CN109064510B - Total station and star point centroid extraction method of star image thereof - Google Patents
Total station and star point centroid extraction method of star image thereof Download PDFInfo
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Abstract
The invention relates to a total station and a star point centroid extraction method of a star image thereof, which predict an initial imaging position of a fixed star by calculating a horizontal coordinate of the fixed star relative to a measuring station, namely an azimuth angle and an elevation angle of the fixed star, and use an inverse transformation model of a total station pixel coordinate and a scale coordinate to set a processing range of the fixed star image by taking the initial imaging position as a center, and calculate a star point centroid coordinate in the range, thereby realizing local effective processing of the total station fixed star image, avoiding processing the whole image, greatly shortening the star point centroid extraction time, improving the work efficiency of star point centroid extraction, and providing technical support for realizing rapid astronomical measurement.
Description
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to a total station and a star point centroid extraction method of a star image of the total station.
Background
Astronomical measurement is one of important technical means of space geodetic measurement, observation sources of the astronomical measurement are indestructible natural celestial bodies such as fixed stars and planets, rapid precise positioning and orientation can be realized, and requirements in aspects such as missile launching, satellite and aerospace vehicle launching, inertial platform calibration, remote gun precise orientation and the like can be effectively met. The astronomical measurement has completely autonomous working mode and strong anti-interference capability, and is a safe and reliable positioning and orienting means.
An astronomical measurement system based on a traditional electronic theodolite or total station is a main astronomical measurement device at present, accurate positioning and orientation can be realized only by observing fixed stars through naked eyes of people, and the problems of low automation degree, time-consuming observation, high labor intensity of operators, remarkable positioning and orientation results influenced by human factors and the like exist.
With the increasing maturity of the image total station technology, the astronomical measurement system is updated, and the automatic shooting function of the image total station is expected to be used for replacing the naked eyes of people to realize the automatic observation of fixed stars, so that the dependence of astronomical measurement on the human eyes is thoroughly eliminated, and the novel full-intelligent astronomical measurement system without manual intervention is realized. One of the key technologies of the image total station applied to astronomical measurement is to rapidly and accurately extract the centroid coordinates of star points from a star image, and at present, the traditional extraction method needs to perform scanning processing on each pixel of the whole image, so that the operation efficiency is low, the time consumption is long, and real-time data calculation cannot be realized.
Disclosure of Invention
The invention aims to provide a total station and a star point centroid extraction method of a star image thereof, and aims to greatly improve the star map processing speed of the image total station, realize the fast extraction of the star point centroid, simultaneously ensure that the star point centroid extraction precision is not lost, and solve the problems of long time consumption and low efficiency in centroid extraction in the prior art.
In order to solve the technical problem, the invention provides a method for extracting the star point and the mass center of a fixed star image of a total station, which comprises the following steps:
1) calculating the azimuth angle and the altitude angle of the fixed star according to the acquired moment of the fixed star image, the survey station approximate coordinate and the fixed star chart;
2) according to the azimuth angle and the altitude angle of the fixed star, calculating the azimuth angle deviation and the altitude angle deviation of the fixed star relative to the center of the cross wire of the total station;
3) according to the azimuth angle deviation and the altitude angle deviation, combining an inverse transformation model of a total station pixel coordinate and a scale coordinate to obtain an initial imaging position of the fixed star;
4) and setting a processing range in the star image by taking the initial imaging position of the star as a center, and determining the coordinates of the centroid of the star point by a centroid method in the processing range.
According to the invention, by calculating the horizontal coordinates of the fixed star relative to the measuring station, namely the azimuth angle and the elevation angle of the fixed star, the initial imaging position of the fixed star is predicted by using the inverse transformation model of the total station pixel coordinate and the scale coordinate, the processing range of the image of the fixed star is set by taking the initial imaging position as the center, and the star centroid coordinate is calculated in the range, so that the local effective processing of the image of the fixed star of the total station is realized, the processing of the whole image is avoided, the star centroid extraction time is greatly shortened, the working efficiency of star centroid extraction is improved, and a technical support is provided for realizing rapid astronomical measurement.
In order to solve the influence of atmospheric refraction on the calculation of the altitude of the fixed star, an atmospheric refraction correction model is adopted to correct the altitude of the fixed star to obtain the corrected altitude of the fixed star, and the atmospheric refraction correction model is as follows:
h′＝h+a·coth
in the formula, h is the altitude of the fixed star before correction, h' is the altitude of the fixed star after correction, and a is a fixed coefficient with the unit of angular seconds.
