CN109932974A - The embedded observation-well network of accurate measurement type extraterrestrial target telescope - Google Patents
The embedded observation-well network of accurate measurement type extraterrestrial target telescope Download PDFInfo
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Abstract
The embedded observation-well network of accurate measurement type extraterrestrial target telescope, it is related to the Technology of Precision Measurement field of extraterrestrial target photo-electric telescope, existing observation-well network is solved to realize by main control computer, there are manual identified extraterrestrial target low efficiencys, the disadvantages of recognition time is long, long-range control cannot be realized by LAN, WAN or Internet by existing simultaneously, including motion controller, data collector and data processor and observation control software.Telescope motion controller is responsible for altitude axis driving, azimuth axis driving and acquisition code-disc data；Data collector is responsible for the acquisition of ccd image data, the CCD time for exposure controls and the latch of CCD time for exposure；Data processor is responsible for the pretreatment of ccd image, the identification of spatial target images, the astrofix of extraterrestrial target；The surveillance program of observation control Software Create extraterrestrial target, management telescope motion controller and ccd data collector complete telescope observation process and data processor processes are guided to observe data.
Description
Technical field
The present invention relates to the Technology of Precision Measurement fields of extraterrestrial target photo-electric telescope, and in particular to a kind of accurate measurement type
The embedded observation-well network of extraterrestrial target photo-electric telescope.
Background technique
Ground extraterrestrial target photo-electric telescope is the capital equipment of observation space target, especially space junk.
The course of work of accurate measurement type photo-electric telescope observation space target is substantially are as follows: telescope position etc. according to weather report
Wait according to the pilot data of target, guide telescope drive system and track target, and acquire ccd image, adopt after finding target
Collect code-disc data and clock signal, when handling ccd image, in addition to the position for providing target, also providing comparison star, (background is permanent
Star) position the right ascension and declination of target are provided by the star catalogue position of the relative position and comparison star of target and comparison star.
It can be concluded that, photo-electric telescope realizes the observation to extraterrestrial target by discussed above, it is desirable that observation-well network needs
To include following function: generate the surveillance program of extraterrestrial target, altitude axis driving, azimuth axis driving acquires code-disc data,
The CCD time for exposure controls, the latch of CCD time for exposure, the pretreatment of ccd image, the identification of spatial target images, extraterrestrial target
Astrofix.
These functions belong to the control of telescope, the control of CCD and the multiple systems of data processing, these systems are located at not
Same position.It is a distributed system that the isolation of physical location requires observation-well network naturally.But it is domestic most absolutely
The observation-well network of number accurate measurement type ground photo-electric telescope, all focuses on these functions on one software.It is unfavorable for
Long-range control is realized by LAN, WAN or Internet, with reaching the mesh of centralized management.
With the development of observation technology, photo-electric telescope operational mode gradually tends to nobody with the characteristics of observation automation
Post operation.But accurate measurement type extraterrestrial target photo-electric telescope also wants manual intervention in terms of observation automation, i.e., by observing
Personnel identify the astrology of extraterrestrial target within the very short time by experience from a large amount of dotted fixed star astrology, use mouse
The star image for clicking image Spatial Object, obtains the coordinate of click location in the picture, centered on the position, is arranged fixed big
Small rectangular area is wave door, is tracked and calculated target right ascension and declination, astrofix is completed, if in the process of tracking
Middle target is lost, and is needed the person of observation from new setting wave door, is captured target.This identification method is influenced by artificial subjective factor,
The disadvantages of there is recognition time length, low efficiency.Observation person is in a state of fatigue for a long time simultaneously, and error rate is caused gradually to increase
Add.It is inefficient which results in extraterrestrial target photo-electric telescope the degree of automation is low.
Summary of the invention
The present invention is to solve the observation-well network of existing accurate measurement type extraterrestrial target telescope to pass through main control computer
Realize, there are manual identified extraterrestrial target low efficiency, the disadvantages of recognition time is long, exist simultaneously cannot by LAN, WAN or
Internet realizes long-range control, with reaching the mesh of centralized management.A kind of the embedding of accurate measurement type extraterrestrial target telescope is provided
Enter formula observation-well network.
