CN110345918A - Space junk detection method and system based on fixed star retrieval - Google Patents
Space junk detection method and system based on fixed star retrieval Download PDFInfo
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Abstract
The invention discloses a kind of space junk detection methods based on fixed star retrieval, comprising: receives image, estimates image background；According to the estimated result of image background, full frame scanning is carried out to image, the two-dimensional plane coordinate of all star images on image is calculated；In conjunction with the two-dimensional surface Measured Coordinates of star images all on image, by way of astrofix, the three-dimensional vector of the corresponding inertial space of all star images is obtained, obtains the two-dimentional tangent plane theoretical coordinate of institute's any stars；It identifies and rejects the background fixed star in all images；The signature of flight path for obtaining the remaining astrology, detects all space junks on image.The present invention can identify condition according to preset fixed star, it identifies and rejects the fixed star astrology on single-frame images, then multiple image is neatly used, space junk on image is detected, the detection false-alarm of the factors such as bright fixed star generation is reduced, the detection success rate of dark weak space junk is improved.
Description
Technical field
The present invention relates to space junk identification technology fields, in particular to a kind of space junk based on fixed star retrieval
Detection method and system.
Background technique
It in many fields such as scientific research, military affairs, requires to monitor space junk, provides each wink of space junk
Between on high in position and its variation, the running track of space junk is determined, to obtain the accurate information of space junk.
The invention of CCD becomes one of the effective means of space junk monitoring, especially instead of traditional camera observation
The space junk of centering high orbit.For scientific grade CCD, usually there are three types of playback modes: full frame is read, interline transfer is read
Out and frame transfer playback mode.Since the CCD read using frame transfer and interline transfer is usually had, target surface is small, reading speed is fast
And read image on the astrology almost without de- tail phenomenon the advantages of；Usually have target surface excellent greatly using the CCD that full frame is read
Point, at the same have the shortcomings that reading speed is slow and the image that is read when no shutter cooperates on the astrology there is de- tail phenomenon.With
The development of sCMOS technology, sCMOS with the astrology on the image that target surface is big, reading speed is fast and reads almost without
The advantages of de- tail phenomenon.Therefore scientific grade CCD and sCMOS have obtained relatively broad application in space junk monitoring.
During space junk monitoring, due to the difference of image, there are many kinds of detection methods, traditional space junk
The space junk testing process of detection method is generally as follows:
Step 1, single-frame images background estimating.
Step 2, single-frame images scanning, obtain the two-dimensional plane coordinate (x, y) of all star images on image.
Step 3, single-frame images binaryzation.
Step 4, the processing of multiframe binary image frame difference.
Step 5, the scanning of multiframe binaryzation frame difference image.
Step 6, multiframe space junk track association.
There are two aspects in the space junk testing process of traditional space junk detection method:
On the one hand since CCD not only has during carrying out image real-time acquisition from CCD itself reading circuit error
Factor, and have the influence factor of CCD working environment and cloud layer, it will affect the background fluctuations of ccd image, to the inspection of space junk
Survey affects, and the especially influence to dark weak space junk affects detection success rate to increase false-alarm probability.
On the other hand since the time interval of image consecutive frame is inconsistent, space junk kinetic characteristic difference causes space broken
Piece missing inspection.In addition more importantly the difference of observation mode, processing method are also different.
The aforementioned observation mode pointed out is different, and processing method is also different, not only includes the detection process of space junk, also wraps
The identification process of background fixed star is included, user needs to set different processing schemes for multiple detecting steps, and detection process is complicated,
And it is easy to happen erroneous detection.
Summary of the invention
Present invention aims at for aforementioned single frames or multiframe frame difference space fragment detection based on two-dimensional image plane
The deficiency of method provides a kind of space junk detection method and system based on fixed star retrieval, fixed using full frame scanning and astronomy
The two-dimensional surface Measured Coordinates and two-dimentional tangent plane theoretical coordinate of position mode and single-frame images, are quickly rejected on single-frame images
Background fixed star the detection of space junk is realized using the three-dimensional vector (right ascension α and declination δ) of multiple image and inertial space.
