CN107504918B - Radio telescope surface shape measurement method and device - Google Patents
Radio telescope surface shape measurement method and device Download PDFInfo
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- CN107504918B CN107504918B CN201710991111.7A CN201710991111A CN107504918B CN 107504918 B CN107504918 B CN 107504918B CN 201710991111 A CN201710991111 A CN 201710991111A CN 107504918 B CN107504918 B CN 107504918B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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Abstract
The embodiment of the present invention provides a kind of radio telescope surface shape measurement method and device, wherein, this method is by being arranged cooperative target in the blocking surface plate angle of primary reflection surface, and each cooperative target coordinate in paraboloid is determined based on the camera array demarcated in advance under preset coordinate system, mass center extraction is carried out to the cooperative target in panel picture again, obtain effective centroid position of cooperative target, to resolve the space coordinate of each cooperative target and carry out paraboloid fitting, finally comparison fitting paraboloid and cooperative target space coordinate determine paraboloid surface graphic data.Measuring speed of the present invention is fast, and precision is high, and data processing amount is small, can be widely applicable to the measurement of large-scale radio telescope primary reflection surface face shape and the measurement of similar large field object.
Description
Technical field
The present invention relates to telescope surface testing technical fields, in particular to a kind of radio telescope surface shape measurement
Method and apparatus.
Background technique
The reflecting surface surface figure accuracy of radio telescope directly affects directional diagram, gain and aperture efficiency of antenna etc., therefore
Primary reflection surface surface shape measurement is for construction heavy caliber astronomical telescope and guarantees that telescope performance has great significance.But it is existing
Some measures method such as laser ranging method, radio holography method and number Photographic technique of large-scale paraboloid primary reflection surface face shape etc. and deposits
In deficiency, wherein laser ranging method needs the target point acquired various and needs not stop to do scanning motion, and time of measuring is longer,
Affected by environment big, radio holography method is larger to the dependence of measurement environment, follows the example of guarantee measurement accuracy, and measurement period it is long, at
This height.Digital photography method is only applicable to the surface shape measurement of small-sized radio telescope, and its measurement period is long, and data processing amount is big,
In addition lack index point in picture, picture match difficulty is big, and matching precision is not high.It therefore, need for art technology
A kind of measurement range is big, measurement accuracy is high, measuring speed is fast, and the simple measurement method of measurement structure is realized for large-scale parabolic
The surface shape measurement of face radio telescope primary reflection surface.
Summary of the invention
In view of this, the present invention provides a kind of radio telescope surface shape measurement method and device, can effectively solve the problem that above-mentioned
Problem.
On the one hand, present pre-ferred embodiments provide a kind of radio telescope surface shape measurement method, look in the distance applied to radio
In mirror surface-shaped measuring system, the radio telescope surface shape measurement system includes be set to radio telescope primary reflection surface multiple
Cooperative target, the multiple target index points being set at feed and the camera array for being set to subreflector edge, it is described
Camera array includes multiple phase units, and in adjacent cameras group the camera of corresponding position respectively constitute inner ring binocular subsystem and
Outer ring binocular subsystem, the multiple cooperative target include the first cooperative target group and use for characterizing the primary reflection surface face shape
In the second cooperative target group for embodying density anomaly feature, the radio telescope surface shape measurement method includes:
Based on preset coordinate system and multiple target index points, to the inner ring camera in each inner ring binocular subsystem and respectively
Outer ring camera in the binocular subsystem of outer ring is demarcated, to obtain inner ring camera and outer ring camera under the preset coordinate system
Corresponding space coordinate, spin matrix and translation vector；
Obtain multiple first of different panels in the primary reflection surface by calibrated each inner ring binocular subsystem shooting
Panel picture, and by the primary reflection surface of the calibrated each outer ring binocular subsystem shooting of coordinate different panels it is multiple
Second panel picture；
Each cooperative target in multiple first panel pictures and multiple second panel pictures is compiled respectively
Number, and the multiple first panel picture and multiple second panel pictures are carried out one by one according to the number of each cooperative target
Matching treatment, to form multiple first panel picture groups；
For each inner ring binocular subsystem and each outer ring binocular subsystem in each inner ring binocular subsystem
Each outer ring binocular subsystem in system is sat according to the space of each inner ring camera and each outer ring camera under the preset coordinate system
Mark, spin matrix and translation vector calculate the space coordinate of each cooperative target；
Judge in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then delete the public cooperative target
Mark；
Remaining each cooperative target is carried out according to space coordinate of the multiple cooperative target under the preset coordinate system
Paraboloid fitting, to obtain the face graphic data of the radio telescope primary reflection surface.
On the other hand, present pre-ferred embodiments also provide a kind of radio telescope surface shape measurement device, are applied to radio
In telescope surface shape measurement system, the radio telescope surface shape measurement system includes being set to radio telescope primary reflection surface
Multiple cooperative targets, the multiple target index points being set at feed and the camera array for being set to subreflector edge,
The camera array includes multiple phase units, and the camera of corresponding position respectively constitutes inner ring binocular subsystem in adjacent cameras group
System and outer ring binocular subsystem, the multiple cooperative target includes the first cooperative target group for characterizing the primary reflection surface face shape
With the second cooperative target group for embodying density anomaly feature, the radio telescope surface shape measurement device includes:
Coordinate demarcating module, for being based on preset coordinate system and multiple target index points, to each inner ring binocular subsystem
The outer ring camera in inner ring camera and each outer ring binocular subsystem in system is demarcated, to obtain inner ring camera and outer ring camera
Corresponding space coordinate, spin matrix and translation vector under the preset coordinate system；
Picture obtains module, for obtaining in the primary reflection surface by calibrated each inner ring binocular subsystem shooting not
With multiple first panel pictures of panel, and by the primary reflection surface of the calibrated each outer ring binocular subsystem shooting of coordinate
Multiple second panel pictures of middle different panels；
Matching treatment module, for respectively in multiple first panel pictures and multiple second panel pictures
Each cooperative target is numbered, and according to the number of each cooperative target to the multiple first panel picture and multiple second
Panel picture carries out matching treatment one by one, to form multiple first panel picture groups；
Coordinate transferring, for for each inner ring binocular subsystem in each inner ring binocular subsystem and respectively
Each outer ring binocular subsystem in the outer ring binocular subsystem, according to each inner ring camera and each outer ring camera described default
Space coordinate, spin matrix and translation vector under coordinate system calculate the space coordinate of each cooperative target；
Judgment module, for judging in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then delete
The public cooperative target；
Coordinate fitting module, for that will be remained according to space coordinate of the multiple cooperative target under the preset coordinate system
Remaining each cooperative target carries out paraboloid fitting, to obtain the face graphic data of the radio telescope primary reflection surface.
