CN109991900A - Embedded guiding processing system - Google Patents

Embedded guiding processing system Download PDF

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CN109991900A
CN109991900A CN201910264307.5A CN201910264307A CN109991900A CN 109991900 A CN109991900 A CN 109991900A CN 201910264307 A CN201910264307 A CN 201910264307A CN 109991900 A CN109991900 A CN 109991900A
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guiding
image
target
astrology
data
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CN109991900B (en
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杨文波
康喆
吕游
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CHANGCHUN OBSERVATORY NATIONAL ASTRONOMICAL OBSERVATORIES CAS
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G05B19/0423—Input/output
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/11—Region-based segmentation
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/136—Segmentation; Edge detection involving thresholding
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/194—Segmentation; Edge detection involving foreground-background segmentation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/70—SSIS architectures; Circuits associated therewith
    • H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/76—Television signal recording
    • H04N5/765—Interface circuits between an apparatus for recording and another apparatus
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/22—Adaptations for optical transmission
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24215—Scada supervisory control and data acquisition

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  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
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  • Image Analysis (AREA)

Abstract

Embedded guiding processing system, it is related to a kind of for extraterrestrial target guiding embedded processing systems, it solves conventional images acquisition and processing system is difficult to cope with huge real time data amount, guiding is difficult, prevent the problems such as main view field is from being for a long time observed extraterrestrial target, including image capture module and guiding computing module, the guiding computing module uses the guiding processing system of FPGA and DSP heterogeneous processor framework, described image acquisition module acquires sCMOS camera video signals in real time and is stored to DDR3 SDRAM, then the image data in DDR3 SDRAM is sent to guiding computing module；It provides powerful image procossing and calculates analysis ability, can identify extraterrestrial target, obtain its accurate centroid position, and the error vector being calculated is converted into the actual miss distance of telescope, feed back to the pointing control system of astronomical telescope.Embedded guiding processing system improves the stability and accuracy of guiding, has reached and has been observed for a long time target.