The present invention can identify condition according to preset fixed star, identify and reject the fixed star astrology on single-frame images, then clever
Multiple image is used livingly, the space junk on image is detected, and is reduced the detection false-alarm of the factors such as bright fixed star generation, is mentioned
The detection success rate of high dark weak space junk.
To reach above-mentioned purpose, in conjunction with Fig. 1, the present invention proposes a kind of space junk detection method based on fixed star retrieval,
The detection method includes:
S1: the image that an at least frame includes space junk and background fixed star is received, image background is estimated；
S2: according to the estimated result of image background, full frame scanning is carried out to image, all star images on image are calculated
Two-dimensional plane coordinate (x, y), wherein set the upper left corner of image as coordinate origin (0,0), be that x-axis increases direction, figure on the right side of image
Picture downside is that y-axis increases direction, and x is that in the direction of the x axis at a distance from coordinate origin, y is image for astrology position in image
Middle astrology position is in the y-axis direction at a distance from coordinate origin；
S3: it in conjunction with the two-dimensional surface Measured Coordinates (x, y) of star images all on image, by way of astrofix, obtains
The right ascension α and declination δ of all star images, according to right ascension α and declination δ extrapolate the corresponding inertial space of all astrology it is three-dimensional to
Amount obtains the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image, wherein (X, Y) retrieves to obtain by fixed star
The theoretical gray scale center-of-mass coordinate of fixed star；
S4: judge whether each astrology in each frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the background fixed star in the image at background fixed star, whereinFor the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,It is retrieved for fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th of the fixed star arrived, ε are matching thresholding；
Aforementioned process is repeated until identifying and rejecting the background fixed star in all images；
S5: in conjunction with all images for rejecting background fixed star, the signature of flight path of the remaining astrology is obtained, detects the institute on image
There is space junk.
Based on it is aforementioned based on fixed star retrieval space junk detection method, the present invention further mention it is a kind of based on fixed star retrieval
Space junk detection system, the space junk detection system comprise the following modules:
1) for receiving the module of the image including space junk and background fixed star.
2) module for being estimated image background.
3) for the estimated result according to image background, full frame scanning is carried out to image, all stars on image are calculated
The module of the two-dimensional plane coordinate (x, y) of picture, wherein set the upper left corner of image as coordinate origin (0,0), be x-axis on the right side of image
Increase direction, be that y-axis increases direction on the downside of image, x be in image astrology position in the direction of the x axis with coordinate origin away from
From, y be in image astrology position in the y-axis direction at a distance from coordinate origin.
4) for combining the two-dimensional surface Measured Coordinates (x, y) of all star images on image to obtain by way of astrofix
All star images right ascension α and declination δ, according to right ascension α and declination δ extrapolate the corresponding inertial space of all astrology it is three-dimensional to
Amount obtains the module of the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image, wherein (X, Y) is to be retrieved by fixed star
The theoretical gray scale center-of-mass coordinate of obtained fixed star.
5) whether each astrology for judging in a wherein frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the module of the background fixed star in the image at background fixed star,
Wherein,For the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,For fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th obtained of fixed star is retrieved, ε is matching thresholding.
6) for rejecting the module of the background fixed star on all images.
7) for obtaining the signature of flight path of the remaining astrology, the module of all space junks on image is detected.
The image that several frames include space junk and background fixed star is acquired by measuring system, to collected several images
Image background estimated, calculate the two-dimensional surface Measured Coordinates (x, y) of all astrology on every frame image.In conjunction with every frame image
The two-dimensional surface Measured Coordinates (x, y) of upper all astrology obtain all astrology on every frame image by way of astrofix
Right ascension α and declination δ extrapolates the three-dimensional vector of the corresponding inertial space of all astrology according to right ascension α and declination δ, obtains image
The two-dimentional tangent plane theoretical coordinate (X, Y) of upper each fixed star.In conjunction with the two-dimensional surface Measured Coordinates (x, y) of the astrology each on image
With the two-dimentional tangent plane theoretical coordinate (X, Y) of fixed star each on image, is identified and rejected in image by fixed star identification condition
Background fixed star.The image of background fixed star is weeded out in conjunction with multiframe, is obtained the signature of flight path of the remaining astrology, whether is judged the track
It is all to belong to the same astrology, avoids frame frequency and is not fixed and the inconsistent missing inspection for causing space junk of kinetic characteristic and observation
Space junk detection method caused by mode is different is different.