The present invention provides a kind of radio telescope surface shape measurement method realized based on radio telescope surface shape measurement system
And device, this method are realized in such a way that circle viewing field of camera inside and outside in region segmentation and camera array covers overlapping region
To the surface shape measurement of radio telescope primary reflection surface, and under the premise of guaranteeing surface shape measurement precision, it is effectively simplified measurement stream
Journey expands measurement range, reduces surface shape measurement data volume.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the frame structure schematic diagram of radio telescope surface shape measurement system provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram of radio telescope surface shape measurement system provided in an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of feed shown in Fig. 2.
Fig. 4 is the visual field overlay area schematic diagram of adjacent cameras group in camera array provided in an embodiment of the present invention.
Fig. 5 is the structural schematic diagram of cooperative target provided in an embodiment of the present invention.
Fig. 6 is the flow diagram of radio telescope surface shape measurement method provided in an embodiment of the present invention.
Fig. 7 is the sub-process schematic diagram of radio telescope surface shape measurement method provided in an embodiment of the present invention.
Fig. 8 is the face graphic data schematic diagram of the primary reflection surface of radio telescope provided in an embodiment of the present invention.
Fig. 9 is another visual field overlay area schematic diagram of adjacent cameras group in camera array provided in an embodiment of the present invention.
Icon: 10- radio telescope surface shape measurement system；11- terminal device；110- radio telescope surface shape measurement dress
It sets；120- memory；130- storage control；140- processor；100- homogenizes glass；200- frame；300- light source；400- target
Mark index point；500- camera array；20- radio telescope；210- primary reflection surface；220- subreflector；230- feed；231-
One rotary table；The second rotary table of 232-.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Fig. 1 and Fig. 2 are please referred to, the radio telescope surface shape measurement system 10 is applied to the face of radio telescope 20
Shape measurement, wherein the radio telescope 20 includes primary reflection surface 210, the feed being set at 210 center of primary reflection surface
230, and it is set to the subreflector 220 right above the feed 230.In addition, shown in Fig. 2 240 be primary reflection surface 210
Radial direction, 250 be primary reflection surface 210 circumferential direction, 260 be primary reflection surface 210 axial direction.Optionally, as shown in figure 3, the feedback
Source 230 includes the first rotary table 231 and the second rotary table 232 for being set to 231 center of the first rotary table.
Further, the radio telescope surface shape measurement system 10 include terminal device 11, it is multiple cooperative targets, multiple
Target index point 400 and the camera array 500 being made of multiple phase units, each phase unit include at least two phases
Machine, multiple camera groups are connect respectively to realize that data are transmitted with the terminal device 11, and multiple camera groups are respectively set
In the subreflector 220 edge and towards the primary reflection surface 210, multiple cooperative targets are respectively arranged at the master
The a plurality of radial line or a plurality of circumferential line of reflecting surface 210 are with the face shape for characterizing the primary reflection surface 210, the multiple target mark
Will point 400 is respectively arranged at the feed 230.
Wherein, it is assumed that each camera group respectively includes 4 cameras, i.e., each camera group respectively includes
Two inner ring cameras and two outer ring cameras, then, in actual implementation, the inner ring phase of corresponding position in each adjacent cameras group
Mechanism is at inner ring binocular subsystem, and the outer ring camera of corresponding position constitutes outer ring binocular subsystem in each adjacent cameras group, and
In adjacent cameras group, the visual field of outer ring binocular subsystem and the visual field of inner ring binocular subsystem have overlapping region, meanwhile, institute
The face shape of the primary reflection surface 210 is completely covered in the field of view for stating each camera in camera array 500.
Optionally, each phase unit is set to the edge of the subreflector 220 and at equal intervals towards the principal reflection
Face 210, and central symmetry of each phase unit about the subreflector 220, it is specific as shown in Figure 4.
Further, according to actual needs, multiple cooperative targets include the first cooperative target group and the second cooperative target
Mark group.Where it is assumed that prolonging a plurality of radial line of the primary reflection surface 210 and a plurality of circumferential line carries out the primary reflection surface 210 etc.
Interval divides, and can form multiple panels as shown in Figure 2, then, each cooperative target in the first cooperative target group can
Be respectively arranged at a plurality of radial line of the primary reflection surface 210 and the crosspoint of a plurality of circumferential line, i.e., four of each panel
Angle, the setting position of each cooperative target in the second cooperative target group is according to the visual field overlay region of the inside and outside circle camera
Domain determines (field of view as shown in 5,12,13 in Fig. 2), to be used to form relative to the different of the first cooperative target group
Normal density points carry out the judgement of public cooperative target.
Herein it should be understood that a plurality of circumferential line or a plurality of radial line is divide at equal intervals, and each circumferential line or diameter
Multiple cooperative targets on line are to be arranged at equal intervals, and the position of each cooperative target in different circumferential lines or radial line is corresponding.
Optionally, for the ease of effectively being analyzed the panel image obtained by the camera array 500, the conjunction
Making target can be, but be not limited to self-luminous polygon cooperative target.Wherein, as shown in figure 5, being the self-luminous polygon cooperation
The structural schematic diagram of target, the self-luminous polygon cooperative target include that hexagon homogenizes glass 100, are set to the hexagon
The frame 200 of 100 surrounding of glass is homogenized, and is set to the hexagon and homogenizes at least one light source 300 in glass 100.
