CN110345918B - Space debris detection method and system based on star retrieval - Google Patents
Space debris detection method and system based on star retrieval Download PDFInfo
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- CN110345918B CN110345918B CN201910444726.7A CN201910444726A CN110345918B CN 110345918 B CN110345918 B CN 110345918B CN 201910444726 A CN201910444726 A CN 201910444726A CN 110345918 B CN110345918 B CN 110345918B
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention discloses a space debris detection method based on star retrieval, which comprises the following steps: receiving an image and estimating the background of the image; according to the estimation result of the image background, carrying out full-frame scanning on the image, and calculating to obtain two-dimensional plane coordinates of all star images on the image; combining two-dimensional plane actual measurement coordinates of all star images on the image, and obtaining three-dimensional vectors of inertia spaces corresponding to all the star images in an astronomical positioning mode to obtain two-dimensional tangent plane theoretical coordinates of all fixed stars; identifying and eliminating background fixed stars in all images; and acquiring the track characteristics of the residual star images and detecting all space debris on the images. The method can identify and remove the star and star images on the single-frame image according to the preset star identification conditions, and then flexibly adopt the multi-frame image to detect the space debris on the image, thereby reducing the detection false alarm caused by the factors such as bright stars and the like and improving the detection success rate of the dark and weak space debris.
Description
Technical Field
The invention relates to the technical field of space debris identification, in particular to a space debris detection method and system based on star retrieval.
Background
In many fields such as scientific research, military affairs and the like, space debris needs to be monitored, the position of the space debris in the sky at each moment and the change of the position are given, the operation track of the space debris is determined, and therefore accurate information of the space debris is obtained.
The invention of CCD replaces the traditional photographic observation and becomes one of the effective means for monitoring space debris, especially for the space debris of middle and high orbit. For scientific grade CCDs, there are generally three readout modes: full frame read, line-to-line transfer read and frame transfer read. The CCD read by frame transfer and interline transfer has the advantages of small target surface, high reading speed and almost no tail falling phenomenon of the starlike image on the read image; CCDs using full frame readout generally have the advantage of a large target surface, while having the disadvantages of slow readout speed and the appearance of a tailing phenomenon in the starry image read out without shutter cooperation. With the development of sCMOS technology, sCMOS has the advantages of large target surface, high reading speed and almost no tail-off phenomenon of the starlike image on the read image. Therefore, scientific grade CCD and sCMOS are widely applied to space debris monitoring.
In the space debris monitoring process, due to different images, there are many detection methods, and the space debris detection flow of the conventional space debris detection method is generally as follows:
step 1, estimating the background of the single-frame image.
And 2, scanning the single-frame image to obtain two-dimensional plane coordinates (x, y) of all star images on the image.
And 3, carrying out binarization on the single-frame image.
And 4, processing the frame difference of the multi-frame binary image.
And 5, scanning the multi-frame binary frame difference image.
And 6, associating the multi-frame space debris flight paths.
The space debris detection flow of the traditional space debris detection method has two problems:
on one hand, the CCD not only has error factors from a CCD self-reading circuit in the process of image real-time acquisition, but also has influence factors of a CCD working environment and a cloud layer, so that the fluctuation of the background of a CCD image is influenced, the detection of space debris is influenced, especially the influence on the dark and weak space debris is caused, the false alarm probability is increased, and the detection success rate is influenced.
On the other hand, the time intervals of the adjacent frames of the image are inconsistent, and the motion characteristics of the space debris are different, so that the space debris is missed. What is more important is that the processing method is different according to different observation modes.
The observation modes indicated above are different, and the processing methods are also different, and include not only the detection process of the space debris but also the identification process of the background stars, so that a user needs to set different processing schemes for a plurality of detection steps, the detection process is complex, and false detection is easy to occur.
Disclosure of Invention
The invention aims to provide a space debris detection method and a system based on star retrieval aiming at the defects of the single-frame or multi-frame difference space debris detection method based on the two-dimensional plane of the image. The method can identify and remove the star and star images on the single-frame image according to the preset star identification conditions, and then flexibly adopt the multi-frame image to detect the space debris on the image, thereby reducing the detection false alarm caused by the factors such as bright stars and the like and improving the detection success rate of the dark and weak space debris.
To achieve the above object, with reference to fig. 1, the present invention provides a space debris detection method based on star search, where the detection method includes:
s1: receiving at least one frame of image comprising space debris and background stars, and estimating the background of the image;
s2: according to the estimation result of the image background, performing full-frame scanning on the image, and calculating to obtain two-dimensional plane coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is an x-axis increasing direction, the lower side of the image is a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction;
s3: combining two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all the star images in an astronomical positioning mode, calculating three-dimensional vectors of inertia spaces corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the (X, Y) is a theoretical gray scale centroid coordinate of the fixed star obtained through fixed star retrieval;
s4: judging whether each star image in each frame image meets the following star identification conditions:
judging the star image meeting the star identification condition into a background star, and removing the background star in the image, wherein,
is the gray scale centroid coordinate of the jth star on the ith frame image,
searching for a theoretical gray scale centroid coordinate of a kth fixed star on an ith frame image, wherein epsilon is a matching threshold;
repeating the above processes until background fixed stars in all the images are identified and eliminated;
s5: and (4) combining all the images with the background stars removed, acquiring the track characteristics of the residual star images, and detecting all the space fragments on the images.
