CN109813526B - Astronomical positioning-based optical telescope external field tracking precision detection method - Google Patents
Astronomical positioning-based optical telescope external field tracking precision detection method Download PDFInfo
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Abstract
The invention discloses an optical telescope external field tracking precision detection method based on astronomical positioning, which comprises the following steps: setting a tracking path capable of covering the speed and acceleration range of tracking precision detection; according to the speed of movement of the object, givingTracking an initial speed, setting an initial moment, simulating the motion of a virtual space target D, and starting automatic tracking by the telescope; according to the sampling frequency, calculating the observed value D of the virtual space target D on the CCD image at each sampling momentt(X, Y) by Dt(X, Y) guiding the telescope to automatically track; and calculating the tracking precision of the telescope. The method is simple and easy to implement, the detection precision is determined by the adopted fixed star, the high precision can be achieved, the detection precision is far higher than that achieved by indoor detection equipment and a traditional detection method, extra burden is not needed, the method is feasible at any time, and the method can be widely applied to the inspection of the external field tracking precision of the optical telescope.
Description
Technical Field
The invention belongs to the technical field of external field tracking precision of optical telescopes, and particularly relates to an external field tracking precision detection method of an optical telescope based on astronomical positioning.
Background
Since the advent of optical telescopes, optical telescopes have been the most important tool for human beings to explore space. With the rise of artificial satellite and the great increase of the number of space targets, the space target observation optical telescope is widely used for space target observation, becomes an important component in a space target monitoring network, and is an important means for space target situation perception. The tracking accuracy is one of the important technical indexes of the optical telescope. The tracking precision refers to the fluctuation degree of a tracked target measured in real time by the telescope within a certain angular velocity and angular acceleration range.
Currently, the measurement of tracking precision is generally realized by adopting an indoor tracking simulation rotating target and an external field to track real space target actual measurement. The indoor simulation rotating target carries out constant-speed or sinusoidal motion simulation space target motion, the telescope tracks the target in real time, simultaneously, a Charge Coupled Device (CCD) image of the target is obtained, and the tracking precision is calculated according to the miss distance of the target. In the method, the accuracy of the rotating target is low due to the fact that a plurality of error sources exist in the moving target and the error is large, and therefore the accuracy of the tested equipment is low; in addition, due to structural limitation, higher requirements are put forward for the manufacturing of the rotary target to detect the tracking accuracy of the large telescope, so that the difficulty is increased. The external field detection method adopts a telescope to track a space target in real time, and calculates the miss distance from an acquired CCD image to obtain the tracking precision of the telescope, but because the movement speed interval of the real space target is single, the traversal of each speed cannot be realized, and in addition, the precision of the position of the real space target depends on the limitations of image processing and centering precision, an additional error source is introduced for the measurement of tracking errors.
Disclosure of Invention
The technical problem to be solved by the invention is to provide an optical telescope external field tracking accuracy detection method based on astronomical positioning, aiming at the defects of the prior art. The invention adopts an astronomical positioning method to provide a simulation space target rotating at a certain angular speed, and the optical telescope automatically tracks the simulation target, thereby realizing the measurement of the tracking precision of the external field of the optical telescope under the constraint of the preset speed and acceleration condition interval.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows:
an optical telescope external field tracking accuracy detection method based on astronomical positioning comprises the following steps:
(1) setting a tracking path capable of covering the speed and acceleration range of tracking precision detection;
(2) according to the target movement speed, giving a tracking initial speed, setting an initial moment, simulating the movement of a target D in a virtual space, and starting automatic tracking by a telescope;
(3) according to the sampling frequency, calculating the observed value D of the virtual space target D on the CCD image at each sampling time tt(X, Y) by Dt(X, Y) guiding the telescope to automatically track;
(4) and calculating the tracking precision of the telescope.
In order to optimize the technical scheme, the specific measures adopted further comprise:
the step (1) is specifically as follows:
the telescope is used for collecting images, the pointing direction Q (alpha, delta) under the current celestial coordinate system is calculated according to the fixed star background, a circle S is drawn on the celestial sphere by taking a point P (alpha, delta + r) or P (alpha, delta-r) as a center and taking r as a radius, and the circle S is set as a motion path of a virtual space target D and a tracking path of the telescope.