Further, referring to Fig. 3, in the present embodiment, the multiple target index point 400 includes the first target
Set of landmarks and the second target set of landmarks, and each target index point 400 in the first target set of landmarks be uniformly distributed in it is described
Side of second rotary table 232 far from first rotary table 231, each target index point 400 in the second target set of landmarks are equal
The even region for being distributed in first rotary table 231 close to second rotary table 232 and not covered by the second rotary table 232.According to reality
Border demand, each target index point 400 on first rotary table 231 and each target on second rotary table 232
Index point 400 correspond, and be located at first rotary table 231 on target index point 400 be located at second rotary table 232
The distance between target index point 400 of corresponding position can be greater than 500mm.
Optionally, in the present embodiment, the first target set of landmarks and the second target set of landmarks can respectively include 6 targets
Index point 400 is marked, and each target index point 400 is uniform and is spacedly distributed in first rotary table 231 or the second rotary table 232.
Further, referring to Fig. 1, the terminal device 11 includes radio telescope surface shape measurement device 110, deposits
Reservoir 120, storage control 130 and processor 140.Wherein, the memory 120, storage control 130, processor 140
Each element is directly or indirectly electrically connected between each other, to realize the transmission or interaction of data.For example, leading between these elements
It crosses one or more communication bus or signal wire is realized and is electrically connected.The radio telescope surface shape measurement device 110 includes extremely
Software function module in few operating system that can be stored in the form of software or firmware in the memory 120.Institute
It states processor 140 and accesses the memory 120 under the control of the storage control 130, for executing the memory
The executable module stored in 120, for example, software function module included by the radio telescope surface shape measurement device 110 and
Computer program etc..Optionally, the terminal device 11 may be, but not limited to, smart phone, IPAD, computer, server etc..
It should be appreciated that structure shown in Fig. 2 is only to illustrate.The terminal device 11 can have it is more than shown in Fig. 2 or
The less component of person, or with the configuration different from shown in Fig. 2.Wherein, each component shown in Fig. 2 can be by software, hardware
Or a combination thereof realize.
Based on foregoing description, in the present embodiment, if by taking the two neighboring phase unit in the camera array 500 as an example,
The calibration process of each inner ring camera in the inner ring binocular subsystem is introduced.Assuming that each phase unit includes in two
Camera and two outer ring cameras are enclosed, as shown in figure 4, the camera of number 4,6,8 and 10 is outer ring in two groups of adjacent phase units
Camera, the camera of number 5,7,9,11 are inner ring camera, therefore, camera 6 and 8 can be taken to constitute outer ring binocular subsystem, phase
Machine 7 and 9 constitutes inner ring binocular subsystem, and the visual field overlay area of the inner ring binocular subsystem and the outer ring binocular subsystem
Visual field overlay area have overlapping.It should be noted here that overlapping region should ensure that at least 4 cooperative target (the first cooperative targets
Mark group), and at least 3 cooperative targets (the second cooperative target group) on the center panel edge of the overlapping region.
In addition, respectively number is 6,8,7, No. 9 phases in viewing field of camera overlay area 12,13,14 and 15 shown in Figure 2
The visual field overlay area of machine, 16 cooperative target to be arranged on 12,13,14,15 overlapping region the center panel edges；17 be cooperation
The cooperative target being arranged at 16 left end node of target, 18 be in 12,13,14,15 overlapping regions between each other apart from maximum 4
Cooperative target.In addition, the visual field of camera 6,7,8 and 9 covers the radial zone of the radio telescope 20, in addition, camera 7 and phase
The visual field of machine 9 can cover the target index point 400 being set at feed 230 simultaneously.
Further, as shown in fig. 6, being that the radio telescope face shape that is applied to that present pre-ferred embodiments provide is surveyed
The flow diagram of the radio telescope surface shape measurement method of amount system 10.Specifically, the radio telescope surface shape measurement side
The specific steps of method are executed by the terminal device 11 in the radio telescope surface shape measurement system 10.Below in conjunction with Fig. 6 pairs
The detailed process and step of 20 surface shape measurement method of radio telescope are described in detail.
Step S110 is based on preset coordinate system and multiple target index points 400, in each inner ring binocular subsystem
Outer ring camera in inner ring camera and each outer ring binocular subsystem is demarcated, to obtain inner ring camera and outer ring camera described
Corresponding space coordinate, spin matrix and translation vector under preset coordinate system.
Optionally, the preset coordinate system can be, but be not limited to world coordinate system.Specifically, in the present embodiment, first
The target picture obtained first with inner ring phase unit solves inner ring phase unit coordinate system and is transformed into the spin moment under world coordinate system
Battle array and translation vector, then the panel picture that the two visual field covers overlapping region is obtained based on Internal and external cycle camera, solve outer ring camera
Group coordinate system is transformed into the spin matrix and translation vector of inner ring phase unit coordinate system, then solves outer ring phase unit coordinate system and turn
The spin matrix and translation vector for changing to world coordinate system realize calibration transmitting, to complete the calibration of array camera system.Specifically
Ground, as shown in fig. 7, being demarcated to the inner ring camera in each inner ring binocular subsystem, to obtain inner ring camera described
The process of space coordinate, spin matrix and translation vector under preset coordinate system can be realized by following sub-step.
Sub-step S1100 obtains the inner ring binocular for each inner ring binocular subsystem in each inner ring binocular subsystem
The target picture of the multiple target index point 400 of subsystem shooting.
Sub-step S1101 is calculated according to the target picture and the pre-set space coordinate of each target index point 400 by institute
State each inner ring camera in inner ring binocular subsystem pre-set space coordinate be converted to the first space coordinate under preset coordinate system,
First spin matrix and the first translation vector, to complete the calibration to each inner ring binocular subsystem.