Based on the space debris detection method based on the star retrieval, the invention also provides a space debris detection system based on the star retrieval, and the space debris detection system comprises the following modules:
1) a module for receiving an image comprising spatial debris and background stars.
2) Means for estimating a background of the image.
3) And the module is used for scanning the image in a full frame according to the estimation result of the image background and calculating to obtain two-dimensional plane coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is an x-axis increasing direction, the lower side of the image is a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction.
4) And the module is used for combining the two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all the star images in an astronomical positioning mode, calculating the three-dimensional vectors of the inertia spaces corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining the two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the (X, Y) is the theoretical gray scale centroid coordinates of the fixed star obtained by searching the fixed star.
5) The method is used for judging whether each star in one frame of image meets the following star identification conditions:
a module for judging the star image meeting the star identification condition as a background star and eliminating the background star in the image, wherein,
is the gray scale centroid coordinate of the jth star on the ith frame image,
and searching for the theoretical gray level centroid coordinate of the kth star on the ith frame image, wherein epsilon is a matching threshold.
6) And the module is used for removing background stars on all the images.
7) And the module is used for acquiring the track characteristics of the residual star images and detecting all space debris on the images.
The measuring system collects a plurality of frames of images including space debris and background stars, estimates the image background of the collected images, and calculates the two-dimensional plane actual measurement coordinates (x, y) of all the stars on each frame of image. Combining the two-dimensional plane actual measurement coordinates (X, Y) of all the star images on each frame of image, obtaining the right ascension alpha and the declination delta of all the star images on each frame of image in an astronomical positioning mode, calculating the three-dimensional vector of the inertia space corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining the two-dimensional tangent plane theoretical coordinates (X, Y) of each star on the image. And (3) combining the two-dimensional plane actual measurement coordinates (X, Y) of each star on the image with the two-dimensional tangent plane theoretical coordinates (X, Y) of each star on the image, and identifying and removing the background stars in the image through the star identification condition. And then, the images of background fixed stars are removed by combining multiple frames, the track characteristics of the remaining star images are obtained, whether the track belongs to the same star image or not is judged, and the problems that detection omission of space fragments is caused due to the fact that the frame frequency is not fixed and the motion characteristics are not consistent and the space fragment detection methods are different due to the fact that the observation modes are different are avoided.
Taking three continuous frames of images as an example, estimating image backgrounds in the three frames of images, calculating two-dimensional plane actual measurement coordinates (x, y) of all star images on each frame of image, then calculating the right ascension alpha and the declination delta of all star images on each frame of image, and calculating three-dimensional vectors of inertia spaces corresponding to all star images according to the right ascension alpha and the declination delta; and (4) acquiring two-dimensional tangent plane theoretical coordinates (X, Y) of each star in the image through star retrieval, wherein (X, Y) is the theoretical gray scale centroid coordinate of each star. And secondly, comparing the two-dimensional plane actual measurement coordinates (X, Y) of all the star images on each frame of image with the theoretical gray level centroid coordinates of each star acquired through star retrieval, identifying and removing the background star on the image, specifically, sequentially calculating the difference absolute value of the two-dimensional plane actual measurement coordinates (X, Y) of the star images on each frame of image and the two-dimensional tangent plane theoretical coordinates (X, Y) of all the star images on the image, and if the difference absolute value is within a matching threshold, such as within 1 pixel, judging the star image as the background star and removing the background star. And thirdly, generating a running track of the remaining planets except the background fixed star by combining the planets coordinates on the first frame image, the second frame image and the third frame image, acquiring track characteristics, detecting the space fragments according to the track characteristics, specifically, converting the tracks of the space fragments into apparent motion angular velocity through three-dimensional space vectors of adjacent frames, judging whether the tracks belong to the same target according to preset target judgment conditions, judging that the tracks belong to the same target if the track belongs to the same target if the track is consistent with the target judgment conditions, otherwise, judging that the tracks do not belong to the same target, and avoiding the problems of missed detection of the space fragments and different space fragment detection methods in observation modes due to the fact that the frame frequency is not fixed and the motion characteristics are not consistent.
Compared with the prior art, the technical proposal of the invention has the obvious beneficial effects that,
1) the method is characterized in that a full-frame scanning and astronomical positioning mode is adopted, and the mode of quickly removing background fixed stars on a single-frame image and identifying the background fixed stars on the single-frame image is not limited to a tracking or searching observation mode, and the two-dimensional plane actual measurement coordinates of all star images on the single-frame image and the two-dimensional tangent plane theoretical coordinates of each fixed star are adopted.