Description

Embedded guiding processing system
Technical field
The present invention relates to one kind to be directed to extraterrestrial target guiding embedded processing systems.
Background technique
For the precise observations of extraterrestrial target, if the main view field of telescope is smaller, while extraterrestrial target prediction error compared with Greatly, cause target cannot be introduced into and stablize in main view field.Just need big visual field guiding telescope for large-scale at this time Airspace imaging, searches for target, and guide target and enter in main view field.
Therefore, guiding telescope is attached to the telescope on primary telescope lens barrel to monitor extraterrestrial target.It plays main prestige Remote mirror accurately tracks the effect of extraterrestrial target, can be by telescope once the extraterrestrial target in visual field deviates correct position Driving device corrected.
File is forecast according to target, using program tracking mode, is guided telescope tracking target in real time and is observed, belong to Open-loop tracking mode.In the case where the forecast is inaccurate really, main view field is difficult to capture extraterrestrial target.It needs to control in original direction A closed-loop system, i.e. guiding system are added in system.Accordingly even when there are errors for forecast data, it can also be in guiding telescope Extraterrestrial target to be observed, the miss distance of calculating observation target are found, and is sent to servo-system amendment forecast departure, guides mesh Mark enters in main view field.To further increase the tracking accuracy of telescope, realization is for a long time observed target.
Based on the needs of the real-time tracking to extraterrestrial target, guiding telescope to camera have high read-out speed, high sensitivity and The requirement of low noise.With the appearance of Scientific Grade CMOS camera, i.e. sCMOS camera, since it has high sensitivity, low in energy consumption, reading Speed is fast out but the small equal excellent performances of noise, thus be completely suitable for guiding it is this kind of it is high to time resolution requirement, using short exposure The observation project of light.
But with the significantly promotion of sCMOS camera resolution and frame per second, traditional Image Acquisition based on WINDOWS Be difficult to cope with huge real time data amount with processing system, guiding is difficult, prevent main view field from for a long time to extraterrestrial target into Row observation.
Summary of the invention
The present invention is to solve conventional images acquisition and processing system to be difficult to cope with huge real time data amount, and guiding is difficult, Prevent the problems such as main view field is from being for a long time observed extraterrestrial target, a kind of embedded guiding processing system is provided.
Embedded guiding processing system, including image capture module and guiding computing module, the guiding computing module are adopted With the guiding processing system of FPGA and DSP heterogeneous processor framework, described image acquisition module to sCMOS camera video signals into Row is acquired and is stored to DDR3 SDRAM in real time, and then the image data in DDR3SDRAM is sent to guiding computing module；
FPGA in the guiding computing module handles received image data, obtains astrology center and is located at image Coordinate (xs,ys)；
Astrology center is located at the coordinate (x of image by the DSP in guiding computing modules,ys) be converted under celestial coordinate system Elevation angle and azimuth, according to picture centre coordinate (x0,y0), ccd image scale bar (Sx,Sy) and current telescope direction Right ascension data and declination data (RA0,DEC0)；
Obtain the azimuth RA of the astrologysWith elevation angle DECs, it is calculated with following formula:
The DSP carries out Space object identification, detailed process are as follows:
Using similar function by solve extraterrestrial target the direction of motion and telescope direction it is whether consistent, then carrying on the back Extraterrestrial target is identified in scape fixed star；
Again by comparing the size difference background fixed star and extraterrestrial target of miss distance, realization completes space in background fixed star The direction of the identification of target, the telescope refers to: observation control software obtain motor servo feedback azimuth and Height angular data；Detailed process are as follows:
There are m targets in setting image；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, and 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:
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 (i)=| Di-Do|
D (i) is smaller, and extraterrestrial target probability is bigger；Conversely, extraterrestrial target probability is smaller.
After obtaining the coordinate of extraterrestrial target on the image, the miss distance of extraterrestrial target is calculated；DSP passes through udp protocol handle Miss distance is sent into control computer, realizes that guiding calculates；
Δ H=C1×Δy
In formula, Δ H and Δ A are respectively elevation angle and azimuthal miss distance under survey station coordinate system, and Δ x and Δ y are space The miss distance of target on the image, C1And C2For constant.
Beneficial effects of the present invention:
The present invention is adopted for the feature that sCMOS camera data transmission speed is fast, data volume is big in order to meet high-performance image The design requirement of collection and processing system, the guiding processing system based on FPGA+DSP heterogeneous processor framework.Since DSP performance is strong Greatly, there is flexible programing function, complicated algorithm, therefore core processor of the DSP as system can be conveniently realized in real time, Mainly undertake target identification calculating；FPGA is mainly used for the processing of image data as coprocessor；Using SRIO protocol realization High-speed data communication between FPGA and DSP.
Embedded guiding processing system of the present invention provides powerful image procossing and calculates analysis ability, can It identifies extraterrestrial target, obtains its accurate centroid position, and it is actual that the error vector being calculated is converted to telescope Miss distance feeds back to the pointing control system of astronomical telescope.Embedded guiding processing system improve guiding stability and Accuracy has reached and has been observed for a long time target, ensure that subsequent research objectives are implemented.Embedded guiding processing system has Extraordinary universality is applicable not only to the guiding telescope based on sCMOS camera, and enough guidings in real time are based on CCD camera Guiding telescope.
Detailed description of the invention
Fig. 1 is the functional block diagram of embedded guiding processing system of the present invention；
