CN108731665A - A kind of whole day ball method for recognising star map - Google Patents
A kind of whole day ball method for recognising star map Download PDFInfo
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Abstract
A kind of whole day ball method for recognising star map.Distance farthest two asterisms A, B first in extraction shooting star map image；In other asterisms in star map image in addition to 2 points of A, B, extraction and the farthest asterism C of A, B sum of the distance；Extraction and the farthest asterism D of A, B, C sum of the distance.It is searched in navigational star table 1, meets the star chart region with tri- asterism distances of A, B, C, D and energy match, as first favored area.The asterism extracted in the star chart of shooting around the star in several ranges, takes three stars at apart from angle combinations, for identification this star respectively if star to be identified and figure boundary meet a certain range.After having identified the asterism in the star chart of all shootings successively, in the asterism identified, a nearest star of other star angles of selected distance, centered on the star, the star outside angular distance T degree ranges is rejected；Remaining identification star set is preserved, identification process terminates.
Description
Technical field
The present invention relates to a kind of method for recognising star map, belong to Star-Sensor Design technical field.
Background technology
During developing fixed star gyroscope sensor, required precision is high, and number of stars are more in star catalogue.Utilize original whole day
Ball nautical star recognition methods, recognition speed are slower, it is difficult to and it quickly recognizes fixed star and provides posture, therefore be directed to big navigational star table,
It needs to develop quick whole day ball recognizer.This research is based on the advantages of polygon recognizer and grid recognizer, towards
The more actual conditions of nautical star, it is proposed that quadrilateral mesh method, the identification for carrying out whole day ball fixed star.Test result shows this
Algorithm can complete the identification of whole day ball fixed star in 2 seconds in DSP platform, and identification probability reaches 99.98% or more；It is transplanted to FPGA
After platform, the identification of whole day ball will be completed in 1 second.The algorithm has the advantages that speed is fast, identification probability is high, can quickly give sky
Between aircraft provide attitude data.
Zheng Sheng etc. 2004 is in optical technology《A kind of star Pattern Recognition Algorithm based on triangle geometry structure》Middle proposition
Triangle map method.The citation form of this method is：First according to features such as angular distance and magnitudes in observation star and nautical star
Match 3 stars composition principal triangles, then angular distance relationship between this 3 stars matches other fixed stars in star chart, takes maximum
Star group is matched as recognition result.The advantages of algorithm is to realize simple, and it is small to account for memory capacity, and whole picture star chart feature is utilized,
It is less prone to error hiding, can be used for whole day ball importance in star map recognition.This method is there are many deformation, matching method, base such as based on main side
In the matching method and double triangle matching method (quasi- Quadrilateral Method) of primary.Due to matching other sidereal time, these fixed stars are calculated
Star angular distance (between fixed star and fixed star with the centre of sphere angle of the earth), recognition time is long in this way for institute.
Mortari in 1997 is Journal of the Astronautical Sciences'《Search-Less
Algorithm for Star Pattern Recognition》Middle proposition carries out importance in star map recognition using k-vector methods.
In order to reduce the misrecognition brought due to magnitude uncertainty, which identifies only with star angular distance.In the course of the research,
It was found that the star amplitude incremental to the star angular distance in information table is then considered star to the star of information table to sequence than shallower
Number and two information of corresponding star angular distance respectively as ordinate and abscissa, be fitted to certain curvilinear function y=f's (x)
Form enables it substitute into formula for x in this way, when the starry sky image taken from star sensor calculates the angular distance of a pair of of observation star pair
In, star is calculated to serial number y values, recognition result is determined further according to y values.The algorithm plays the role of quickly just positioning,
Reduce lookup number.
Mortari in 2001 is AAS Guidance&Control Conference's《Lost-In-Space
Pyramid Algorithm for Robust Star Pattern Recognition》In propose a kind of pyramid algorith
(Pyramid Star Identification).The algorithm is four measurement stars of appropriate selection, using an observation star as vertex
Tetrahedron is constituted with its excess-three observation star.The algorithm is using tetrahedron as base unit, in k-vector methods as rudimentary algorithm.
Experiment is found：As star increases information table, matched curve y=f (x) precision reduces.And since fitting precision reduces, it cannot be true
Best match star is protected to falling the subset between (y-δ) and (y+ δ) (δ is angular travel error).Therefore the algorithm is only in regional area
Inside play the role of quickly just positioning.