The embedded observation-well network of accurate measurement type extraterrestrial target telescope, including motion controller, ccd data are adopted
Storage, data processor and observation control software；It is characterized in that: the motion controller and data processor by DSP with
FPGA composition, the ccd data collector are made of FPGA；
The observation controls software and forecasts file to motion controller transmission survey station, and the motion controller is based on the received
Survey station forecast file tracks extraterrestrial target, and the azimuth and elevation angle for obtaining the extraterrestrial target that frequency is 1Hz guide number
According to frequency is loaded into the servo-system for mirror motor of looking in the distance by the motion controller after the guidance data encryption to 20Hz of 1Hz
On, while receiving azimuth and the height angular data of the encoder of the servo feedback；The motion controller will obtain
The azimuth of encoder and height angular data are transmitted to observation control software；
The observation control software is to the triggering moment of ccd data collector transmission CCD, trigger pulse interval and triggers arteries and veins
Rush number, the ccd data collector exposed pulse interval and trigger pulse number based on the received, to CCD output pulse letter
Number, while latching the CCD time of exposure；Ccd data collector acquires the image data that CCD is obtained, then by the picture number of acquisition
Observation control software is sent to according to the CCD time of exposure；
The image data that ccd data collector acquires is stored as FITS file by the observation control software, then in institute
State azimuth and height angular data and the ccd data collector of the encoder of the servo feedback of FITS file header write-in motor
The time of exposure of latch, and it is sent to data processor, FITS file carries out at image the data processor based on the received
Reason, and identification and astrofix are carried out to extraterrestrial target.
Beneficial effects of the present invention:
One, observation-well network of the present invention uses embedded architecture, including telescope motion controller, data to adopt
Storage and data processor and observation control software.Telescope motion controller be responsible for altitude axis driving, azimuth axis driving with
And acquisition code-disc data；Data collector is responsible for the acquisition of ccd image data, the CCD time for exposure controls and the CCD time for exposure
It latches；Data processor is responsible for the pretreatment of ccd image, the identification of spatial target images, the astrofix of extraterrestrial target；Observation
The surveillance program of Software Create extraterrestrial target is controlled, management telescope motion controller and ccd data collector complete telescope
It observes process and data processor processes is guided to observe data.
Two, observation-well network of the present invention is a distributed system.It avoids above-mentioned function is whole
It concentrates on a control to focus on a software, is unfavorable for realizing long-range control by LAN, WAN or Internet, reaches collection
The mesh of middle management.Telescope motion controller uses FPGA+DSP heterogeneous processor framework, compared to work Windows's
The kinetic control system of operating system is not in cause the feelings of the loss of data since Windows system responds not in time
Condition is completely suitable for the tracking observation of extraterrestrial target.Traditional data collection system can only carry out the acquisition of image data, for
The CCD time for exposure controls and the latch of CCD time for exposure will be completed by special Time Exposure latch means.Ccd data acquisition
Device is equal to traditional data collection system+special Time Exposure latch means.Therefore, the data collector being made of FPGA
System is simplified, space and cost of equipment are saved.
Three, data processor uses FPGA+DSP heterogeneous processor framework, compared to the operating system to work in Windows
Data processing system, due to use FPGA image is pre-processed, improve Space object identification and positioning speed.Together
When due to using the identical criterion of the consistency and minimum miss distance of the direction of motion as extraterrestrial target, mesh can be carried out automatically
Target identifies and calculates target right ascension and declination, completes astrofix.This recognition methods solve manual identified target by
The disadvantages of influence of artificial subjective factor, there is recognition time length, low efficiency, it is automatic to improve extraterrestrial target photo-electric telescope
Change degree.
Four, observation-well network of the present invention uses embedded architecture, and embedded observation of the invention is controlled system
System is for the 1.2 meters of telescope upgradings in Changchun artificial satellite station.1.2 meters of photo-electric telescope performances after upgrading were stablized, at 4 months
In the course of work, effectively observation data 2593 are obtained altogether and are enclosed, can be realized the automation to high, medium and low orbit space target
Observation.The observation automation journey of 1.2 meters of photo-electric telescopes can be improved using the embedded observation-well network that the present invention develops
Degree, the unattended observation operational mode of realization system, is remotely controlled by network implementations, with reaching the mesh of centralized management, will
Observation person frees from heavy observation mission.