To determine the star initial imaging position, the inverse transformation model is as follows:
wherein x is the abscissa of the initial imaging position of the fixed star, y is the ordinate of the initial imaging position of the fixed star, Δ A is the azimuth deviation of the fixed star relative to the center of the cross wire of the total station, Δ h is the altitude deviation of the fixed star relative to the center of the cross wire of the total station, (x)0,y0) Is the image center coordinate, k, corresponding to the center of the cross wire of the total station1And k2As a proportionality coefficient between pixel coordinates and scale coordinates, b1And b2Is a constant term.
In order to accurately determine the coordinates of the centroid of the star points, step 4) before determining the coordinates of the centroid of the star points, a global threshold segmentation algorithm is adopted to filter background noise in the processing range, a connected domain algorithm is used to determine the boundaries of the star points, and then the coordinates of the centroid of the star points are determined by a gray centroid method.
Specifically, the calculation formula of the global threshold segmentation algorithm is as follows:
T＝μ+3
in the formula, G (i, j) is a gray scale value of the star at (i, j) on the gray scale image, m is 120, μ is an average value of gray scale values of all pixels, is a variance of gray scale values of all pixels, and T is a partition threshold to be obtained.
The calculation formula of the gray centroid method is as follows:
in the formula, x 'is the abscissa of the star point centroid, and y' is the ordinate of the star point centroid.
To solve the above technical problem, the present invention further provides a total station, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor is coupled to the memory, and the processor executes the computer program to implement the following steps:
1) calculating the azimuth angle and the altitude angle of the fixed star according to the acquired moment of the fixed star image, the survey station approximate coordinate and the fixed star chart;
2) according to the azimuth angle and the altitude angle of the fixed star, calculating the azimuth angle deviation and the altitude angle deviation of the fixed star relative to the center of the cross wire of the total station;
3) according to the azimuth angle deviation and the altitude angle deviation, combining an inverse transformation model of a total station pixel coordinate and a scale coordinate to obtain an initial imaging position of the fixed star;
4) and setting a processing range in the star image by taking the initial imaging position of the star as a center, and determining the coordinates of the centroid of the star point by a centroid method in the processing range.
Further, in the step 1), an atmospheric refraction correction model is adopted to correct the altitude angle of the fixed star to obtain the altitude angle of the corrected fixed star, and the atmospheric refraction correction model is as follows:
h′＝h+a·coth
in the formula, h is the altitude of the fixed star before correction, h' is the altitude of the fixed star after correction, and a is a fixed coefficient with the unit of angular seconds.
Further, the inverse transformation model is as follows:
wherein x is the abscissa of the initial imaging position of the fixed star, y is the ordinate of the initial imaging position of the fixed star, Δ A is the azimuth deviation of the fixed star relative to the center of the cross wire of the total station, Δ h is the altitude deviation of the fixed star relative to the center of the cross wire of the total station, (x)0,y0) Is the image center coordinate, k, corresponding to the center of the cross wire of the total station1And k2As a proportionality coefficient between pixel coordinates and scale coordinates, b1And b2Is a constant term.
Further, before determining the coordinates of the mass center of the star point, in the step 4), a global threshold segmentation algorithm is adopted to filter out background noise in the processing range, a connected domain algorithm is used to determine the boundary of the star point, and then the coordinates of the mass center of the star point are determined by a gray scale mass center method.
Drawings
FIG. 1 is a starry image taken in the field;
FIG. 2 is a schematic view of the star azimuth and elevation angles;
FIG. 3 is a diagram showing the relationship between Δ A and Δ h and x and y;
FIG. 4 is a schematic view of the setting process range in a star image;
FIG. 5-1 is a graph comparing the abscissa results of extracting the centroid of the present invention and the conventional method;
fig. 5-2 is a graph comparing the results of extracting the ordinate of the centroid of the present invention and the conventional method.
Detailed Description
The following further describes embodiments of the present invention with reference to the drawings.
The invention discloses a method for extracting the star point and the mass center of a fixed star image of a total station, which comprises the following steps of:
(1) acquiring a star shot image: a small-field telephoto camera of an image total station is adopted to shoot fixed stars, for example, a come card TS50i series video measuring robot (namely the total station) is adopted, and a 1.5-degree telephoto camera is provided, so that a star map image with high quality can be obtained. Fig. 1 shows a sidereal image taken in the field.
(2) Calculating the horizon coordinates (azimuth angle and elevation angle of the fixed star) according to the shooting time of the image of the fixed star, the survey station approximate coordinates and the fixed star table, namely calculating a dynamic library and an isba valley table by adopting the visual position of the fixed star, and calculating the azimuth angle and the elevation angle of the measured fixed star by taking the shooting time as an argument. The shooting time is usually provided by an internal clock of a computer, and the general coordinate of the measuring station can adopt a GPS or BD navigation coordinate. Figure 2 shows the calculated star azimuth a and elevation angle h. In the prior art, both the SOFA standard program library provided by iau (international Astronomy union) and the NOVAS program package provided by u.s.navalobservatory can realize the calculation of the horizontal coordinate of the star. The method utilizes an open source program package of NOVAS, writes star horizon coordinate calculation software, utilizes a built-in eba star chart, and can calculate the star horizon coordinate in real time through the software only by setting an observation epoch and a rough astronomical coordinate of a measuring station.