What Li Chunyan etc. was collected for 2003 in Science Bulletin E《Method for recognising star map based on nerual network technique》In propose
Neural network.This method utilizes the advantages of neural network and expert system, can improve accuracy of identification, and can reduce due to star
Etc. error caused by measurement accuracy.Neural network is compared with traditional algorithm, has database volume low, real-time and robust
The advantages that property is good, is expressively especially apparent in big visual field multiple satellite location system.But the training of these algorithms is needed compared with intensive,
It is required that prodigious training set, to complete various modes identification, therefore has the shortcomings that recognition time length；Precision is vulnerable to training
The influence of set sizes and training time length；Potentially need to store weights compared with large buffer memory, thus to hardware requirement compared with
It is high.
Invention content
The technology of the present invention solves the problems, such as：A kind of whole day ball method for recognising star map is overcome the deficiencies of the prior art and provide,
Method through the invention carries out asterism identification, and the posture for calculating star sensor improves star sensor image recognition essence
The speed of degree and Attitude Calculation.
Technical solution of the invention is：A kind of whole day ball method for recognising star map, including steps are as follows：
(14) two farthest asterisms of distance in the star map image of the observation star of extraction shooting：Asterism A, asterism B；
(15) in other asterisms in star map image in addition to asterism A, asterism B, extraction and asterism A, asterism B sum of the distance
Maximum asterism C；
(16) in other asterisms in star map image in addition to asterism A, asterism B, asterism C, extraction with asterism A, asterism B,
The maximum asterism D of asterism C sum of the distance；
(17) in navigational star table 1, lookup asterism both ends distance is matched to asterism B distances with asterism A and asterism both ends energy
Amount respectively with asterism A, asterism B matched several asterisms A ˊ and asterism B ˊ；
(18) several asterisms C ˊ are found for each asterism A ˊ and asterism B ˊ, in navigational star table 1, asterism C ˊ,
The distance between the distance between asterism A ˊ and asterism C, asterism A match, the distance between asterism C ˊ, asterism B ˊ and asterism C,
The distance between asterism B matches, and the energy of asterism C ˊ and the energy of asterism C match；
(19) for every group of asterism A ˊ, asterism B ˊ and asterism C ˊ, several asterisms D ˊ are found in navigational star table 1, it is described
The distance between asterism D ˊ, asterism A ˊ and the distance between asterism D, asterism A match, the distance between asterism D ˊ, asterism B ˊ
Match with the distance between asterism D, asterism B, the distance between asterism D ˊ, asterism C ˊ and the distance between asterism D, asterism C
Match, and the energy match of the energy and asterism D of asterism D ˊ；Above-mentioned asterism A ˊ searched out, asterism B ˊ, asterism C ˊ, asterism
D ˊ combinations constitute several primary election starry sky regions；
(20) asterism extracted out of shooting star chart is sorted from big to small according to energy, is saved in star catalogue to be identified
In；
(21) in star catalogue to be identified, an asterism E to be identified is arbitrarily taken out, judges asterism E to be identified to star map image
Whether the shortest distance on boundary is more than or equal to the dist pixels of setting up and down；
(22) if asterism E to be identified to star map image up and down boundary the shortest distance be less than setting dist pictures
Element then removes an asterism to be identified, return to step (8) in star catalogue to be identified；If on asterism E to star map image to be identified
The shortest distance of lower right boundary is both greater than equal to dist pixels, then takes brightness in N1 to N2 pixels around asterism E to be identified
The three asterism F of first three1、F2、F3；Around asterism E in N3 to N4 pixels, the brightness three asterism G of first three are taken1、G2、G3；Star
Around point E in N5 to N6 pixels, before brightness four four asterism H are taken1、H2、H3、H4；N1, N2, N3, N4, N5, N6 are just whole
Number；N6>N5；N4>N3；N2>N1；
(23) asterism E and asterism Fi, Gj, Hk are traversed, obtains the mark of asterism E, the mark of the asterism E is by 5 value structures
At respectively：At a distance from asterism Fi and asterism E, at a distance from asterism Gj and asterism E, asterism Hk is at a distance from asterism E, asterism Fi
The angle of E Gj, the angle of asterism Gi E Hk；I=1,2,3；J=1,2,3；K=1,2,3,4；
(24) nautical star in the mark primary election starry sky region corresponding with navigational star table 2 of multigroup asterism E of acquisition is believed
Breath is matched, and the unique match mark of asterism E is obtained；
(25) next asterism to be identified, return to step (8) are taken, until having identified M observation star, is entered step (13)；M
For positive integer；
(26) in the asterism identified, a nearest star of other stars of selected distance, centered on the star, by angular distance T
The identification star spent outside range is rejected, and preserves remaining identification star set as final identification star, according to final identification star meter
Calculate the posture of star sensor；T is positive integer.