In the present embodiment, referring to Fig. 2, it is assumed that by taking the inner ring binocular subsystem that camera 7 and 9 is constituted as an example, obtain
The target picture for the target index point 400 being located at feed 230 for taking the binocular subsystem to shoot, wherein due to each target
Coordinate value of the index point 400 under preset coordinate system is marked it has been determined that i.e. above-mentioned pre-set space coordinate.So, by institute
Each 400 information of target index point stated in target picture extracts analysis, with the pre-set space based on each target index point 400
Coordinate calculates first space coordinate of each inner ring camera under the preset coordinate system in corresponding inner ring binocular subsystem, and
From which further follow that the coordinate by each inner ring camera converts the first spin moment for being to preset coordinate system according to first space coordinate
Battle array and the first translation vector, to complete the calibration to each inner ring camera in the inner ring binocular subsystem.Wherein, described default
Space coordinate, first space coordinate all can be three-dimensional coordinates.In addition, the calibration of each inner ring camera in other phase units
Method is identical as above-mentioned steps, and details are not described herein for the present embodiment.
Further, outer ring binocular subsystem can be demarcated based on the inner ring binocular subsystem for having completed calibration,
To obtain space coordinate of the outer ring camera under the preset coordinate system, its detailed process is introduced below in conjunction with Fig. 7.
Sub-step S1102, for each inner ring binocular subsystem and each outer ring binocular in each inner ring binocular subsystem
Each inner ring binocular subsystem in system obtains the of the primary reflection surface 210 of inner ring binocular subsystem shooting respectively
The fourth face plate picture of three panel pictures and the primary reflection surface 210 of outer ring binocular subsystem shooting.Herein it should be understood that
210 picture of primary reflection surface of outer ring binocular subsystem and the shooting of inner ring binocular subsystem in adjacent cameras group is having the same heavy
Close region.
Sub-step S1103, respectively to the cooperation in multiple third panel pictures and multiple fourth face plate pictures
Target is numbered, and based on after number cooperative target and its number to multiple third panel pictures and multiple described the
Four panel pictures carry out matching treatment one by one, to form multiple second panel picture groups.When actual implementation, respectively to multiple described
The process that each cooperative target in first panel picture and multiple second panel pictures is numbered includes following sub-step.
Sub-step S11030 identifies that the highest a line cooperative target of density is used as object to be numbered in each panel picture.
Sub-step S11031, using the cooperative target of any end of the object to be numbered as origin, with telescope principal reflection
Circumferential the 250 of face 210 are x-axis, and radial 240 be y-axis, one cooperative target of every increase, number plus 1.
Specifically, due in advance setting the partial cooperation target in the second cooperative target group when each cooperative target is arranged
Set the visual field overlapping region of the inner ring binocular subsystem and outer ring binocular subsystem in adjacent cameras group, therefore, the density
Highest a line cooperative target is the partial cooperation target in the second cooperative target group.Wherein, it by taking Fig. 2 as an example, is identifying
Out in the third panel picture/fourth face plate picture after the highest a line cooperative target of density, as object to be numbered, and with
The cooperative target of any end is origin, and circumferential 250 with telescope primary reflection surface 210 are x-axis, and radial 240 be y-axis, every increasing
Add a cooperative target, number plus 1.For example, it is assumed that the highest a line cooperative target of density is 12, then with the conjunction of its left end
Making target 17 is origin, and circumferential 250 be x-axis, and radial 240 be y-axis, one cooperative target of every increase, number plus 1.It should infuse herein
Meaning, when each cooperative target in different panels picture is numbered, numbering is answered identical.
Further, if the number of the cooperative target in two breadth plate pictures is identical, i.e. the cooperative target of the identical number
For public cooperative target, and then completed according to public cooperative target to multiple third panel pictures and multiple fourth faces
Plate picture carries out matching treatment one by one, forms multiple second panel picture groups.
Step S1104, for identical multiple cooperative targets are numbered in each second panel picture group, from multiple cooperation
At least three cooperative target is chosen in target, and based on the space coordinate for obtaining each inner ring camera in the second panel picture group
Calculate the space coordinate of at least three cooperative target.Wherein, at least three chosen from the identical cooperative target of number is closed
Making target may be selected maximum 3 to 4 of mutual distance.
Step S1105, calculating separately the space coordinate conversion of at least three cooperative target is the preset coordinate system
Under second space coordinate, the second spin matrix and the second translation vector.
Step S1106, according at least three cooperative target the preset coordinate system second space coordinate, second
Spin matrix and the second translation vector calculate each outer ring camera in corresponding outer ring binocular subsystem in the default seat
Third space coordinate, third spin matrix and third translation vector under mark system, to complete in the outer ring binocular subsystem
The calibration of outer ring camera.
Herein it should be understood that the scaling method of each outer ring camera in the camera array 500 is identical, above-mentioned retouch can refer to
It states, details are not described herein for the present embodiment.In addition, during the calibration process, the panel picture that should be shot according to each outer ring camera itself
The coordinate of itself is demarcated, for example, can be carried out by the panel picture that camera 6 and camera 8 are shot to camera 6 and camera 8
Calibration.
It is whole under preset coordinate system that the camera array 500 can be completed in calibration based on above-mentioned inside and outside circle camera
Space coordinate, spin matrix and translation vector, to be used for subsequent radio telescope surface shape measurement.
Step S120 obtains different sides in the primary reflection surface 210 by calibrated each inner ring binocular subsystem shooting
Multiple first panel pictures of plate, and the primary reflection surface 210 by the calibrated each outer ring binocular subsystem shooting of coordinate
Multiple second panel pictures of middle different panels.
Step S130, respectively to each cooperative target in multiple first panel pictures and multiple second panel pictures
Mark is numbered, and according to the number of each cooperative target to the multiple first panel picture and multiple second panel pictures
Matching treatment one by one is carried out, to form multiple first panel picture groups.
It should be noted here that used mode can be with the number in above-mentioned steps S240 when each cooperative target is numbered
Mode is identical with the matching way of panel picture, such as identifies the highest a line cooperative target conduct of density in each panel picture first
Object to be numbered, then using the cooperative target of any end of the object to be numbered as origin, with the week of telescope primary reflection surface 210
It is x-axis to 250, radial 240 be y-axis, one cooperative target of every increase, number plus 1, finally according to the identical cooperative target of number
It realizes the matching to each panel picture, obtains first panel picture group, specifically details are not described herein for the present embodiment.