Fig. 2 is FPGA hardware Parameter Map in embedded guiding processing system of the present invention；
Fig. 3 is DSP hardware Parameter Map in embedded guiding processing system of the present invention；
Fig. 4 is Image Acquisition and transfer function schematic diagram in embedded guiding processing system of the present invention；
Fig. 5 is guiding computing function schematic diagram in embedded guiding processing system of the present invention.
Specific embodiment
Specific embodiment one illustrates present embodiment, embedded guiding processing system, including image in conjunction with Fig. 1 to Fig. 5 Acquisition module and guiding computing module, the guiding computing module are handled using the guiding of FPGA and DSP heterogeneous processor framework System, described image acquisition module acquire sCMOS camera video signals in real time and are stored to DDR3 SDRAM, then Image data in DDR3 SDRAM is sent to guiding computing module；
In present embodiment, described image acquisition module has Image Acquisition and transfer function, it be using FPGA as platform, It uses the Kintex-7 XC7K325T of Xilinx company for control core, is based on PCI Express bus architecture, may be implemented The function of the high speed acquisition of fiber optic network image data.Image Acquisition and the function of transmission utilize optical fiber completion sCMOS camera figure It as data acquisition and transmits, SFP photoelectric conversion module is controlled by FPGA and realizes that high-speed data-flow acquires, by DDR3 SDRAM The caching of data is completed, when guiding computing function has handled the frame image data cached in DDR3 SDRAM, FPGA passes through The DDR3 SDRAM image data cached is sent to control computer with dma mode by PCI-Express link.
In present embodiment, the image data acquisition function includes that data receiver and data are sent.
The data receiver is the real-time acquisition that sCMOS camera video signals are completed using SFP optical port module, and FPGA makees Logic control is carried out to SFP optical port module for controller and data will be received DDR3 SDRAM caching is written.
The data transmission is using FPGA as carrier, and design PCI Express is interface, and DMA will for transmission mode The image data of DDR3 SDRAM caching is sent to control computer.
In present embodiment, the guiding computing module realizes calculating, the sky of image procossing, astrology azimuth and elevation angle Between target identification and miss distance calculating.It is calculated in order to complete real-time guiding, improves observed efficiency, guiding computing function Using based on FPGA+DSP heterogeneous processor framework.Image processing section utilizes the parallel of FPGA using FPGA as coprocessor The characteristics of operation and pipeline processes, improves the speed of image procossing.Space object identification and extraterrestrial target astrofix part Using DSP as core processor, the calculating at astrology azimuth and elevation angle, the calculating of target identification calculating and miss distance are undertaken, DSP and FPGA carries out data communication by SRIO agreement.
FPGA in the guiding calculating uses the Kintex-7 XC7K325T of Xilinx company, mainly to DDR3 The image data cached in SDRAM is handled, including conspicuousness detection, iterative threshold segmentation, dilation operation and contours extract Four 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) (1)
SI=(I- μ)2 (2)
FSI=255 × (SI-min(SI))/(SI-max(SI)) (3)
In formula, I is original image, FSIFor the Saliency maps picture of generation.
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 (4)
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 (5)
If step 4 Tk=Tk+1, then terminate；Otherwise, step 2 is gone to.
Step 5: after step 4, TkAs optimal threshold.
The dilation operation has the part astrology and is truncated after conspicuousness enhancing and iterative threshold segmentation The case where, then using the method for expansion, reconnect the astrology disconnected.
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.
All astrology centre coordinates are stored in the FIFO of FPGA.Request is initiated first by all astrology in the end FPGA 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.
In present embodiment, the DSP in the guiding computing module includes azimuth and the elevation angle calculating, space of the astrology Target identification and miss distance calculate three functions.
The azimuth of the calculating astrology and elevation angle are to convert celestial sphere for the pixel coordinate for extracting astrology center to sit Elevation angle and azimuth under mark.
Position (the x that astrology center is located at image can be obtained by mentioned-above image procossings,ys), and known image center (x0,y0), ccd image scale bar (Sx,Sy) and current telescope direction (RA0,DEC0), the direction of telescope passes through motor Servo feedback controls computer, then is sent to DSP by udp protocol by computer.The then azimuth RA of the astrologysAnd height DECsIt can be calculated by following formula:
The precision tracking of extraterrestrial target measures, the azimuth and height at azimuth and elevation angle and telescope optic axis center Angle variation is theoretically identical.Therefore, Space Target Recognition Algorithm core is that target movement will be solved using similar function Direction is made comparisons with the direction of telescope, and whether the direction of motion to determine the two is consistent, and then identifies sky in background fixed star Between target.In addition, being the deviation angular amount minimum in all targets and the astrology with optical axis, i.e. miss distance due to being pointed to extraterrestrial target Therefore minimum can distinguish background fixed star and extraterrestrial target by comparing the size of miss distance.Space object identification passes through sky Between target and telescope pointing direction similitude as main judgment basis, be aided with minimum miss distance criterion, from background perseverance The identification of extraterrestrial target is completed in star.
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 (i)=| Di-Do| i=1,2 ..., m (10)
D (i) is smaller, and extraterrestrial target probability is bigger；Conversely, extraterrestrial target probability is smaller.
After obtaining the position coordinates of extraterrestrial target on the image, so that it may calculate the miss distance of extraterrestrial target.
Δ H=C1×Δy (11)
In formula, Δ H and Δ A are elevation angle and azimuthal miss distance under survey station coordinate system respectively, and Δ x and Δ y are spaces Coordinate of the target in pixel, C1And C2For constant.
After the miss distance of extraterrestrial target, miss distance is sent into control computer by udp protocol by DSP, then is counted by control Calculation machine is sent to servo-system amendment forecast departure, improves tracking accuracy, reaches and observed for a long time target.