Detailed description of the invention
Fig. 1 is the functional block diagram of embedded observation-well network of the present invention；
Fig. 2 is that control is observed in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
Software processed and each processor interaction data functional block diagram；
Fig. 3 is that control is moved in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
The functional block diagram of device processed；
Fig. 4 is CCD number in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
According to the functional block diagram of collector；
Fig. 5 is in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention at data
Manage the functional block diagram of device；
Fig. 6 is that control is moved in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
The hardware structure diagram of FPGA in device processed；
Fig. 7 is that control is moved in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
The hardware structure diagram of DSP in device processed；
Fig. 8 is CCD number in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
According to the hardware structure diagram of FPGA in collector；
Fig. 9 is in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention at data
Manage the hardware structure diagram of FPGA in device；
Figure 10 is data in the embedded observation-well network of accurate measurement type extraterrestrial target telescope of the present invention
The hardware structure diagram of DSP in processor.
Specific embodiment
Specific embodiment one illustrates present embodiment in conjunction with Fig. 1 to Figure 10, accurate measurement type extraterrestrial target telescope
Embedded observation-well network, including be motion controller, ccd data collector, data processor and observation control software；Institute
It states telescope motion controller and data processor is made of DSP and FPGA, the DSP and FPGA is counted by SRIO agreement
According to communication；The ccd data collector is made of FPGA.
Core processor of the DSP as motion controller in the telescope motion controller, undertakes interpolation calculation；
FPGA constructs independent variable of the time reference as interpolation calculation as association's controller, the DSP and FPGA pass through SRIO agreement into
Row data communication；
The observation controls software and forecasts file to motion controller transmission survey station, and the motion controller is based on the received
Survey station forecast file tracks extraterrestrial target, and the azimuth and elevation angle for obtaining the extraterrestrial target that frequency is 1Hz guide number
According to frequency is loaded into the servo-system for mirror motor of looking in the distance by the motion controller after the guidance data encryption to 20Hz of 1Hz
On, the operating of the servo system control telescope of motor makes telescope accurately be directed toward target, while passing through udp protocol to sight
Observing and controlling software sends azimuth and the height angular data of the encoder of servo feedback；The survey station forecast file is space
The ephemeris forecast data of target,
The observation control software is to the triggering moment of ccd data collector transmission CCD, trigger pulse interval and triggers arteries and veins
Number is rushed, ccd data collector is latched according to exposed pulse interval and exposed pulse number to CCD output pulse signal simultaneously
The CCD time of exposure, and observation control software is sent to by PCI Express agreement.Ccd data collector obtains picture number
According to, and observation control software is sent to by PCI Express agreement.
The image data that ccd data collector is transferred to control computer is stored as FITS file by observation control software,
And the azimuth of the servo feedback of write-in motor and height angle information and ccd data collector latch in file header
The time of exposure, then FITS file is transferred in data processor by udp protocol.
Data processor is handled FITS file is got, and identifies extraterrestrial target in a large amount of background fixed star, so
Astrofix is carried out to the extraterrestrial target identified afterwards.
Illustrate present embodiment in conjunction with Fig. 3, Fig. 6 and Fig. 7, observation-well network observation space mesh described in present embodiment
When mark, using program tracking mode, telescope tracking target is guided in real time and is observed.Software of forecasting utilizes Two-type line (Two
Line Elements, TLE) Lai Jinhang survey station orbit prediction, the survey station obtained azimuth of forecast file and elevation angle guidance number
It is 1Hz according to frequency, 20Hz is encrypted by interpolation algorithm and is then loaded into the servo-system for mirror motor of looking in the distance, to guarantee
It captures satellite and enters range of telescope.
The present invention devises the motion control based on FPGA+DSP heterogeneous processor framework according to the needs that telescope controls
Device.Since DSP process performance is powerful, there is flexible programing function, complicated speed control algorithm can be conveniently realized in real time,
Therefore core processor of the DSP as motion controller, undertakes interpolation calculation；Since FPGA has extremely strong concurrency, it is suitble to
Intensive calculations application, and configurable I/O and IP kernel support a variety of data transmission interfaces, therefore FPGA is as association's controller, structure
Build time reference module.Using the high-speed data communication between SRIO protocol realization FPGA and DSP.