By taking continuous three frames image as an example, the first step estimates the image background in three frame images, calculates every frame image
The two-dimensional surface Measured Coordinates (x, y) of upper all astrology, then extrapolate the right ascension α and declination δ of all astrology on every frame image,
The three-dimensional vector of the corresponding inertial space of all astrology is extrapolated according to right ascension α and declination δ；It is retrieved by fixed star to obtain image
In each fixed star two-dimentional tangent plane theoretical coordinate (X, Y), (X, Y) be each fixed star theoretical gray scale center-of-mass coordinate.Second step,
It retrieves by the two-dimensional surface Measured Coordinates (x, y) of all astrology on each frame image and by fixed star with each fixed star of acquisition
Theoretical gray scale center-of-mass coordinate compares, and identifies and rejects the background fixed star on image, specifically, successively calculating on every frame image
The difference of the two-dimentional tangent plane theoretical coordinate (X, Y) of institute's any stars is exhausted on the two-dimensional surface Measured Coordinates (x, y) and image of the astrology
To value, if absolute difference in matching thresholding, such as 1 pixel within, judge that the astrology for background fixed star, are picked
It removes.Third step generates the remaining star in addition to background fixed star in conjunction with the astrology coordinate on first frame, the second frame, third frame image
The operation track of elephant obtains signature of flight path, space junk is detected according to signature of flight path, specifically, by the track of space junk
By the three-dimensional space vector of consecutive frame, apparent motion angular speed is converted to, it should according to the judgement of preset object judgement condition
Whether track belongs to same target, if meeting object judgement condition, judges that the track belongs to same target, and otherwise, judgement should
Track is not belonging to same target, avoids frame frequency and is not fixed and the inconsistent missing inspection for causing space junk of kinetic characteristic, observation mould
Formula different spaces fragment detection method is different.
The above technical solution of the present invention, compared with existing, significant beneficial effect is,
1) using the two-dimensional surface Measured Coordinates of all astrology on full frame scanning and astrofix mode and single-frame images
With the two-dimentional tangent plane theoretical coordinate of each fixed star, the background fixed star on single-frame images is quickly rejected, is identified on single-frame images
The mode of background fixed star is not limited to track or search for observation mode.
2) track is converted by apparent motion angle speed using the three-dimensional vector (α, δ) of the corresponding inertial space of the astrology in consecutive frame
Degree avoids frame frequency and is not fixed and the inconsistent space junk that causes of kinetic characteristic in this, as the judgment basis of same target
Missing inspection, observation mode different spaces fragment detection method are different, either tracking observation mode or search observation mode, processing
Method is consistent.
It should be appreciated that as long as aforementioned concepts and all combinations additionally conceived described in greater detail below are at this
It can be viewed as a part of the subject matter of the disclosure in the case that the design of sample is not conflicting.In addition, required guarantor
All combinations of the theme of shield are considered as a part of the subject matter of the disclosure.
Can be more fully appreciated from the following description in conjunction with attached drawing present invention teach that the foregoing and other aspects, reality
Apply example and feature.The features and/or benefits of other additional aspects such as illustrative embodiments of the invention will be below
Description in it is obvious, or learnt in practice by the specific embodiment instructed according to the present invention.
Detailed description of the invention
Attached drawing is not intended to drawn to scale.In the accompanying drawings, identical or nearly identical group each of is shown in each figure
It can be indicated by the same numeral at part.For clarity, in each figure, not each component part is labeled.