The step (2) is specifically as follows:
and (2) according to the path set in the step (1), when the telescope is located on the tracking path, timing is started after the telescope is given an initial tracking speed, the virtual space target D moves along the circle S at a constant speed omega, and the telescope starts to track automatically.
The step (3) includes the steps of:
(3.1) sampling by the telescope in the tracking process, and calculating the theoretical position D of the virtual space target D in the celestial coordinate system according to the sampling time t and parameters of the celestial coordinate of the central point P, the radius r and the rotation angular velocity omegat(αc，δc)；
(3.2) calculating to obtain a negative film constant of the CCD image by adopting an astronomical positioning method according to background fixed star information on the CCD image acquired by the telescope, namely the conversion relation between an celestial coordinate system and an image coordinate system;
(3.3) according to the conversion relation between the celestial coordinate system and the image coordinate system, calculating the theoretical position Dt(αc，δc) Obtaining the observed value D of the virtual space target D on the CCD image at the sampling time tt(X, Y) by Dt(X, Y) obtaining the miss amount Dt(Xδ，Yδ) Calculating a speed parameter of the telescope adjusted to the CCD visual field center by using the miss distance, and automatically guiding the telescope to track so that the virtual space target D is kept at the CCD visual field center;
(3.4) the telescope does a cyclic reciprocating tracking motion along the circumference S along with the virtual space target D, and the telescope does variable-speed variable-acceleration motion traversing a speed interval and an acceleration interval, so that the tracking precision of the telescope in the speed and acceleration interval is detected.
The calculation method in the step (4) is as follows:
after data of at least one period is obtained, according to the obtained miss distance sequence D of each timei(Xδ，Yδ) And calculating the standard deviation to obtain the tracking precision of the telescope.
The invention has the following beneficial effects:
compared with an indoor dynamic rotary target, the rotary simulation target provided by the astronomical positioning method reduces static and dynamic errors of a mechanical structural part caused by manufacturing and mounting errors, the provided simulation positioning accuracy depends on the adopted star-watch accuracy, the current star-watch accuracy is far better than the measurement requirement of tracking accuracy, and the capability of measuring the tracking accuracy is greatly improved; compared with the traditional external field tracking space target measuring and tracking precision method, the speed and the acceleration of the space target motion tracked by the traditional external field detection method are single or cannot cover the speed and the acceleration range of the telescope, the global performance of the speed and the acceleration of the telescope cannot be detected, and therefore the real state of the telescope is difficult to detect.
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FIG. 1 is a schematic workflow diagram of the present invention.
Detailed Description
Embodiments of the present invention are described in further detail below with reference to the accompanying drawings.
Referring to fig. 1, the method for detecting the external field tracking accuracy of the optical telescope based on astronomical positioning of the invention comprises the following steps:
(1) setting a tracking path capable of covering the speed and acceleration range of tracking precision detection:
in the embodiment, the telescope is used for collecting images, the pointing direction Q (alpha, delta) under the current celestial coordinate system is calculated according to the fixed star background, a circle S is drawn on the celestial sphere by taking a point P (alpha, delta + r) or P (alpha, delta-r) as a center and taking r as a radius, and the circle S is set as a motion path of a virtual space target D and a tracking path of the telescope.
(2) According to the target movement speed, giving tracking initial speed, setting initial time, simulating the movement of a virtual space target D, and starting automatic tracking by a telescope:
in the embodiment, according to the path set in the step (1), when the telescope is located on the tracking path, after the telescope is given the tracking initial speed, timing is started, the virtual space target D moves along the circle S at the constant speed omega, and the telescope starts automatic tracking.
(3) According to the sampling frequency, calculating the observed value D of the virtual space target D on the CCD image at each sampling time tt(X, Y) by Dt(X, Y) guiding telescope for automatic tracking
In an embodiment, the method comprises the following steps:
(3.1) the telescope samples in the tracking process, and the celestial sphere with the central point P is used for sampling according to the sampling time tThe parameters of coordinates, radius r and rotation angular velocity omega are used for calculating the theoretical position D of the virtual space target D in the celestial coordinate systemt(αc，δc)；
(3.2) calculating to obtain a negative film constant of the CCD image by adopting an astronomical positioning method according to background fixed star information on the CCD image acquired by the telescope, namely the conversion relation between an celestial coordinate system and an image coordinate system;
(3.3) according to the conversion relation between the celestial coordinate system and the image coordinate system, calculating the theoretical position Dt(αc，δc) Obtaining the observed value D of the virtual space target D on the CCD image at the sampling time tt(X, Y) by Dt(X, Y) obtaining the miss amount Dt(Xδ，Yδ) Calculating a speed parameter of the telescope adjusted to the CCD visual field center by using the miss distance, and automatically guiding the telescope to track so that the virtual space target D is kept at the CCD visual field center;
(3.4) the telescope does a cyclic reciprocating tracking motion along the circumference S along with the virtual space target D, and the telescope does variable-speed variable-acceleration motion traversing a speed interval and an acceleration interval, so that the tracking precision of the telescope in the speed and acceleration interval is detected.