The DSP uses TI company floating type DSP-TMS320C6657.
DSP in the motion controller includes interpolated value computing module, quantity of state output module and quantity of state input mould
Block；
The interpolation computing module carries out interpolation generation real-time tracking using survey station orbit prediction and is given the correct time in advance using 9 ranks
Lagrange interpolation formula, Lagrange Interpolation-Radix-Function are as follows:
Interpolation polynomial are as follows:
In formula, n is order, xkFor the epoch-making moment in forecast, ykFor the corresponding quantity of state (azel of epoch-making moment
Amount), x is the Current observation moment read in FPGA, LnIt (x) is quantity of state corresponding to x.
After obtaining azimuth and elevation angle, Azimuth, Speed, Altitude and height angular speed can be further obtained.
The timer setting of DSP is continuous counter mode by the quantity of state output module, when timer is accumulated to 50ms
When (20Hz), into interrupt service routine, azimuth and elevation angle and Azimuth, Speed, Altitude and height angular speed are passed through into UART
Interface is output to the servo-system of motor, and the operating of the servo system control telescope makes telescope accurately be directed toward target.
The quantity of state input module be obtain motor servo feedback azimuth and height angle information, and by its
Then the right ascension and declination being converted under celestial coordinate system are sent to observation control software by udp protocol.
Sin (a)=sin (φ) sin (δ)+cos (φ) cos (δ) cos (h) (4)
In formula, A and a are azimuth and elevation angle respectively, and h and δ are respectively hour angle and declination.
FPGA in the motion controller uses the Artix-7XC7A100T of Xilinx company, is used for time reference mould
The generation of block.
For the time reference module for constructing time reference, which is to utilize 10MHz signal (time and frequency standards offer)
High precision clock is constructed with 1PPS signal (time and frequency standards offer).2 32 counters are built inside timing module, respectively
For second counter and nanosecond counter.It is previous to count the second above time by 1PPS signal；The latter relies on 10MHz signal
To count time second or less, while being reset by 1PPS signal is synchronous.Since this clock guarantees to tire out by external time frequency signal
The precision for adding temporal resolution can be used as the basis of time of data epoch, therefore the real-time tracking of satellite can be according to this clock.
In present embodiment, the SRIO programming of motion controller are as follows: the end DSP generates the period using timer as 50ms
It interrupts, initiates to request to FPGA, at the time of FPGA latches current, and the predefined buffer area of DSP is written into, after the completion of write-in
FPGA notice DSP is calculated.
The motion controller and ccd data collector respectively include a time module, are realized by FPGA.
Illustrate present embodiment in conjunction with Fig. 4 and Fig. 8, in order to meet photo-electric telescope imaging device and processing equipment physics every
Exhausted relative position farther out, devises ccd data collector, it is using FPGA as platform, using the Kintex- of Xilinx company
7XC7K325T is control core, realizes two functions, that is, realizes the high speed acquisition and transmission function of fiber optic network ccd image data
The control function of energy and CCD.
First function of the ccd data collector is the acquisition and transmission of image data, it is based on PCI
The high speed acquisition of fiber optic network image data and the function of transmission may be implemented in the fibre channel adapter of Express bus architecture
Energy；The image data acquisition function includes that data receiver and data are sent；
The image data receives the real-time acquisition for being FPGA using SFP optical port module completion CCD vision signal, FPGA
Logic control is carried out to SFP optical port module as controller and data write-in DDR3 SDRAM caching will be received；The image
It is that FPGA is transmitted by the image data that DMA control module caches DDR3 SDRAM through PCI Express link that data, which are sent,
Software is controlled to observation；
Second function of the ccd data collector is to latch the time, i.e., is control with FPGA to the control function of CCD
Platform, Ethernet are interface, control data using udp protocol and observation control software interactive；To CCD exposure external trigger and
The latch of CCD exposure signal；The external trigger of CCD exposure and the latch of CCD exposure signal is that FPGA is controlled using the channel I/O
Molding block realizes the control function to CCD；The transmission of the time of exposure latch data is that FPGA will by DMA control module
The data of latch are sent to observation control software through PCI Express link；The control function of the CCD will also include the time
Latch of the benchmark to control CCD external trigger and CCD exposure signal.