Now, example will be passed through and the embodiments of various aspects of the invention is described in reference to the drawings, in which:
Fig. 1 is the flow chart of the space junk detection method of the invention based on fixed star retrieval.
Specific embodiment
In order to better understand the technical content of the present invention, special to lift specific embodiment and institute's accompanying drawings is cooperated to be described as follows.
In conjunction with Fig. 1, the present invention refers to a kind of space junk detection method based on fixed star retrieval, the detection method packet
It includes:
S1: the image that an at least frame includes space junk and background fixed star is received, image background is estimated.
S2: according to the estimated result of image background, full frame scanning is carried out to image, all star images on image are calculated
Two-dimensional plane coordinate (x, y), wherein set the upper left corner of image as coordinate origin (0,0), be that x-axis increases direction, figure on the right side of image
Picture downside is that y-axis increases direction, and x is that in the direction of the x axis at a distance from coordinate origin, y is image for astrology position in image
Middle astrology position is in the y-axis direction at a distance from coordinate origin.
S3: it in conjunction with the two-dimensional surface Measured Coordinates (x, y) of star images all on image, by way of astrofix, obtains
The right ascension α and declination δ of all star images, according to right ascension α and declination δ extrapolate the corresponding inertial space of all astrology it is three-dimensional to
Amount obtains the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image, wherein (X, Y) retrieves to obtain by fixed star
The theoretical gray scale center-of-mass coordinate of fixed star.
S4: judge whether each astrology in each frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the background fixed star in the image at background fixed star, whereinFor the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,It is retrieved for fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th of the fixed star arrived, ε are matching thresholding.
Aforementioned process is repeated until identifying and rejecting the background fixed star in all images.
S5: in conjunction with all images for rejecting background fixed star, the signature of flight path of the remaining astrology is obtained, detects the institute on image
There is space junk.
Aforementioned five steps are illustrated one by one below.
One, image background is estimated
In step S1, the background in received image is estimated using image background estimation model.For example, receiving
After multiframe contains the frame transfer ccd image of space junk and background fixed star, the mathematical model estimated using the image background of creation,
Image background is estimated, with speed up processing.
The method for creating image background estimation model are as follows: the image for containing space junk and background fixed star to several frames carries out
Comprehensive analysis, creation image background estimate model, the background estimating for image.
Preferably, machine learning scheduling algorithm can be used to create image background estimation model.
Two, astrology scanning and two-dimensional surface Measured Coordinates reduction
In step S2, the estimated result according to image background carries out full frame scanning to image, is calculated on image
The process of the two-dimensional plane coordinate (x, y) of all star images the following steps are included:
In conjunction with the estimated result and the original image containing space junk and background fixed star of image background, according to setting in advance
Fixed threshold value carries out full frame scanning to containing the image of space junk and background fixed star, provides the two dimension of all star images on image
Plane coordinates (x, y) reduction result.
Three, three-dimensional space vector and two-dimentional tangent plane theoretical coordinate reduction
According to two-dimensional surface Measured Coordinates (x, y) scanning result of star images all on image, by way of astrofix,
All star images corresponding right ascension α and declination δ is obtained, each astrology are calculated in inertial space further according to right ascension α and declination δ
Three-dimensional vector；Meanwhile retrieving to obtain the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star on image by fixed star, wherein
(X, Y) is the theoretical gray scale center-of-mass coordinate for the fixed star retrieved by fixed star.
Four, background fixed star is rejected
Rejecting for background fixed star, is screened in two-dimensional surface, by comparing the astrology each on single-frame images
The tangent plane theoretical coordinate (X, Y) of two-dimensional surface Measured Coordinates (x, y) and each fixed star, if absolute difference between the two
Less than matching thresholding, indicate that the astrology are background fixed star, this method is not limited to using tracking or searches for observation mode
Situation, specifically, meeting using the star image of Lower Threshold as background fixed star.