(4) Calculating the tracking precision of the telescope:
in the embodiment, after data of at least one period is acquired, the sequence D of the miss distance at each moment is obtainedi(Xδ，Yδ) And calculating the standard deviation to obtain the tracking precision of the telescope.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may be made by those skilled in the art without departing from the principle of the invention.
Claims (4)
1. An optical telescope external field tracking precision detection method based on astronomical positioning is characterized in that: the method comprises the following steps:
(1) setting a tracking path capable of covering the speed and acceleration range of tracking precision detection;
(2) according to the target movement speed, giving a tracking initial speed, setting an initial moment, simulating the movement of a target D in a virtual space, and starting automatic tracking by a telescope;
(3) according to the sampling frequency, calculating the observed value D of the virtual space target D on the CCD image at each sampling time tt(X, Y) by Dt(X, Y) guiding the telescope to automatically track;
(4) calculating the tracking precision of the telescope;
the step (3) comprises the following steps:
(3.1) sampling by the telescope in the tracking process, and calculating the theoretical position D of the virtual space target D in the celestial coordinate system according to the sampling time t and parameters of the celestial coordinate of the central point P, the radius r and the rotation angular velocity omegat(αc，δc)；
(3.2) calculating to obtain a negative film constant of the CCD image by adopting an astronomical positioning method according to background fixed star information on the CCD image acquired by the telescope, namely the conversion relation between an celestial coordinate system and an image coordinate system;
(3.3) according to the conversion relation between the celestial coordinate system and the image coordinate system, calculating the theoretical position Dt(αc，δc) Obtaining the observed value D of the virtual space target D on the CCD image at the sampling time tt(X, Y) by Dt(X, Y) obtaining the miss amount Dt(Xδ，Yδ) Calculating a speed parameter of the telescope adjusted to the CCD visual field center by using the miss distance, and automatically guiding the telescope to track so that the virtual space target D is kept at the CCD visual field center;
(3.4) the telescope does a cyclic reciprocating tracking motion along the circumference S along with the virtual space target D, and the telescope does variable-speed variable-acceleration motion traversing a speed interval and an acceleration interval, so that the tracking precision of the telescope in the speed and acceleration interval is detected.
2. The method for detecting the external field tracking accuracy of the optical telescope based on the astronomical positioning as claimed in claim 1, wherein: the step (1) is specifically as follows:
the telescope is used for collecting images, the pointing direction Q (alpha, delta) under the current celestial coordinate system is calculated according to the fixed star background, a circle S is drawn on the celestial sphere by taking a point P (alpha, delta + r) or P (alpha, delta-r) as a center and taking r as a radius, and the circle S is set as a motion path of a virtual space target D and a tracking path of the telescope.
3. The method for detecting the external field tracking accuracy of the optical telescope based on the astronomical positioning as claimed in claim 2, wherein: the step (2) is specifically as follows:
and (2) according to the path set in the step (1), after the telescope is given an initial tracking speed, timing is started, the virtual space target D moves along the circle S at a constant speed omega, and the telescope starts automatic tracking.
4. The method for detecting the external field tracking accuracy of the optical telescope based on the astronomical positioning as claimed in claim 3, wherein: the calculation method in the step (4) is as follows:
after data of at least one period is obtained, according to the obtained miss distance sequence D of each timei(Xδ，Yδ) And calculating the standard deviation to obtain the tracking precision of the telescope.
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| CN111879299B (en) * | 2020-08-17 | 2022-04-15 | 中国科学院上海天文台 | Full-automatic satellite pointing method for ground-based telescope |
| CN115200573B (en) * | 2022-09-08 | 2022-12-27 | 中国人民解放军63921部队 | Space target measuring equipment positioning method, system and storage medium |
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