To CCD external trigger control, fixed pulse width signal is exported by the control channel I/O, all kinds of cameras is can trigger and is exposed
Light；The latch of CCD exposure signal, can continuous separate records CCD exposure at the time of generate corresponding to pulse signal rising edge (when,
Minute, second, millisecond, microsecond), the time of exposure of latch can be sent to observation control software by PCI Express agreement.
For the time reference module for constructing time reference, which is to utilize 10MHz signal (time and frequency standards offer)
High precision clock is constructed with 1PPS signal (time and frequency standards offer).2 32 counters are built inside timing module, respectively
For second counter and nanosecond counter.It is previous to count the second above time by 1PPS signal；The latter relies on 10MHz signal
To count time second or less, while being reset by 1PPS signal is synchronous.Since this clock guarantees to tire out by external time frequency signal
The precision for adding temporal resolution can be used as the time reference of the latch of CCD external trigger control and CCD exposure signal.
It is the mesh of Space-objects Observation the high accuracy positioning realized to extraterrestrial target, space mesh in present embodiment
Mark astrofix is to shoot serial star chart under staring imaging mode using CCD, carries out asterism extraction and star pattern matching, calculates
To CCD body coordinate system to the position transition matrix of celestial coordinate system, in conjunction with coordinate position of the target on the face CCD,
Obtain location information of the target with respect to fixed star.
It is astronomical that extraterrestrial target Celestial fixing algorithm is segmented into three parts image procossing, Space object identification and extraterrestrial target
Positioning.In order to accelerate calculating speed, observed efficiency, data of the present embodiment based on FPGA+DSP heterogeneous processor framework are improved
Processor.Image processing section using FPGA as coprocessor, using FPGA concurrent operation and pipeline processes the characteristics of, mention
The speed of hi-vision processing.Space object identification and extraterrestrial target astrofix part undertake mesh using DSP as core processor
Mark Ji Suan not be calculated with astrofix, and DSP and FPGA pass through SRIO agreement and carry out data communication.
In present embodiment, the observation control software is operated on control computer, and the observation control software is appointed
Business be management, coordinate and control each subsystem operations, make entire telescopic system without any confusion, according to plan, step by step into
The observation of row extraterrestrial target.Observation control software includes following three functions: first is that selection surveillance program, second is that management movement control
Device processed and ccd data collector complete telescope and observe process, third is that guidance data processor processes observe data；
The management observation process is the picture number that ccd data collector is transferred to control computer by observation control software
According to being stored as FITS file, and azimuth and the height angle information of the servo feedback of motor is written in file header, and
The time of exposure that ccd data collector latches；
Guidance data processor processes observation data be survey Control System Software by the image FITS file of storage by
Data processor is sent to according to the time sequencing of storage；
FPGA in embodiment is described with reference to Fig.5, the data processor uses the Kintex- of Xilinx company
7XC7K325T, the FITS file mainly sended over to observation control software is handled, including conspicuousness detection, use
Four iterative threshold segmentation, dilation operation and contours extract modules.
Target detection is a most important ring for space junk observed image treatment process.The premise of target detection is from figure
Fixed star and extraterrestrial target are isolated as in, is worked to carry out subsequent extraterrestrial target detection with precision positioning.Conspicuousness detection
It is then that the bright source such as fixed star and extraterrestrial target is highlighted in sky background.Its generate Saliency maps can be used for image segmentation and
Contours extract.
The conspicuousness detection algorithm is as follows:
μ=mean (I) (5)
SI=(I- μ)2 (6)
FSI=255 × (SI-min(SI))/(SI-max(SI)) (7)
In formula, I is original image, and μ is to average to original image I, SIFor the image of processing, FSIFor the significant of generation
Property image.
It, can be using iteration threshold point due to only existing background and target both of which in the Saliency maps picture of generation
It cuts.