In addition, in the present embodiment, to each first panel picture got, each cooperative target in second panel picture
It is numbered and when picture match, first each first panel picture, second panel picture can be denoised, the figure such as mass center extracts
As processing, to obtain effective centroid position of each cooperative target, to guarantee the accuracy of subsequent surface shape measurement data.
Step S140, in each inner ring binocular subsystem each inner ring binocular subsystem and each outer ring
Each outer ring binocular subsystem in binocular subsystem, according to each inner ring camera and each outer ring camera under the preset coordinate system
Space coordinate, spin matrix and translation vector calculate the space coordinate of each cooperative target.
Wherein, the outer ring binocular subsystem and camera 7 and 9 constituted again with camera 6 and camera 8 is constituted inner ring binocular
It is introduced for system.The space coordinate according to the camera 6,7,8 and 9 demarcated in advance under preset coordinate system, meter are needed first
Space coordinate of each cooperative target in its corresponding first panel picture and second panel picture under preset coordinate system is calculated, into
And space coordinate of each cooperative target under preset coordinate system in other first panel picture groups is sought by same way, it is complete
The coordinate calibration of pairs of all cooperative targets.It should be understood that do not distinguish herein each cooperative target be belong to the first cooperative target group or
Second cooperative target group.
Step S150 judges in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then delete the public affairs
Cooperative target altogether.
It herein it should be understood that can be by judging in multiple cooperative targets, if there are the space seats between two cooperative targets
It marks difference and is less than preset threshold, and if it exists, then determine that described two cooperative targets are public cooperative target, then delete the cooperative target
Mark.
Wherein, due to the second cooperative target group be the preset and inner ring binocular subsystem that is respectively positioned in adjacent cameras group and
The visual field overlapping region of outer ring binocular subsystem, with the coordinate calibration for carrying out camera array 500, therefore, if each phase unit
In each camera calibration it is accurate enough, and obtain multiple first panel pictures and second panel picture precision it is enough
Height then will can directly number identical cooperative target and be determined as that public cooperative target is deleted, in other words, the preset threshold
It can be 0.
Step S160 respectively cooperates according to space coordinate of the multiple cooperative target under the preset coordinate system by remaining
Target carries out paraboloid fitting, to obtain the face graphic data of the primary reflection surface 210 of the radio telescope 20.
Specifically, after deleting the public cooperative target in each first panel picture and second panel picture, remaining conjunction
The space coordinate for making target is constant, with the face graphic data of the primary reflection surface 210 for calculating radio telescope 20.Optionally, exist
It, can be according to the cooperative target after the positional relationship or number of each phase unit in camera array 500 before carrying out paraboloid fitting
Deng each first panel picture and second panel picture being spliced, then based on splicing result to remaining each cooperative target
Space coordinate is fitted, to obtain 20 primary reflection surface 210 of the radio telescope as shown in Figure 8 under preset coordinate system
Face graphic data.
Further, in actual implementation, if the face shape size of radio telescope 20 further increases, by adjusting camera
Visual field, the focal length etc. of each camera in array 500 are unable to satisfy visual field covering overlapping when wanting, can be by using more massive
Camera array 500 realizes surface shape measurement, wherein the viewing field of camera overlay area in the camera array 500 in adjacent cameras group is such as
Shown in Fig. 9.Wherein, fan-shaped region 19 is the top view in 210 region of primary reflection surface that radial 240 angles are α, 21,22,23 difference
For inner ring, centre circle, outer ring viewing field of camera overlay area top view, it should be appreciated that marked to each camera in camera array 500
Used calibration is similar with the above method process that the present embodiment provides with measurement method when fixed and surface shape measurement, only increases
The calibration transmittance process of centre circle camera is added, details are not described herein for the present embodiment.
Further, radio telescope surface shape measurement device 110 provided in this embodiment includes coordinate demarcating module, picture
Obtain module, matching treatment module, coordinate transferring, judgment module and coordinate fitting module.
The coordinate demarcating module, it is double to each inner ring for being based on preset coordinate system and multiple target index points 400
The outer ring camera in inner ring camera and each outer ring binocular subsystem in mesh subsystem is demarcated, to obtain inner ring camera and outer
Enclose camera corresponding space coordinate, spin matrix and translation vector under the preset coordinate system.In the present embodiment, about described
The description of coordinate demarcating module specifically refers to the detailed description to step S110 shown in Fig. 6, that is, the step S110
It can be executed by the coordinate demarcating module.According to actual needs, the coordinate demarcating module include target picture acquiring unit,
Inner ring camera calibration unit, panel picture acquiring unit, number matching unit, space coordinate conversion unit, coordinate calculating unit
With outer ring camera calibration unit.
The target picture acquiring unit, each inner ring binocular subsystem for being directed in each inner ring binocular subsystem,
Obtain the target picture of the multiple target index point 400 of inner ring binocular subsystem shooting.In the present embodiment, about described
The description of target picture acquiring unit specifically refers to the detailed description to step S1100 shown in fig. 7, that is, the step
Rapid S1100 can be executed by the target picture acquiring unit.
The inner ring camera calibration unit, for the pre-set space according to the target picture and each target index point 400
Coordinate, calculating are converted to the pre-set space coordinate of each inner ring camera in the inner ring binocular subsystem under preset coordinate system
First space coordinate, the first spin matrix and the first translation vector, to complete the calibration to each inner ring binocular subsystem.This
In embodiment, the description as described in the inner ring camera calibration unit is specifically referred to the detailed of step S1101 shown in fig. 7
Description, that is, the step S1101 can be executed by the inner ring camera calibration unit.
The panel picture acquiring unit, for in each inner ring binocular subsystem each inner ring binocular subsystem and
Each inner ring binocular subsystem in each outer ring binocular subsystem, the master for obtaining inner ring binocular subsystem shooting respectively are anti-
Penetrate the fourth face plate picture of the third panel picture in face 210 and the primary reflection surface 210 of outer ring binocular subsystem shooting.
In the present embodiment, the description as described in the panel picture acquiring unit is specifically referred to the detailed of step S1102 shown in fig. 7
Thin description, that is, the step S1102 can be executed by the panel picture acquiring unit.