Wherein,For the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,For the i-th frame figure
As the theoretical gray scale center-of-mass coordinate for k-th of fixed star that upper fixed star is retrieved, ε is matching thresholding.
From the foregoing it will be appreciated that in the present invention, the method for rejecting background fixed star is not limited to observation mode, no matter using tracking
Or search observation mode only needs to know that the two dimension of the astrology on single-frame images is flat on identification process without influence in identification process
The tangent plane theoretical coordinate (X, Y) of face Measured Coordinates (x, y) and institute's any stars.
Five, space junk detects
After rejecting the background fixed star in all images, the detection false-alarm of the factors such as bright fixed star generation is reduced, is conducive to
Improve the detection success rate of dark weak space junk.
Since the time interval of consecutive frame is difficult to keep unanimously, the kinetic characteristic of each space junk is also different, is easy to make
At the missing inspection of space junk.In order to avoid this problem, the present invention proposes the three-dimensional that the track of space junk is passed through consecutive frame
Space vector is converted to apparent motion angular speed, and it is same to judge whether the track belongs to according to preset object judgement condition
Target judges that the track belongs to same target if meeting object judgement condition, otherwise, judges that the track is not belonging to same mesh
Mark.Such judgment mode weakens influence of the time interval of consecutive frame to result is determined, in conjunction with the three-dimensional space of consecutive frame
Vector, determines whether the track obtained belongs to same target, reduces missed detection risk.
Specifically, the detection process for the space junk that the present invention refers to includes: to be rejected to tie according to the multiple image fixed star astrology
Fruit, a variety of judging characteristics of the comprehensive astrology, detects all space junks on image.Space junk no matter using tracking or
The situation of observation mode is searched for, the track of space junk can be passed through to the three-dimensional space vector of consecutive frame, be converted to apparent motion
Angular speed is not fixed and kinetic characteristic is inconsistent causes sky in this, as the judgment basis of same target so as to avoid frame frequency
Between the missing inspection of fragment, space junk detection method is different caused by observation mode is different.Judgment criteria is as follows:
Wherein
Wherein,Pass through the right ascension corresponding to it for j-th of astrology on the i-th frame imageAnd declinationIt is calculated
Three-dimensional vector in inertial space；Pass through the right ascension corresponding to it for k-th of astrology on i+1 frame imageAnd declinationThe three-dimensional vector in inertial space being calculated；It is the 1st astrology on the i-th+2 frame image by corresponding to it
Right ascensionAnd declinationThe three-dimensional vector in inertial space being calculated；ε1It is two astrology of adjacent two frame in inertia
The angle minimum detection thresholding of vector in space；ε2It is k-th in j-th of astrology in the i-th frame in continuous three frame and i+1 frame
The astrology in inertial space the angle of vector, with the 1st astrology in k-th of astrology and the i-th+2 frame in i+1 frame in inertial space
The angle of middle vector difference maximum detection threshold.
Further, about the application of detection data, including following methods:
First way
The testing result of all space junks on image is fed back to the tracking module of measuring system, to realize to image
The tracking of upper space junk.
The second way
The testing result of all space junks on image is stored into memory, depositing for computer system is such as stored in
In storage media, to make data backup.
The third mode
By the testing result of all space junks on image by display system to show, specifically, image, image are carried on the back
Scape estimated result, image full frame scanning result and image in move the astrology testing result can be shown by display system
Out, it is checked at any time convenient for user.
Based on it is aforementioned based on fixed star retrieval space junk detection method, the present invention further mention it is a kind of based on fixed star retrieval
Space junk detection system, the space junk detection system comprise the following modules:
1) for receiving the module of the image including space junk and background fixed star.
2) module for being estimated image background.
3) for the estimated result according to image background, full frame scanning is carried out to image, all stars on image are calculated
The module of the two-dimensional plane coordinate (x, y) of picture, wherein set the upper left corner of image as coordinate origin (0,0), be x-axis on the right side of image
Increase direction, be that y-axis increases direction on the downside of image, x be in image astrology position in the direction of the x axis with coordinate origin away from
From, y be in image astrology position in the y-axis direction at a distance from coordinate origin.