The iteration threshold asks method as follows:
Step 1 finds out the minimum and maximum gray value Z in imagelAnd Zk, then threshold value TkInitial value T0Are as follows:
T0=(Zl+Zk)/2 (8)
Step 2 divides the image into target and background two parts according to threshold value, finds out two-part average gray value ZoWith
ZB。
Step 3 finds out new threshold value Tk+1。
Tk+1=(Zo+ZB)/2 (9)
If step 4 Tk=Tk+1, then terminate；Otherwise step 2 is gone to.
After step 5 step 4, TkAs optimal threshold.
The closed operation dilation operation has the part astrology after conspicuousness enhances and uses iterative threshold segmentation
The case where being truncated reconnects the astrology disconnected then using the method for expansion.
The extraction astrology profile only needs to hollow out astrology interior pixels point for bianry image contours extract.
8 all bright spots of neighbor pixel of bright spot, then the point is internal point, otherwise is profile point.All internal points are set to back
Contours extract is completed, and finds out the centre coordinate (location of pixels of image) of the astrology in sight spot.By all astrology centre coordinates
It is stored in the FIFO of FPGA.
In present embodiment, request is initiated for all astrology in the design of data processor SRIO program, the end FPGA first
The predefined buffer area of DSP is written in centre coordinate, and then FPGA notifies that DSP is calculated.
The DSP uses TI company floating type DSP-TMS320C6678.
DSP in the data processor includes two functions of Space object identification and extraterrestrial target astrofix；Space
The precision tracking of target measures, and the azimuth and elevation angle variation at azimuth and elevation angle and telescope optic axis center are theoretically
It is identical.Therefore, Space Target Recognition Algorithm core is will to solve target direction of motion and telescope using similar function
Direction make comparisons, it is whether consistent come the direction that both determines, and then identify extraterrestrial target in background fixed star.Telescope is directed toward
It is azimuth and the height angle information of the servo feedback that observation control software obtains motor.In addition, due to being pointed to space
Target is the deviation angular amount minimum in all targets and the astrology with optical axis, i.e. miss distance is minimum, therefore, can miss the target by comparing
The size of amount distinguishes background fixed star and extraterrestrial target.Space object identification is similar to telescope pointing direction by extraterrestrial target
Property as main judgment basis, be aided with minimum miss distance criterion, from background fixed star complete extraterrestrial target identification.
The consistency of the direction of motion, it is assumed that have m targets in image；RA0,DEC0For current telescope direction
Right ascension and declination, RA (l), DEC (l) be the astrology right ascension and declination, l=1,2,3 ... m, m are positive integer；
The relationship of right ascension declination under the space right-angle equatorial system of coordinates (x, y, z) and equatorial coordinates of the same astrology of synchronization
It is as follows:
The space right-angle equatorial system of coordinates (the x that synchronization telescope is directed toward0,y0,z0) with equatorial coordinates under right ascension declination
Relationship is as follows:
If α is the angular separation that the astrology and telescope are directed toward, then similar function is defined as
If cos α is closer to 1, the astrology direction of motion and the similarity degree that telescope is directed toward are higher；
The miss distance is distance function is defined as:
D (l)=| Dl-Do| (13)
D (l) is smaller, and extraterrestrial target probability is bigger；Conversely, extraterrestrial target probability is smaller.
Extraterrestrial target is being obtained after the position coordinates on the face CCD, then can be calculated extraterrestrial target right ascension and
Declination.
In present embodiment, the step of the described astrofix specifically::
Step 1: in Tycho2 ephemeris, finding out fixed star (α in visual field after to Space object identificationi,βi) i=1,2,
3 ..., J, and it is lined up by magnitude, wherein αiAnd βiFor the right ascension and declination under celestial coordinate system；
Step 2: in ccd image, using triangle map method, the CCD ontology coordinate (x of 6 most bright comparison starsi,yi)；
In step 3 real work, since the factors such as the optical system of telescope, algorithm and star catalogue influence, CCD ontology
Relationship between coordinate system and celestial coordinate system can not be derived accurately, generally use polynomial approximation homing method；
αi=a0+a1xi+a2yi+a3xi 2+a4xiyi+a5yi 2+a6xi 3 (14)
βi=b0+b1xi+b2yi+b3xi 2+b4xiyi+b5yi 2+b6xi 3 (15)
In above formula, xi, yiFor the CCD ontology coordinate of fixed star；αi,βiIt is known that seeking a0-a6And b0-b6。
Step 5 finds out a0-a6And b0-b6Afterwards, then by the coordinate (x of target0,y0) substitute into above formula obtain target celestial sphere sit
Mark (α0,β0)。
This completes the resolving of a frame image, next frame figures equally to calculate according to above-mentioned steps for step 6.Every frame image solution
(the α calculated0,β0) observation control software is being sent to by udp protocol.