Two interasteric distances are：After two asterism energy are multiplied, multiplied by with pixel distance value between two asterisms；Two
The angle of asterism is after two asterism energy are multiplied multiplied by with two asterism physics angle values.
T chooses in 7~10 ranges.
The dist pixels of setting>N6.
The asterism information stored in the navigational star table 1 is the energy of the distance between asterism and each asterism.
The asterism information stored in the navigational star table 2 include identify around star and the mark star between three stars away from
Two angles constituted with mark star from three stars around, the mark star.
Compared with the prior art, the invention has the advantages that：
(1) global recognition method of the invention is divided into preliminary matches and accurate matching two parts, and speed is fast.Preliminary matches
In, it is identified using several farthest stars of selected distance.In accurate matching, this star spy is characterized using asterism around each star
Sign.Strong robustness, precision are high.
(2) the distance between the energy of asterism and asterism are merged the feature for characterizing asterism by method of the invention.And
And digitize the feature after fusion, numerous features are integrated into a number, achieve the purpose that amount of storage is small.All characteristics
Word is sized, and retrieval when has the advantages that fireballing.
(3) it after method preliminary matches of the invention, using preliminary matches result as to be selected, is further accurately matched,
Matching, which takes, to be shortened.
Description of the drawings
Fig. 1 is the implementation flow chart of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is further described in detail below.
As shown in Figure 1, a kind of whole day ball method for recognising star map of the present invention, including steps are as follows：
(1) two farthest asterisms of distance in the star map image of the observation star of extraction shooting：Asterism A, asterism B；
(2) in other asterisms in star map image in addition to asterism A, asterism B, extraction and asterism A, asterism B sum of the distance
Maximum asterism C；
(3) in other asterisms in star map image in addition to asterism A, asterism B, asterism C, extraction and asterism A, asterism B, star
The maximum asterism D of point C sum of the distance；Distance is compound distance, i.e. two asterism energy between two asterisms in above-mentioned (1) (2) (3)
After multiplication, multiplied by with pixel distance value between two asterisms, the distance between two asterisms of composition, similarly hereinafter；
(4) in navigational star table 1, lookup asterism both ends distance is matched to asterism B distances with asterism A and asterism both ends energy
Respectively with asterism A, asterism B matched several asterisms A ˊ and asterism B ˊ；Here distance matching refers to apart from approximately equal, accidentally
Difference is in a certain range；Energy match refers to that energy approximation is equal, error in a certain range, similarly hereinafter；
(5) for each asterism A ˊ and asterism B ˊ, several asterisms C ˊ, asterism C ˊ, star are found in navigational star table 1
The distance between the distance between point A ˊ and asterism C, asterism A match, the distance between asterism C ˊ, asterism B ˊ and asterism C, star
The distance between point B matches, and the energy of asterism C ˊ and the energy of asterism C match；
(6) for every group of asterism A ˊ, asterism B ˊ and asterism C ˊ, several asterisms D ˊ, the star are found in navigational star table 1
The distance between point D ˊ, asterism A ˊ and the distance between asterism D, asterism A match, the distance between asterism D ˊ, asterism B ˊ with
The distance between asterism D, asterism B match, the distance between asterism D ˊ, asterism C ˊ and the distance between asterism D, asterism C phase
Matching, and the energy match of the energy and asterism D of asterism D ˊ；
Above-mentioned asterism A ˊ searched out, asterism B ˊ, asterism C ˊ, asterism D ˊ combinations constitute several primary election starry sky regions；On
The possible more than one in starry sky region that the A ˊ B ˊ C ˊ D ˊ combinations to be formed are constituted is stated, these regions are as first favored area.It below will be
Exact-match lookup is further carried out in navigational star table 2；
(7) asterism extracted out of shooting star chart is sorted from big to small according to energy, is saved in star catalogue to be identified
In；
(8) in star catalogue to be identified, an asterism E to be identified is arbitrarily taken out, is judged on asterism E to star map image to be identified