The number matching unit, for respectively to multiple third panel pictures and multiple fourth face plate pictures
In cooperative target be numbered, and based on after number cooperative target and its number to multiple third panel pictures and more
A fourth face plate picture carries out matching treatment one by one, to form multiple second panel picture groups.In the present embodiment, about institute
The description for stating number matching unit specifically refers to detailed description to step S1103 shown in fig. 7, that is, the step
S1103 can be executed by the number matching unit.
The space coordinate conversion unit numbers identical multiple cooperative targets for being directed in each second panel picture group
Mark chooses at least three cooperative target from multiple cooperative target, and based on each inner ring obtained in the second panel picture group
The space coordinate of at least three cooperative target described in the spatial coordinates calculation of camera.In the present embodiment, turn about the space coordinate
The description for changing unit specifically refers to detailed description to step S1104 shown in fig. 7, that is, the step S1104 can be with
It is executed by the space coordinate conversion unit.
The space coordinate conversion of at least three cooperative target is institute for calculating separately by the coordinate calculating unit
State second space coordinate, the second spin matrix and the second translation vector under preset coordinate system.In the present embodiment, about the seat
The description of mark computing unit specifically refers to the detailed description to step S1105 shown in fig. 7, that is, the step S1105
It can be executed by the spatial coordinates calculation unit.
The outer ring camera calibration unit, for according at least three cooperative target the of the preset coordinate system
Two space coordinates, the second spin matrix and the second translation vector calculate each outer ring phase in corresponding outer ring binocular subsystem
Third space coordinate, third spin matrix and third translation vector of the machine under the preset coordinate system, to complete to described outer
Enclose the calibration of outer ring camera in binocular subsystem.In the present embodiment, the description as described in the outer ring camera calibration unit specifically may be used
The detailed description of reference pair step S1106 shown in fig. 7, that is, the step S1106 can be by the outer ring camera calibration
Unit executes.
The picture obtains module, for obtaining by the primary reflection surface of calibrated each inner ring binocular subsystem shooting
Multiple first panel pictures of different panels in 210, and as described in the calibrated each outer ring binocular subsystem shooting of coordinate
Multiple second panel pictures of different panels in primary reflection surface 210.In the present embodiment, the description as described in the picture obtains module
The detailed description to step S120 shown in Fig. 6 is specifically referred to, that is, the step S120 can be obtained by the picture
Module executes.
The matching treatment module, for respectively to multiple first panel pictures and multiple second panel pictures
In each cooperative target be numbered, and according to the number of each cooperative target to the multiple first panel picture and multiple
Second panel picture carries out matching treatment one by one, to form multiple first panel picture groups.In the present embodiment, about the matching
The description of processing module specifically refers to the detailed description to step S130 shown in Fig. 6, that is, the step S130 can be with
It is executed by the matching treatment module.
The coordinate transferring, for for each inner ring binocular subsystem in each inner ring binocular subsystem with
And each outer ring binocular subsystem in each outer ring binocular subsystem, according to each inner ring camera and each outer ring camera described
Space coordinate, spin matrix and translation vector under preset coordinate system calculate the space coordinate of each cooperative target.In the present embodiment,
The description as described in the coordinate transferring specifically refers to the detailed description to step S140 shown in Fig. 6, that is, described
Step S140 can be executed by the coordinate transferring.
The judgment module, for judging in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then
Delete the public cooperative target.In the present embodiment, the description as described in the judgment module is specifically referred to step shown in Fig. 6
The detailed description of rapid S150, that is, the step S150 can be executed by the judgment module.
The coordinate fitting module, for the space coordinate according to the multiple cooperative target under the preset coordinate system
Remaining each cooperative target is subjected to paraboloid fitting, to obtain the face graphic data of 20 primary reflection surface 210 of radio telescope.This
In embodiment, the description as described in the coordinate fitting module specifically refers to the detailed description to step S160 shown in Fig. 6,
That is, the step S160 can be executed by the coordinate fitting module.
In conclusion the present invention provides a kind of radio telescope face realized based on radio telescope surface shape measurement system 10
Shape measurement method and device, this method are overlapped area by circle viewing field of camera covering inside and outside in region segmentation and camera array 500
The mode in domain realizes the surface shape measurement to the primary reflection surface 210 of radio telescope 20, and in the premise for guaranteeing surface shape measurement precision
Under, it is effectively simplified measurement procedure, expands measurement range, reduces surface shape measurement data volume.It is specific as follows.
(1) present invention is in the way of region segmentation, under the premise of guaranteeing measurement accuracy, reduces to viewing field of camera, coke
Requirement away from, binocular subsystem base length etc..Meanwhile it being overlapped based on inside and outside circle visual field covering overlapping region and binocular subsystem
Region simplifies the measuring system structure for being in progress surface shape measurement, reduces calibration and measurement procedure, finally uses field stitching
It realizes measurement data fusion, completes 210 surface shape measurement of primary reflection surface of large-scale radio telescope 20, greatly expand measurement model
It encloses, simplifies measurement structure.
(2) present invention is realized using the target construction of symmetrical camera installation form and the double-deck annular to telescope principal reflection
The calibration of each component, is effectively simplified radio telescope surface shape measurement system 10, subtracts in the measurement and measuring system of 210 face shape of face
Data processing amount is lacked.
(3) present invention is real using calibration and the relationship of measurement and the visual field covering overlapping region of inside and outside circle camera system
The transmitting now demarcated greatly simplifies the calibration structure and measurement procedure of radio telescope surface shape measurement system 10.
(4) present invention realizes the matching of panel picture in such a way that number is matched, and by overlapping region center
Multiple cooperative targets are arranged to form density anomaly feature in face plate edge, greatly facilitate the setting of number origin, simplify
Picture match step shortens the picture match time.
(5) present invention obtains the cooperation of high s/n ratio using the high-performance cooperative target being mounted at Reflector Panel node
Target information improves the measurement accuracy of system.