Claims (6)
1. the embedded observation-well network of accurate measurement type extraterrestrial target telescope, including the acquisition of motion controller, ccd data
Device, data processor and observation control software；It is characterized in that: the motion controller and data processor are by DSP and FPGA
Composition, the ccd data collector are made of FPGA；
The observation controls software and forecasts file to motion controller transmission survey station, motion controller survey station based on the received
Forecast file tracks extraterrestrial target, and the azimuth and elevation angle for obtaining the extraterrestrial target that frequency is 1Hz guide data, institute
Motion controller is stated by frequency to be loaded into the servo-system for mirror motor of looking in the distance after the guidance data encryption to 20Hz of 1Hz, together
When receive the servo feedback encoder azimuth and height angular data；The motion controller will obtain encoder
Azimuth and height angular data be transmitted to observation control software；
Triggering moment, trigger pulse interval and trigger pulse of the observation control software to ccd data collector transmission CCD
Number, the ccd data collector exposed pulse interval and trigger pulse number based on the received, to CCD output pulse signal, together
The Shi Suocun CCD time of exposure；Ccd data collector acquires the image data that CCD is obtained, then by the image data of acquisition and
The CCD time of exposure is sent to observation control software；
The image data that ccd data collector acquires is stored as FITS file by the observation control software, then described
The azimuth of the encoder of the servo feedback of FITS file header write-in motor and height angular data and ccd data collector lock
The time of exposure deposited, and it is sent to data processor, FITS file carries out image procossing to the data processor based on the received,
And identification and astrofix are carried out to extraterrestrial target.
2. the embedded observation-well network of accurate measurement type extraterrestrial target telescope according to claim 1, feature
Be: it includes aobvious that the FITS file that the FPGA in the data processor sends observation control software, which carries out image processing process,
Work property detection, iterative threshold segmentation, dilation operation and contours extract；Detailed process are as follows:
Step 1: isolating fixed star and extraterrestrial target, Saliency maps picture is obtained by conspicuousness detection algorithm；
The conspicuousness detection algorithm is formulated are as follows:
μ=mean (I)
SI=(I- μ)2
FSI=255 × (SI-min(SI))/(SI-max(SI))
In formula, I is original image, and μ is to average to original image I, SIFor the image of processing, FSIFor the Saliency maps of generation
Picture；
Step 2: using iterative threshold segmentation to the Saliency maps picture that step 1 obtains；Detailed process are as follows:
Step 2 one seeks minimum gradation value Z in the Saliency maps picturelWith maximum gradation value Zk, initial value T0Are as follows: T0=(Zl+
Zk)/2, given threshold Tk；
Step 2 two, according to threshold value TkSaliency maps picture is divided into target and background two parts, seeks the average ash of target respectively
Angle value ZoWith the average gray value Z of backgroundB；
Step 2 three, the average gray value Z according to the target obtained in step 2 twooWith the average gray value Z of backgroundB, obtain new
Threshold value Tk+1；The Tk+1=(Zo+ZB)/2；
If step 2 four, Tk=Tk+1, then TkAs optimal threshold terminates；Otherwise, return step two or two；
Step 3: the image carried out after Threshold segmentation to step 2 carries out closed operation dilation operation and astrology contours extract, obtain
Obtain the location of pixels of image, the i.e. centre coordinate of the astrology.