Whether the shortest distance of lower right boundary is more than or equal to the dist pixels of setting；
(9) if asterism E to be identified to star map image up and down boundary the shortest distance be less than setting dist pixels,
An asterism to be identified, return to step (8) are then removed in star catalogue to be identified；If asterism E to star map image or more to be identified
The shortest distance of right boundary is both greater than equal to dist pixels, then around asterism E to be identified in N1 to N2 pixels, before taking brightness
Three three asterism F1、F2、F3；Around asterism E in N3 to N4 pixels, the brightness three asterism G of first three are taken1、G2、G3；Asterism E
In N5 to N6 pixels of surrounding, before brightness four four asterism H are taken1、H2、H3、H4；N1, N2, N3, N4, N5, N6 are positive integer；
N6>N5；N4>N3；N2>N1；
(10) asterism E and asterism F is traversedi、Gj、Hk, the mark of asterism E is obtained, the mark of the asterism E is by 5 value structures
At respectively：Asterism FiWith at a distance from asterism E, asterism GjWith at a distance from asterism E, asterism HkWith at a distance from asterism E, asterism Fi E
GjAngle, asterism Gi E HkAngle；I=1,2,3；J=1,2,3；K=1,2,3,4；Wherein distance is two asterism energy
Multiplied by with pixel distance value between two asterisms after multiplication, angle is to be pressed from both sides multiplied by with two asterism physics after two asterism energy are multiplied
Angle value, similarly hereinafter；
(11) nautical star in the mark primary election starry sky region corresponding with navigational star table 2 of multigroup asterism E of acquisition is believed
Breath is matched, and the unique match mark of asterism E is obtained；Traverse asterism E and asterism Fi、Gj、Hk, every group apart from angle combinations
All constitute a mark of asterism E.But only there are one combinations can identify asterism E, and other identifier cannot not only identify the asterism
E can not identify any star of other in navigational star table 2.It has traversed in this way after respectively being identified around asterism, each asterism can led
Unique match is found in boat star catalogue 2.This has ensured in the structure of navigational star table 2；Because at the beginning of having obtained some in (6)
Favored area, therefore in the search procedure in navigational star table 2, only carried out in these primary election regional extents in navigational star table 2
It searches, accelerates speed.
(12) next asterism to be identified, return to step (8) are taken, until having identified M observation star, is entered step (13)；M
For positive integer；
(13) in the asterism identified, a nearest star of other stars of selected distance, centered on the star, by angular distance T
The identification star spent outside range is rejected, and preserves remaining identification star set as final identification star, according to final identification star meter
Calculate the posture of star sensor；T is positive integer.
Embodiment：
A kind of whole day method for recognising star map, including steps are as follows：
(1) two farthest asterisms of distance in the star map image of the observation star of extraction shooting：Asterism A, asterism B, distance value
It is 1800；
(2) in other asterisms in star map image in addition to asterism A, asterism B, extraction and asterism A, asterism B sum of the distance
Maximum asterism C, distance and value are 2600；
(3) in other asterisms in star map image in addition to asterism A, asterism B, asterism C, extraction and asterism A, asterism B, star
The maximum asterism D of point C sum of the distance, distance and value are 2800；
(4) in navigational star table 1, lookup asterism both ends distance is matched to asterism B distances 1800 with asterism A and asterism two
Hold energy respectively with asterism A energy, asterism B matched several asterisms A ˊ and asterism B ˊ, find 200 groups altogether as asterism A ˊ
It is combined with asterism B ˊ；
(5) for each asterism A ˊ and asterism B ˊ, several asterisms C ˊ, asterism C ˊ, star are found in navigational star table 1
The distance between the distance between point A ˊ and asterism C, asterism A match, the distance between asterism C ˊ, asterism B ˊ and asterism C, star
The distance between point B matches, and the energy of asterism C ˊ and the energy of asterism C match, and finds 40 such asterism C ˊ altogether；
(6) group of asterism A ˊ, asterism B ˊ and asterism C ˊ amount to 40 groups, for every group of asterism A ˊ, asterism B ˊ and asterism C ˊ,
Find several asterisms D ˊ in navigational star table 1, the distance between asterism D ˊ, asterism A ˊ between asterism D, asterism A away from