4) for combining the two-dimensional surface Measured Coordinates (x, y) of all star images on image to obtain by way of astrofix
All star images right ascension α and declination δ, according to right ascension α and declination δ extrapolate the corresponding inertial space of all astrology it is three-dimensional to
Amount obtains the module of the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image, wherein (X, Y) is to be retrieved by fixed star
The theoretical gray scale center-of-mass coordinate of obtained fixed star.
5) whether each astrology for judging in a wherein frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the module of the background fixed star in the image at background fixed star,
Wherein,For the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,For fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th obtained of fixed star is retrieved, ε is matching thresholding.
6) for rejecting the module of the background fixed star on all images.
7) for obtaining the signature of flight path of the remaining astrology, the module of all space junks on image is detected.
The present invention is a kind of space junk detection method based on fixed star retrieval, can be rejected single according to given thresholding
The fixed star astrology on frame image, neatly use multiple image, the space junk on image is detected, reduce bright fixed star etc. because
The detection false-alarm that element generates improves the detection success rate of dark weak space junk, avoids frame frequency and be not fixed with kinetic characteristic not
It unanimously causes missing inspection, the observation mode different spaces fragment detection method of space junk different, is a kind of extraordinary space
Fragment detection method.
By test, 3 space junk is greater than for signal-to-noise ratio, detection success rate of the invention almost can achieve
100%, for for signal-to-noise ratio less than 3, and be greater than 2 space junk, detection success rate of the invention almost can achieve
90% or more.The actual processing effect of this method is good, can be widely applied in scientific research and engineering field.
Various aspects with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.
Embodiment of the disclosure need not be defined on including all aspects of the invention.It should be appreciated that a variety of designs and reality presented hereinbefore
Those of apply example, and describe in more detail below design and embodiment can in many ways in any one come it is real
It applies, this is because conception and embodiment disclosed in this invention are not limited to any embodiment.In addition, disclosed by the invention one
A little aspects can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Although the present invention has been disclosed as a preferred embodiment, however, it is not to limit the invention.Skill belonging to the present invention
Has usually intellectual in art field, without departing from the spirit and scope of the present invention, when can be used for a variety of modifications and variations.Cause
This, the scope of protection of the present invention is defined by those of the claims.
Claims (10)
1. a kind of space junk detection method based on fixed star retrieval, which is characterized in that the detection method includes:
S1: the image that an at least frame includes space junk and background fixed star is received, image background is estimated；
S2: according to the estimated result of image background, full frame scanning is carried out to image, the two dimension of all star images on image is calculated
Plane coordinates (x, y), wherein set the upper left corner of image as coordinate origin (0,0), be x-axis increase direction on the right side of image, under image
Side is that y-axis increases direction, and x is that in the direction of the x axis at a distance from coordinate origin, y is image culminant star for astrology position in image
As position is in the y-axis direction at a distance from coordinate origin；
S3: owned by way of astrofix in conjunction with the two-dimensional surface Measured Coordinates (x, y) of star images all on image
The right ascension α and declination δ of star image, the three-dimensional vector of the corresponding inertial space of all astrology is extrapolated according to right ascension α and declination δ, is obtained
The two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image is taken, wherein (X, Y) is the fixed star retrieved by fixed star
Theoretical gray scale center-of-mass coordinate；
S4: judge whether each astrology in each frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the background fixed star in the image at background fixed star, whereinFor the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,It is retrieved for fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th of the fixed star arrived, ε are matching thresholding；
Aforementioned process is repeated until identifying and rejecting the background fixed star in all images；
S5: in conjunction with all images for rejecting background fixed star, the signature of flight path of the remaining astrology is obtained, detects having time on image
Between fragment.
2. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that in step S1,
The background in received image is estimated using image background estimation model.