3. the embedded observation-well network of accurate measurement type extraterrestrial target telescope according to claim 1, feature
Be: the DSP in the data processor passes through in DSP core Space object identification and extraterrestrial target astrofix
Core0 and core1 are completed parallel, process of the kernel core0 to Space object identification are as follows:
Using similar function by solve extraterrestrial target the direction of motion and telescope direction it is whether consistent, then background perseverance
Extraterrestrial target is identified in star；
Again by comparing the size difference background fixed star and extraterrestrial target of miss distance, realization completes extraterrestrial target in background fixed star
Identification, the direction of the telescope refers to: observation control software obtains azimuth and the height of the servo feedback of motor
Angular data；Detailed process are as follows:
There are m targets in setting image, the space right-angle equatorial system of coordinates (x, y, z) of the same astrology of synchronization and equator are sat
The relationship for marking lower right ascension declination is as follows:
The space right-angle equatorial system of coordinates (the x that synchronization telescope is directed toward0,y0,z0) with equatorial coordinates under right ascension declination relationship
It is as follows:
Wherein, RA0,DEC0The right ascension and declination being directed toward for current telescope, RA (l), DEC (l) are the right ascension and declination of the astrology, l
=1,2,3 ... m, m are positive integer；
The angular separation that α is directed toward as the astrology and telescope is set, then similar function is defined as:
If cos α is closer to 1, the astrology direction of motion and the similarity degree that telescope is directed toward are higher；
The miss distance is distance function is defined as:
D (l)=| Dl-Do|
D (l) is smaller, and extraterrestrial target probability is bigger, DlFor the image coordinate of the astrology, DoFor the center point coordinate of image, space is obtained
Image coordinate (the x of target0,y0)；
Specific steps of the kernel core1 to extraterrestrial target astrofix are as follows:
Step A, after to Space object identification, in Tycho2 ephemeris, fixed star in range of telescope is found out, and it is arranged by magnitude
Team；
Step B, in ccd image, using triangle map method, the CCD ontology coordinate (x of six most bright comparison stars is obtainedi,yi)；
Step C, using polynomial approximation homing method；
αi=a0+a1xi+a2yi+a3xi 2+a4xiyi+a5yi 2+a6xi 3
βi=b0+b1xi+b2yi+b3xi 2+b4xiyi+b5yi 2+b6xi 3
In formula, xi, yiFor the CCD ontology coordinate of fixed star, i=1,2,3 ..., J；Wherein αiAnd βiFor the right ascension under celestial coordinate system
And declination, and they are equal it is known that a0-a6And b0-b6It is coefficient, seeks a0-a6And b0-b6；
Step D, a is found out0-a6And b0-b6Value after, then by the image coordinate (x of extraterrestrial target0,y0) substitute into step C formula
In, obtain the right ascension and declination (α of extraterrestrial target0,β0), by the right ascension and declination (α0,β0) be sent to by udp protocol
Observation control software realization observing and controlling.
4. the embedded observation-well network of accurate measurement type extraterrestrial target telescope according to claim 1, feature
It is:
Data, observation control software and ccd data are transmitted using udp protocol between the observation control software and motion controller
Collector transmits image data and uses PCI Express agreement；Observation control software and ccd data collector transmitting control data
Using udp protocol, data are transmitted using udp protocol between observation control software and data processor.
5. the embedded observation-well network of accurate measurement type extraterrestrial target telescope according to claim 1, feature
It is: the acquisition of the ccd data collector for realizing ccd image data and the control to CCD；
Acquisition for image data, ccd data collector are adapted to as the optical-fibre channel based on PCI Express bus architecture
Device realizes the high speed acquisition and transmission of fiber optic network image data；
Control to CCD includes the latch at the external trigger moment and CCD exposure signal to CCD exposure, ccd data collector conduct
I/O channel controller realizes the control to CCD by the channel I/O.
6. the embedded observation-well network of accurate measurement type extraterrestrial target telescope according to claim 1, feature
It is:
DSP in motion controller is as core processor, for guiding the interpolation calculation of data frequency；
FPGA is as association's controller, and for constructing time reference and as the independent variable of interpolation calculation, the DSP and FPGA passes through
SRIO agreement carries out data communication；
Core processor of the DSP as data processor in the data processor, calculates for target identification and astronomy is fixed
Position calculates；FPGA is as coprocessor, for extracting the image procossing of the astrology Yu extraterrestrial target central point, the DSP and FPGA
Data communication is carried out by SRIO agreement.
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