(6) present invention shoots 210 panel picture of primary reflection surface using array camera simultaneously, it can be ensured that radio telescope face
Synchronism of the shape measuring system 10 in measurement process, makes measurement data have real-time.
In the description of the present invention, term " setting ", " connected ", " connection " shall be understood in a broad sense, for example, it may be fixed
Connection, may be a detachable connection, or be integrally connected；It can be mechanical connection, be also possible to be electrically connected；It can be directly
It is connected, the connection inside two elements can also be can be indirectly connected through an intermediary.For the ordinary skill of this field
For personnel, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In several embodiments provided by the embodiment of the present invention, it should be understood that disclosed device and method, it can also
To realize by other means.Device and method embodiment described above is only schematical, for example, the stream in attached drawing
Journey figure and block diagram show that the device of preset quantity embodiment according to the present invention, method and computer program product may be real
Existing architecture, function and operation.In this regard, each box in flowchart or block diagram can represent module, a journey
A part of sequence section or code.A part of the module, section or code include one or preset quantity for realizing
Defined logic function.
It should also be noted that function marked in the box can also be with difference in some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can also execute in the opposite order, this depends on the function involved.It is also noted that in block diagram and or flow chart
The combination of box in each box and block diagram and or flow chart, can function or movement as defined in executing it is dedicated
Hardware based system is realized, or can be realized using a combination of dedicated hardware and computer instructions.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of radio telescope surface shape measurement method is applied in radio telescope surface shape measurement system, which is characterized in that institute
Radio telescope surface shape measurement system is stated to include the multiple cooperative targets for being set to radio telescope primary reflection surface, be set to feed
Multiple target index points at place and the camera array for being set to subreflector edge, the camera array includes multiple cameras
Group, and the camera of corresponding position respectively constitutes inner ring binocular subsystem and outer ring binocular subsystem in adjacent cameras group, it is described
Multiple cooperative targets include the first cooperative target group for characterizing the primary reflection surface face shape and for embodying density anomaly feature
The second cooperative target group, the radio telescope surface shape measurement method includes:
Based on preset coordinate system and multiple target index points, in each inner ring binocular subsystem inner ring camera and each outer ring
Outer ring camera in binocular subsystem is demarcated, corresponding under the preset coordinate system to obtain inner ring camera and outer ring camera
Space coordinate, spin matrix and translation vector；
Obtain multiple first panels of different panels in the primary reflection surface by calibrated each inner ring binocular subsystem shooting
Picture, and by multiple second of different panels in the primary reflection surface of the calibrated each outer ring binocular subsystem shooting of coordinate
Panel picture；
Each cooperative target in multiple first panel pictures and multiple second panel pictures is numbered respectively, and
The multiple first panel picture and multiple second panel pictures are matched one by one according to the number of each cooperative target
Processing, to form multiple first panel picture groups；
For in each inner ring binocular subsystem and each outer ring binocular subsystem in each inner ring binocular subsystem
Each outer ring binocular subsystem, according to space coordinate under the preset coordinate system of each inner ring camera and each outer ring camera,
Spin matrix and translation vector calculate the space coordinate of each cooperative target；
Judge in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then delete the public cooperative target；
Remaining each cooperative target is subjected to parabolic according to space coordinate of the multiple cooperative target under the preset coordinate system
Face fitting, to obtain the face graphic data of the radio telescope primary reflection surface.
2. radio telescope surface shape measurement method according to claim 1, which is characterized in that each inner ring binocular
Inner ring camera in system is demarcated, to obtain space coordinate of the inner ring camera under the preset coordinate system, spin matrix
Include: with the step of translation vector
For each inner ring binocular subsystem in each inner ring binocular subsystem, the described of inner ring binocular subsystem shooting is obtained
The target picture of multiple target index points；
According to the target picture and the pre-set space coordinate of each target index point, calculating will be in the inner ring binocular subsystem
It is flat that the pre-set space coordinate of each inner ring camera is converted to the first space coordinate under preset coordinate system, the first spin matrix and first
The amount of shifting to, to complete the calibration to each inner ring binocular subsystem.
3. radio telescope surface shape measurement method according to claim 2, which is characterized in that each outer ring binocular
Outer ring camera in system is demarcated, packet the step of to obtain space coordinate of the outer ring camera under the preset coordinate system
It includes:
For each inner ring in each inner ring binocular subsystem and each outer ring binocular subsystem in each inner ring binocular subsystem
Binocular subsystem obtains the third panel picture of the primary reflection surface of inner ring binocular subsystem shooting and described respectively
The fourth face plate picture of the primary reflection surface of outer ring binocular subsystem shooting；
The cooperative target in multiple third panel pictures and multiple fourth face plate pictures is numbered respectively, and base
Cooperative target and its number after number carry out one to multiple third panel pictures and multiple fourth face plate pictures
One matching treatment, to form multiple second panel picture groups；
For identical multiple cooperative targets are numbered in each second panel picture group, chosen at least from multiple cooperative target
3 cooperative targets, and described in the first spatial coordinates calculation based on each inner ring camera in the acquisition second panel picture group extremely
The space coordinate of few 3 cooperative targets；
It calculates separately and sits the space coordinate conversion of at least three cooperative target for the second space under the preset coordinate system
Mark, the second spin matrix and the second translation vector；
Second space coordinate, the second spin matrix and second according at least three cooperative target in the preset coordinate system
It is empty that translation vector calculates third of each outer ring camera in corresponding outer ring binocular subsystem under the preset coordinate system
Between coordinate, third spin matrix and third translation vector, to complete calibration to outer ring camera in the outer ring binocular subsystem.
4. radio telescope surface shape measurement method according to claim 1, which is characterized in that judge in multiple cooperative targets
Whether there is public cooperative target the step of include:
Judge in multiple cooperative targets, if there are the conjunctions that the space coordinate difference between two cooperative targets is less than preset threshold
Make target, and if it exists, then determine that described two cooperative targets are public cooperative target.