Calculating the altitude angle of the measured fixed star by adopting a standard atmospheric refraction correction model, wherein the standard atmospheric refraction correction model is as follows:
h′＝h+60.2coth
in the formula, h is the altitude of the fixed star before correction, h' is the altitude of the fixed star after correction, and 60.2 is a fixed coefficient with the unit of angular seconds.
(3) Because the fixed star is always in motion, and the telescope of the total station is in a static state, the cross hair of the total station does not always accurately aim at the fixed star, and therefore, the image point centroid coordinate of the fixed star must be predicted according to the calculated horizontal coordinate of the fixed star, and the effective image processing range is defined. Therefore, the azimuth angle deviation delta A and the altitude angle deviation delta h of the fixed star relative to the center of the cross wire of the total station telescope are calculated, and the center of mass prediction coordinates of the image point of the fixed star are obtained by adopting an inverse transformation model of the total station pixel coordinates and the scale coordinates:
wherein x is the abscissa of the initial imaging position of the fixed star, y is the ordinate of the initial imaging position of the fixed star, Δ A is the azimuth deviation of the fixed star relative to the center of the cross wire of the total station, Δ h is the altitude deviation of the fixed star relative to the center of the cross wire of the total station, (x)0,y0) The center coordinate of the image corresponding to the center of the cross wire of the telescope of the total station, k1And k2As a proportionality coefficient between pixel coordinates and scale coordinates, b1And b2Is a constant term; FIG. 3 shows the relationship between Δ A, Δ h and x, y.
(4) The coordinates x and y of the predicted image points are taken as the center, 60 pixels are taken as the radius, a square area is defined, the diagram of the predicted star point position, the actual star point position and the range of the defined area is shown in figure 4, the star image is processed in the set processing range, and the accurate centroid coordinate is obtained through threshold segmentation algorithm, connected domain algorithm determination and the gray centroid method with the threshold. The calculation formula of the global threshold segmentation algorithm is as follows:
T＝μ+3
in the formula, G (i, j) is a gray scale value of the star at (i, j) on the gray scale image, and m-n-120.
The formula for accurately calculating the coordinates of the centroid of the star point by the gray centroid method with the threshold value is as follows:
in the formula, x 'is the abscissa of the star point centroid, and y' is the ordinate of the star point centroid.
The method is used for processing 132 star maps shot by the image total station in the field, the total time consumption is 19.79 seconds, and the average time consumption of each star map is 0.15 second. The processing of 132 star maps by the traditional method takes 930.60 seconds in total, and each star map takes 7.05 seconds on average, so that the processing time of the star map of the image total station is shortened to 2.1 percent of the original processing time. Fig. 5-1 and 5-2 show the mutual difference between the horizontal and vertical coordinates of the centroid of the star point extracted by the traditional method and the invention, and the mutual difference between the x coordinate and the y coordinate is within 0.8 pixel, and the method has good randomness, and the root mean square error is respectively +/-0.22 pixel and +/-0.21 pixel, so that the invention is proved to greatly shorten the processing time of the star map and ensure that the centroid extraction precision is not lost.
According to the method, the horizontal coordinate of the fixed star relative to the measuring station is calculated, and the approximate imaging position of the fixed star is predicted by utilizing an inverse transformation model of the pixel coordinate of the total station and the scale coordinate; setting a star map processing range by taking the approximate imaging position as a center and a certain range as a radius; and filtering background noise by adopting a global threshold segmentation algorithm, determining a star point boundary by using a connected domain algorithm, and calculating a star point centroid coordinate by adopting a gray centroid method. The invention can realize the local effective processing of the fixed star image of the total station, avoid processing the whole image, greatly shorten the extraction time of the star point mass center and provide technical support for realizing the rapid astronomical measurement. Taking the total station of TS50i images as an example, the present invention can make the star image with the resolution of 2560 × 1920 equivalent to the image of 120 × 120, thereby greatly reducing the image processing range and greatly improving the image processing efficiency.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A method for extracting a star point mass center of a fixed star image of a total station is characterized by comprising the following steps:
1) calculating the azimuth angle and the altitude angle of the fixed star according to the acquired moment of the fixed star image, the survey station approximate coordinate and the fixed star chart;
2) according to the azimuth angle and the altitude angle of the fixed star, calculating the azimuth angle deviation and the altitude angle deviation of the fixed star relative to the center of the cross wire of the total station;
3) according to the azimuth angle deviation and the altitude angle deviation, combining an inverse transformation model of a total station pixel coordinate and a scale coordinate to obtain an initial imaging position of the fixed star;
4) and setting a processing range in the star image by taking the initial imaging position of the star as a center, and determining the coordinates of the centroid of the star point by a centroid method in the processing range.
