error accumulation is achieved, so that the practicability and application value of the system are greatly improved.

Drawings

FIG. 1 is a schematic diagram of the apparatus and method of the present invention.

Detailed Description

The invention is further described with reference to the following figures and examples: as shown in figure 1, the quick pointing and tracking device is composed of a computer 1, an optical system 2, an optical filter 3, a CCD camera 4, a first GPS antenna 5, a second GPS antenna 6, a GPS/INS host 7, a connecting plate 8, a sighting telescope 9, an equatorial telescope 10 and a support 11; the method is characterized in that: the optical system 2, the optical filter 3, the CCD camera 4, the first GPS antenna 5, the second GPS antenna 6 and the GPS/INS host 7 are fixedly connected on the connecting plate 8 in sequence; the target observation mirror 9 is fixedly connected below the connecting plate 8; the connection plate 8 is placed on the equatorial instrument 10; the equatorial instrument 10 is mounted on a support 11; wherein the CCD camera 4 is connected with the computer 1 through a cable; the first GPS antenna 5 is connected with a GPS/INS host 7 through a cable; the second GPS antenna 6 is connected with a GPS/INS host 7 through a cable; the GPS/INS host 7 is connected with the computer 1 through a cable; the equatorial instrument 10 is connected to the computer 1 by a cable.

Wherein the equatorial telescope: selecting a starred C8A-CGEM type equatorial telescope; the GPS/INS integrated navigation positioning system host computer: selecting an NV-GI-M120 model; a CCD camera: selecting IVG-B0620 type; GPS antenna: a survey type GPS antenna is selected.

Example 1

A computer 1, an optical system 2, an optical filter 3, a CCD camera 4, a first GPS antenna 5, a second GPS antenna 6, a GPS/INS host 7, a connecting plate 8, a sighting telescope 9, an equatorial telescope 10 and a bracket 11 are connected together according to the mode of the attached figure 1 of the specification.

The implementation steps are as follows:

(1) and starting the computer 1, the CCD camera 4, the GPS/INS host 7 and the equatorial telescope 10 to be electrified and self-checked respectively, and entering a working state.

(2) The fixed star is selected as the sirius, the optical system 2, the optical filter 3 and the CCD camera 4 are used for imaging the sirius, the position coordinates of light spots are calculated through a light spot centroid algorithm, and the equatorial telescope 10 is adjusted to enable the sirius to be imaged at the center of a target surface of the CCD camera 4.

(3) And establishing a geographic coordinate system by taking the position point of the equatorial telescope as the center of a coordinate circle, and acquiring the position coordinate, the pitch angle, the azimuth angle and the roll angle of the equatorial telescope 10 in a WGS-84 coordinate system of the geographic coordinate system through the GPS/INS host 7.

(4) The equatorial telescope 10 is adjusted to have a zero pitch angle, a zero roll angle and an azimuth angle pointing to the north direction, so that the polar axis of the equatorial telescope 10 is aligned.

(5) And establishing a Kalman filtering algorithm model, wherein the input quantity of the model comprises the position coordinates of the light spots and the pitch angle and the azimuth angle of the equatorial instrument (10), and the output quantity of the model is the pitch angle and the azimuth angle of the equatorial instrument (10) after the Kalman filtering algorithm.

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

(7) The information output by the computer 1 controls the movement of the equatorial telescope 10 to realize the continuous pointing and tracking of the designated star. The tracking is mainly done by the sirius position coordinates provided by the CCD camera 4 when the sirius signals are good, and by the azimuth and pitch angle information provided by the equatorial telescope 10 when the sirius signals are not good, for example, when a cloud or the like occurs.

The pointing and tracking of the selected sirius are completed through the steps.

Claims (2)

1. A rapid pointing and tracking device comprises 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 sighting telescope, an equatorial telescope and a bracket; the method 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 GPS/INS host machine obtains the position coordinate, the pitch angle, the azimuth angle and the roll angle of the equatorial telescope under a WGS-84 coordinate system; 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 telescope is connected with the computer through a cable; the computer receives miss distance information provided by the CCD camera and angle information provided by the equatorial telescope, the computer generates a pitch angle and an azimuth angle required during compound control through a Kalman filtering algorithm model, and input quantity of the Kalman filtering algorithm model comprises a light spot position coordinate, and the pitch angle and the azimuth angle of the equatorial telescope.

2. A method for fast pointing and tracking is characterized by comprising the following specific steps:

(1) firstly, respectively electrifying a computer, a CCD camera, a GPS/INS host machine and an equatorial telescope for self-checking and entering a working state;

(2) imaging the selected fixed star by using an optical system, an optical filter and a CCD (charge coupled device) camera, calculating the position coordinate of the light spot through a light spot centroid algorithm, and adjusting an equatorial telescope to enable the fixed star to be imaged at the center of a target surface of the CCD camera;

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

(4) adjusting the equatorial telescope to enable the pitch angle and the roll angle to be zero, enabling the azimuth angle to point to the north direction, and achieving alignment of the polar axis of the equatorial telescope;

(5) establishing a Kalman filtering algorithm model, wherein the input quantity of the model comprises the position coordinates of light spots, the pitch angle and the azimuth angle of the equatorial telescope, and the output quantity of the model is the pitch angle and the azimuth angle of the equatorial telescope;

(6) the computer receives miss distance information provided by the CCD camera and angle information provided by the equatorial telescope, and the required pitch angle and azimuth angle are achieved when the computer generates composite control after passing through a Kalman filtering algorithm model;

(7) the information output by the computer controls the movement of the equatorial telescope to realize the continuous pointing and tracking of the designated fixed star; and completing the pointing and tracking of the selected stars through the steps.

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