Claims (3)

1. embedded guiding processing system, it is characterized in that: including image capture module and guiding computing module, the guiding is calculated Module uses the guiding processing system of FPGA and DSP heterogeneous processor framework, and described image acquisition module is to sCMOS camera video Signal is acquired in real time and is stored to DDR3 SDRAM, and then the image data in DDR3 SDRAM is sent to guiding and calculates mould Block；
FPGA in the guiding computing module handles received image data, obtains the seat that astrology center is located at image Mark (xs,ys)；
Astrology center is located at the coordinate (x of image by the DSP in guiding computing modules,ys) it is converted into the height under celestial coordinate system Angle and azimuth, according to picture centre coordinate (x0,y0), ccd image scale bar (Sx,Sy) and current telescope be directed toward it is red Through data and declination data (RA0,DEC0)；
Obtain the azimuth RA of the astrologysWith elevation angle DECs, it is calculated with following formula:
The DSP carries out Space object identification, detailed process 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；RA0,DEC0It is for the right ascension and declination, RA (l), DEC (l) of current telescope direction The right ascension and declination of the astrology, l=1,2,3 ... m, m are positive integer；
The relationship of right ascension declination is such as under the space right-angle equatorial system of coordinates (x, y, z) of the same astrology of synchronization and equatorial coordinates Under:
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:
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 (i)=| Di-Do|
D (i) is smaller, and extraterrestrial target probability is bigger；Conversely, extraterrestrial target probability is smaller.
After obtaining the coordinate of extraterrestrial target on the image, the miss distance of extraterrestrial target is calculated；DSP is missed the target by udp protocol handle Amount is sent into control computer, realizes that guiding calculates；
Δ H=C1×Δy
In formula, Δ H and Δ A are respectively elevation angle and azimuthal miss distance under survey station coordinate system, and Δ x and Δ y are extraterrestrial target Miss distance on the image, C1And C2For constant.
2. embedded guiding processing system according to claim 1, it is characterised in that: FPGA to received image data into Row processing, including conspicuousness detection, iterative threshold segmentation, dilation operation and contours extract, the specific steps 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. embedded guiding processing system according to claim 1, it is characterised in that: described image acquisition module is for scheming As the acquisition and transmission of data, it is the fibre channel adapter based on PCI Express bus architecture, realizes fiber optic network figure As the high speed acquisition of data；It include that data receiver and data are sent in collection process；
Data receiver is the real-time acquisition that sCMOS camera video signals are completed using SFP optical port module, and FPGA is as controller pair SFP optical port module carries out logic control and will receive data write-in DDR3SDRAM caching；
Data transmission is using FPGA as carrier, and design PCI Express is interface, and DMA is that transmission mode delays DDR3 SDRAM The image data deposited is sent to control computer.
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CN110415301A (en) * 2019-08-08 2019-11-05 太原理工大学 A kind of temporary now source real time early warning method of the astronomy based on embedded device
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