From matching, the distance between asterism D ˊ, asterism B ˊ and the distance between asterism D, asterism B match, asterism D ˊ, asterism C ˊ it
Between distance match with the distance between asterism D, asterism C, and the energy match of the energy and asterism D of asterism D ˊ is found altogether
Asterism D ˊ as 10 groups；
Above-mentioned asterism A ˊ searched out, asterism B ˊ, asterism C ˊ, asterism D ˊ combinations constitute 10 primary election starry sky regions；
(7) asterism extracted in the star chart shot shares 12, sorts, is saved in be identified from big to small according to energy
In star catalogue；
(8) in star catalogue to be identified, an asterism E to be identified is arbitrarily taken out, is judged on asterism E to star map image to be identified
Whether the shortest distance of lower right boundary is more than or equal to 300 pixels of setting；
(9) if asterism E to be identified to star map image up and down boundary the shortest distance be less than setting 300 pixels,
An asterism to be identified, return to step (8) are then removed in star catalogue to be identified；If asterism E to star map image or more to be identified
The shortest distance of right boundary is both greater than equal to 300 pixels, then around asterism E to be identified in N1 to N2 pixels, before taking brightness
Three three asterism F1、F2、F3；Around asterism E in N3 to N4 pixels, the brightness three asterism G of first three are taken1、G2、G3；Asterism E
In N5 to N6 pixels of surrounding, before brightness four four asterism H are taken1、H2、H3、H4；N1, N2, N3, N4, N5, N6 be respectively 1,
200,10,250,50,300；
(10) asterism E and asterism F is traversedi、Gj、Hk, the mark of asterism E is obtained, the mark of the asterism E is by 5 value structures
At respectively：Asterism FiWith at a distance from asterism E, asterism GjWith at a distance from asterism E, asterism HkWith at a distance from asterism E, asterism FiEGj
Angle, asterism GiEHkAngle；I=1,2,3；J=1,2,3；K=1,2,3,4；
(11) asterism Fi、Gj、Hk3*3*4=36 groups are amounted to the group of asterism E, these 36 groups of marks are respectively in navigational star table 2
Nautical star information in middle corresponding primary election starry sky region is matched, and in navigational star table 2, only 1 group of mark can be matched into
Work(had both been the recognition result of this star according to the correspondence asterisk in navigational star table after successful match 2；Other 35 groups fail matching at
Work(is Redundancy Design, does not consider.Simultaneously as some first favored areas have been obtained in (6), therefore looking into navigational star table 2
During looking for, is only searched in these primary election regional extents, accelerate speed；
(12) next asterism to be identified, return to step (8) are taken, until having identified 8 observation stars, as a result enough
With entering step (13)；
(13) in the asterism identified, asterism 1 is apart from other asterism distances and is 15000, and asterism 2 is apart from other asterisms
Distance and be 16000, asterism 3 apart from other asterism distances and be 14000, asterism 4 apart from other asterism distances and be 15500,
Asterism 6 is apart from other asterism distances and is 17000, and asterism 7 is apart from other asterism distances and is 71000, and asterism 8 is apart from other stars
Point distance and be 14600, asterism 7 apart from other asterism distances and far above the respective value of other asterisms, asterism 7 may identification lose
It loses, it is therefore desirable to filter out it, the method filtered out is：A nearest star of other stars of selected distance, is star 3 here, in being with star 3
The heart rejects the identification star outside 20 degree of ranges of angular distance, preserves remaining identification star set as final identification star, according to final
Identification star calculate star sensor posture.20 degree are star sensor half-field angle.
The example of star catalogue 1 is shown in Table 1, under each distance, has many asterisms to combine, i.e., asterism x and asterism y in table, from table
In can also find the energy of corresponding asterism x and asterism y.
1. star catalogue 1 of table
The example of star catalogue 2 is shown in Table 2, in each asterisk, there is unique mark, and the mark is by three described in claims
A distance and two angles are constituted.For the 4562102447 of asterisk 1,45,62,10 respectively represent distance value, by really away from
100 times from value diminution lower roundings acquisitions backward, 24,47 respectively represent two angle values, under reducing 4 times backward by real angle value
Rounding obtains.Scaling is considered for reduction amount of storage reason.