5. radio telescope surface shape measurement method according to claim 1, which is characterized in that respectively to multiple described first
The step of each cooperative target in panel picture and multiple second panel pictures is numbered include:
Identify that the highest a line cooperative target of density is used as object to be numbered in each panel picture；
It is radial with the circumferential for x-axis of telescope primary reflection surface using the cooperative target of any end of the object to be numbered as origin
For y-axis, one cooperative target of every increase, number plus 1.
6. radio telescope surface shape measurement method according to claim 1, which is characterized in that the cooperative target is spontaneous
Light polygon cooperative target.
7. a kind of radio telescope surface shape measurement device is applied in radio telescope surface shape measurement system, which is characterized in that institute
Radio telescope surface shape measurement system is stated to include the multiple cooperative targets for being set to radio telescope primary reflection surface, be set to feed
Multiple target index points at place and the camera array for being set to subreflector edge, the camera array includes multiple cameras
Group, and the camera of corresponding position respectively constitutes inner ring binocular subsystem and outer ring binocular subsystem in adjacent cameras group, it is described
Multiple cooperative targets include the first cooperative target group for characterizing the primary reflection surface face shape and for embodying density anomaly feature
The second cooperative target group, the radio telescope surface shape measurement device includes:
Coordinate demarcating module, for being based on preset coordinate system and multiple target index points, in each inner ring binocular subsystem
Inner ring camera and each outer ring binocular subsystem in outer ring camera demarcated, to obtain inner ring camera and outer ring camera in institute
State corresponding space coordinate, spin matrix and translation vector under preset coordinate system；
Picture obtains module, for obtaining different sides in the primary reflection surface by calibrated each inner ring binocular subsystem shooting
Multiple first panel pictures of plate, and by the primary reflection surface of the calibrated each outer ring binocular subsystem shooting of coordinate not
With multiple second panel pictures of panel；
Matching treatment module, for respectively to each conjunction in multiple first panel pictures and multiple second panel pictures
It is numbered as target, and according to the number of each cooperative target to the multiple first panel picture and multiple second panels
Picture carries out matching treatment one by one, to form multiple first panel picture groups；
Coordinate transferring, for for each inner ring binocular subsystem in each inner ring binocular subsystem and each described
Each outer ring binocular subsystem in the binocular subsystem of outer ring, according to each inner ring camera and each outer ring camera in the preset coordinate
Space coordinate, spin matrix and translation vector under system calculate the space coordinate of each cooperative target；
Judgment module, for judging in multiple cooperative targets with the presence or absence of public cooperative target, and if it exists, then delete the public affairs
Cooperative target altogether；
Coordinate fitting module, for will be remaining each according to space coordinate of the multiple cooperative target under the preset coordinate system
Cooperative target carries out paraboloid fitting, to obtain the face graphic data of the radio telescope primary reflection surface.
8. radio telescope surface shape measurement device according to claim 7, which is characterized in that the coordinate demarcating module packet
It includes:
Target picture acquiring unit, for it is interior to obtain this for each inner ring binocular subsystem in each inner ring binocular subsystem
Enclose the target picture of the multiple target index point of binocular subsystem shooting；
Inner ring camera calibration unit, for the pre-set space coordinate according to the target picture and each target index point, calculating will
The pre-set space coordinate of each inner ring camera in the inner ring binocular subsystem is converted to the seat of the first space under preset coordinate system
Mark, the first spin matrix and the first translation vector, to complete the calibration to each inner ring binocular subsystem.
9. radio telescope surface shape measurement device according to claim 8, which is characterized in that the coordinate demarcating module packet
It includes:
Panel picture acquiring unit, each inner ring binocular subsystem and each outer ring for being directed in each inner ring binocular subsystem are double
Each inner ring binocular subsystem in mesh subsystem obtains the of the primary reflection surface of inner ring binocular subsystem shooting respectively
The fourth face plate picture of three panel pictures and the primary reflection surface of outer ring binocular subsystem shooting；
Number matching unit, for respectively to the cooperation in multiple third panel pictures and multiple fourth face plate pictures
Target is numbered, and based on after number cooperative target and its number to multiple third panel pictures and multiple described the
Four panel pictures carry out matching treatment one by one, to form multiple second panel picture groups；
Space coordinate conversion unit numbers identical multiple cooperative targets for being directed in each second panel picture group, from this
At least three cooperative target is chosen in multiple cooperative targets, and based on each inner ring camera obtained in the second panel picture group
The space coordinate of at least three cooperative target described in spatial coordinates calculation；
Coordinate calculating unit, for calculate separately by the space coordinate conversion of at least three cooperative target be the default seat
Second space coordinate, the second spin matrix and the second translation vector under mark system；
Outer ring camera calibration unit is sat for the second space according at least three cooperative target in the preset coordinate system
Mark, the second spin matrix and the second translation vector calculate each outer ring camera in corresponding outer ring binocular subsystem described
Third space coordinate, third spin matrix and third translation vector under preset coordinate system, to complete to outer ring binocular
The calibration of outer ring camera in system.
10. radio telescope surface shape measurement device according to claim 7, which is characterized in that the judgment module is used for
Judge in multiple cooperative targets, if there are the cooperative targets that the space coordinate difference between two cooperative targets is less than preset threshold
Mark, and if it exists, then determine that described two cooperative targets are public cooperative target.
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| CN108375347A (en) * | 2018-02-26 | 2018-08-07 | 中国电子科技集团公司第五十四研究所 | A kind of FAST radio telescopes reflecting surface unit accuracy measurement system and method |
| CN110345923B (en) * | 2018-04-08 | 2021-06-18 | 孟艳艳 | Antenna main and auxiliary reflecting surface pose measuring system and auxiliary reflecting surface pose adjusting method |
| CN109870119B (en) * | 2019-03-14 | 2020-10-02 | 中国科学院国家天文台 | FAST active reflecting surface type precision real-time monitoring method based on digital twins technology |
| CN110108251A (en) * | 2019-06-10 | 2019-08-09 | 中国科学院上海天文台 | The subreflector pose measurement system and measurement method of large-scale radio telescope |
| CN111649728B (en) * | 2020-04-26 | 2022-05-06 | 中国科学院国家天文台 | Spherical radio telescope reflecting surface node planning and measuring system and method |
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