2. The method for extracting the star point and the mass center of the image of the fixed star of the total station as claimed in claim 1, wherein the atmospheric refraction correction model is adopted in step 1) to correct the altitude angle of the fixed star to obtain the altitude angle of the corrected fixed star, and the atmospheric refraction correction model is as follows:
h′＝h+a·coth
in the formula, h is the altitude of the fixed star before correction, h' is the altitude of the fixed star after correction, and a is a fixed coefficient.
3. The method of extracting the star centroid of a total station star image of claim 1, wherein said inverse transformation model is as follows:
wherein x is the abscissa of the initial imaging position of the fixed star, y is the ordinate of the initial imaging position of the fixed star, Δ A is the azimuth deviation of the fixed star relative to the center of the cross wire of the total station, Δ h is the altitude deviation of the fixed star relative to the center of the cross wire of the total station, (x)0,y0) Is the image center coordinate, k, corresponding to the center of the cross wire of the total station1And k2As a proportionality coefficient between pixel coordinates and scale coordinates, b1And b2Is a constant term.
4. The method for extracting the star centroid of the fixed star image of the total station as claimed in claim 1, wherein in step 4), before the star centroid coordinates are determined, a global threshold segmentation algorithm is adopted to filter out background noise in the processing range, a connected domain algorithm is adopted to determine the star boundary, and then the star centroid coordinates are determined by a gray centroid method.
5. The method of extracting the star centroid of a total station star image according to claim 4, wherein said global threshold segmentation algorithm is calculated as follows:
T＝μ+3
in the formula, G (i, j) is a gray scale value of the star at (i, j) on the gray scale image, m is 120, μ is an average value of gray scale values of all pixels, is a variance of gray scale values of all pixels, and T is a partition threshold to be obtained.
6. The method for extracting the star point and the mass center of a fixed star image of a total station according to claim 5, wherein the formula for calculating the gray scale mass center method is as follows:
in the formula, x 'is the abscissa of the star point centroid, and y' is the ordinate of the star point centroid.
7. A total station, comprising a memory and a processor, and a computer program stored on said memory and running on said processor, said processor being coupled to said memory, said processor implementing the following steps when executing said computer program:
1) calculating the azimuth angle and the altitude angle of the fixed star according to the acquired moment of the fixed star image, the survey station approximate coordinate and the fixed star chart;
2) according to the azimuth angle and the altitude angle of the fixed star, calculating the azimuth angle deviation and the altitude angle deviation of the fixed star relative to the center of the cross wire of the total station;
3) according to the azimuth angle deviation and the altitude angle deviation, combining an inverse transformation model of a total station pixel coordinate and a scale coordinate to obtain an initial imaging position of the fixed star;
4) and setting a processing range in the star image by taking the initial imaging position of the star as a center, and determining the coordinates of the centroid of the star point by a centroid method in the processing range.
8. The total station of claim 7, wherein in step 1) the altitude of the fixed star is corrected using an atmospheric refraction correction model, said atmospheric refraction correction model being as follows:
h′＝h+a·coth
in the formula, h is the altitude of the fixed star before correction, h' is the altitude of the fixed star after correction, and a is a fixed coefficient.
9. The total station of claim 7, in which said inverse transform model is as follows:
wherein x is the abscissa of the initial imaging position of the fixed star, y is the ordinate of the initial imaging position of the fixed star, Δ A is the azimuth deviation of the fixed star relative to the center of the cross wire of the total station, Δ h is the altitude deviation of the fixed star relative to the center of the cross wire of the total station, (x)0,y0) Is the image center coordinate, k, corresponding to the center of the cross wire of the total station1And k2As a proportionality coefficient between pixel coordinates and scale coordinates, b1And b2Is a constant term.
10. The total station of claim 7, wherein step 4) comprises, prior to determining the coordinates of the centroid of the star point, applying a global threshold segmentation algorithm to filter out background noise within said processing range, applying a connected domain algorithm to determine the boundaries of the star point, and determining the coordinates of the centroid of the star point by a gray scale centroid method.
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| CN109540112B (en) * | 2018-12-26 | 2021-05-28 | 中国人民解放军战略支援部队信息工程大学 | Total station and sun measurement and orientation method thereof |
| CN112378372B (en) * | 2020-11-17 | 2022-07-01 | 中国科学院云南天文台 | Star radius curvature correction method for meridian weft measurement of multifunctional astronomical theodolite |
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