3. the space junk detection method according to claim 2 based on fixed star retrieval, which is characterized in that the detection side
Method further include:
The image for containing space junk and background fixed star to several frames carries out comprehensive analysis, and creation image background estimates model.
4. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that in step S2,
The estimated result according to image background carries out full frame scanning to image, and the two dimension that all star images on image are calculated is flat
The process of areal coordinate (x, y) the following steps are included:
In conjunction with the estimated result and the original image containing space junk and background fixed star of image background, according to preset
Threshold value carries out full frame scanning to containing the image of space junk and background fixed star, provides the two-dimensional surface of all star images on image
Coordinate (x, y) reduction result.
5. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that in step S5,
The signature of flight path for obtaining the remaining astrology, detect the process of all space junks on image the following steps are included:
By the track of space junk by the three-dimensional space vector of consecutive frame, apparent motion angular speed is converted to, according to presetting
Object judgement condition judge whether the track belongs to same target, if meeting object judgement condition, judge that the track belongs to
Otherwise same target judges that the track is not belonging to same target.
6. the space junk detection method according to claim 5 based on fixed star retrieval, which is characterized in that described to set in advance
Fixed object judgement condition are as follows:
Wherein
Wherein,Pass through the right ascension corresponding to it for j-th of astrology on the i-th frame imageAnd declinationThe inertia being calculated is empty
Between in three-dimensional vector；Pass through the right ascension corresponding to it for k-th of astrology on i+1 frame imageAnd declinationMeter
The obtained three-dimensional vector in inertial space；Pass through the right ascension corresponding to it for first of astrology on the i-th+2 frame imageAnd declinationThe three-dimensional vector in inertial space being calculated；ε1It is two astrology of adjacent two frame in inertial space
In vector angle minimum detection thresholding；ε2For k-th of astrology in j-th of astrology in the i-th frame in continuous three frame and i+1 frame
In inertial space the angle of vector, with first of astrology in k-th of astrology and the i-th+2 frame in i+1 frame in inertial space to
The angle of amount difference maximum detection threshold.
7. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that the detection side
Method further include:
The testing result of all space junks on image is fed back to the tracking module of measuring system.
8. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that the detection side
Method further include:
The testing result of all space junks on image is stored into memory.
9. the space junk detection method according to claim 1 based on fixed star retrieval, which is characterized in that the detection side
Method further include:
By the testing result of all space junks on image by display system to show.
10. a kind of space junk detection system based on fixed star retrieval, which is characterized in that the space junk detection system packet
It includes:
For receiving the module of the image including space junk and background fixed star；
Module for being estimated image background；
For the estimated result according to image background, full frame scanning is carried out to image, two of all star images on image are calculated
The module of dimensional plane coordinate (x, y), wherein set the upper left corner of image as coordinate origin (0,0), be x-axis increase side on the right side of image
To image downside is that y-axis increases direction, and x is that in the direction of the x axis at a distance from coordinate origin, y is for astrology position in image
Astrology position is in the y-axis direction at a distance from coordinate origin in image；
For combining the two-dimensional surface Measured Coordinates (x, y) of all star images on image to be owned by way of astrofix
The right ascension α and declination δ of star image, the three-dimensional vector of the corresponding inertial space of all astrology is extrapolated according to right ascension α and declination δ, is obtained
The module for taking the two-dimentional tangent plane theoretical coordinate (X, Y) of each fixed star in image, wherein (X, Y) retrieves to obtain by fixed star
The theoretical gray scale center-of-mass coordinate of fixed star；
For judging whether each astrology in each frame image meet following fixed star identification conditions:
Determine the star image for meeting fixed star identification condition to reject the module of the background fixed star in the image at background fixed star, whereinFor the gray scale center-of-mass coordinate of j-th of astrology on the i-th frame image,It is retrieved for fixed star on the i-th frame image
The theoretical gray scale center-of-mass coordinate of k-th obtained of fixed star, ε are matching thresholding；
For rejecting the module of the background fixed star on all images；
For obtaining the signature of flight path of the remaining astrology, the module of all space junks on image is detected.
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