2. star catalogue 2 of table
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (6)
1. a kind of whole day ball method for recognising star map, which is characterized in that including steps are as follows：
(1) two farthest asterisms of distance in the star map image of the observation star of extraction shooting：Asterism A, asterism B；
(2) in other asterisms in star map image in addition to asterism A, asterism B, extraction and asterism A, asterism B sum of the distance are maximum
Asterism C；
(3) in other asterisms in star map image in addition to asterism A, asterism B, asterism C, extraction and asterism A, asterism B, asterism C
The maximum asterism D of sum of the distance；
(4) in navigational star table 1, lookup asterism both ends distance is matched to asterism B distances with asterism A and asterism both ends energy is distinguished
With asterism A, asterism B matched several asterisms A ˊ and asterism B ˊ；
(5) for each asterism A ˊ and asterism B ˊ, several asterisms C ˊ, asterism C ˊ, asterism A ˊ are found in navigational star table 1
The distance between match with the distance between asterism C, asterism A, the distance between asterism C ˊ, asterism B ˊ and asterism C, asterism B
The distance between match, and the energy of asterism C ˊ and the energy of asterism C match；
(6) for every group of asterism A ˊ, asterism B ˊ and asterism C ˊ, several asterisms D ˊ, the asterism D are found in navigational star table 1
The distance between ˊ, asterism A ˊ and the distance between asterism D, asterism A match, the distance between asterism D ˊ, asterism B ˊ and asterism
D, the distance between asterism B matches, the distance between asterism D ˊ, asterism C ˊ and the distance between asterism D, asterism C phase
Match, and the energy match of the energy and asterism D of asterism D ˊ；
Above-mentioned asterism A ˊ searched out, asterism B ˊ, asterism C ˊ, asterism D ˊ combinations constitute several primary election starry sky regions；
(7) asterism extracted out of shooting star chart is sorted from big to small according to energy, is saved in star catalogue to be identified；
(8) in star catalogue to be identified, an asterism E to be identified is arbitrarily taken out, judges bottom left on asterism E to star map image to be identified
Whether the shortest distance of right margin is more than or equal to the dist pixels of setting；
(9) if asterism E to be identified to star map image up and down boundary the shortest distance be less than setting dist pixels,
An asterism to be identified, return to step (8) are removed in star catalogue to be identified；If asterism E to be identified to star map image up and down
The shortest distance on boundary is both greater than equal to dist pixels, then around asterism E to be identified in a pixels of N1 to N2, take brightness first three
Three asterism F1、F2、F3；Around asterism E in N3 to N4 pixels, the brightness three asterism G of first three are taken1、G2、G3；Around asterism E
In N5 to N6 pixels, before brightness four four asterism H are taken1、H2、H3、H4；N1, N2, N3, N4, N5, N6 are positive integer；N6>
N5；N4>N3；N2>N1；
(10) asterism E and asterism Fi, Gj, Hk are traversed, the mark of asterism E is obtained, the mark of the asterism E is made of 5 values, point
It is not：At a distance from asterism Fi and asterism E, at a distance from asterism Gj and asterism E, asterism Hk is at a distance from asterism E, asterism Fi E Gj
Angle, asterism Gi E Hk angle；I=1,2,3；J=1,2,3；K=1,2,3,4；
(11) by the nautical star information in the mark primary election starry sky region corresponding with navigational star table 2 of multigroup asterism E of acquisition into
Row matching obtains the unique match mark of asterism E；
(12) next asterism to be identified, return to step (8) are taken, until having identified M observation star, is entered step (13)；M is just
Integer；
(13) in the asterism identified, a nearest star of other stars of selected distance, centered on the star, by angular distance T degree models
It encloses outer identification star to reject, preserves remaining identification star set as final identification star, star is calculated according to final identification star
The posture of sensor；T is positive integer.
2. a kind of whole day ball method for recognising star map according to claim 1, which is characterized in that it is described two it is interasteric away from
From for：After two asterism energy are multiplied, multiplied by with pixel distance value between two asterisms；The angle of two asterisms is two asterism energy
Multiplied by with two asterism physics angle values after amount multiplication.
3. a kind of whole day ball method for recognising star map according to claim 1 or 2, which is characterized in that the T is in 7~10 models
Enclose interior selection.
4. a kind of whole day ball method for recognising star map according to claim 3, which is characterized in that the dist pixels of the setting
>N6。
5. a kind of whole day ball method for recognising star map according to claim 4, which is characterized in that deposited in the navigational star table 1
The asterism information of storage is the energy of the distance between asterism and each asterism.
6. a kind of whole day ball method for recognising star map according to claim 5, which is characterized in that deposited in the navigational star table 2
The asterism information of storage includes the distance between three stars around mark star and the mark star, three stars and mark around the mark star
Two angles that star is constituted.
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