2) Three-dimensional vectors (alpha, delta) of inertia space corresponding to the star images in adjacent frames are adopted to convert the flight path into apparent motion angular velocity, and the apparent motion angular velocity is used as a judgment basis of the same target, so that the missing detection of space debris caused by unfixed frame frequency and inconsistent motion characteristics is avoided, the detection methods of the space debris in different observation modes are different, and the processing methods are consistent regardless of the tracking observation mode or the searching observation mode.
It should be understood that all combinations of the foregoing concepts and additional concepts described in greater detail below can be considered as part of the inventive subject matter of this disclosure unless such concepts are mutually inconsistent. In addition, all combinations of claimed subject matter are considered a part of the presently disclosed subject matter.
The foregoing and other aspects, embodiments and features of the present teachings can be more fully understood from the following description taken in conjunction with the accompanying drawings. Additional aspects of the present invention, such as features and/or advantages of exemplary embodiments, will be apparent from the description which follows, or may be learned by practice of specific embodiments in accordance with the teachings of the present invention.
Drawings
The drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component that is illustrated in various figures may be represented by a like numeral. For purposes of clarity, not every component may be labeled in every drawing. Embodiments of various aspects of the present invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 is a flowchart of a space debris detection method based on star search according to the present invention.
Detailed Description
In order to better understand the technical content of the present invention, specific embodiments are described below with reference to the accompanying drawings.
With reference to fig. 1, the present invention provides a space debris detection method based on star search, where the detection method includes:
s1: receiving at least one frame of image comprising space debris and background stars, and estimating the background of the image.
S2: and according to the estimation result of the image background, performing full-frame scanning on the image, and calculating to obtain two-dimensional plane coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is set as an x-axis increasing direction, the lower side of the image is set as a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction.
S3: combining two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all the star images in an astronomical positioning mode, calculating three-dimensional vectors of inertia spaces corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the (X, Y) is the theoretical gray scale centroid coordinate of the fixed star obtained through fixed star retrieval.
S4: judging whether each star image in each frame image meets the following star identification conditions:
judging the star image meeting the star identification condition into a background star, and removing the background star in the image, wherein,
is the gray scale centroid coordinate of the jth star on the ith frame image,
and searching for the theoretical gray level centroid coordinate of the kth star on the ith frame image, wherein epsilon is a matching threshold.
And repeating the process until background stars in all the images are identified and eliminated.
S5: and (4) combining all the images with the background stars removed, acquiring the track characteristics of the residual star images, and detecting all the space fragments on the images.
The five steps are explained below.
Image background estimation
In step S1, the background in the received image is estimated using the image background estimation model. For example, after receiving a plurality of frames of transferred CCD images containing space debris and background stars, the image background is estimated using the created mathematical model of image background estimation to speed up the processing.
The method for creating the image background estimation model comprises the following steps: and comprehensively analyzing a plurality of frames of images containing space debris and background stars, and creating an image background estimation model for estimating the background of the images.
Preferably, algorithms such as machine learning can be employed to create the image background estimation model.
Two, star image scanning and two-dimensional plane actual measurement coordinate reduction
In step S2, the process of performing full-frame scanning on the image according to the estimation result of the image background and calculating the two-dimensional plane coordinates (x, y) of all the star images on the image includes the following steps:
and combining the estimation result of the image background and the original image containing the space debris and the background stars, and performing full-frame scanning on the image containing the space debris and the background stars according to a preset threshold value to give a two-dimensional plane coordinate (x, y) reduction result of all the stars on the image.
Three, three-dimensional space vector and two-dimensional tangent plane theoretical coordinate reduction
Obtaining the right ascension alpha and the declination delta corresponding to all the star images in an astronomical positioning mode according to the scanning result of the two-dimensional plane actual measurement coordinates (x, y) of all the star images on the image, and then calculating according to the right ascension alpha and the declination delta to obtain the three-dimensional vector of each star image in the inertial space; meanwhile, the two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star on the image are obtained through fixed star retrieval, wherein the (X, Y) is the theoretical gray scale centroid coordinates of the fixed star obtained through fixed star retrieval.
Fourthly, background star elimination
The method is not limited to the situation of adopting a tracking or searching observation mode, and particularly, the star image meeting the following threshold is taken as the background star.
Wherein the content of the first and second substances,
is the gray scale centroid coordinate of the jth star on the ith frame image,
and searching for the theoretical gray level centroid coordinate of the kth star on the ith frame image, wherein epsilon is a matching threshold.
It can be known from the foregoing that, in the present invention, the method of removing background stars is not limited to the observation mode, and no matter the tracking or searching observation mode is adopted, there is no influence on the identification process, and only the two-dimensional plane actual measurement coordinates (X, Y) of the star image on the single frame image and the tangent plane theoretical coordinates (X, Y) of all stars need to be known in the identification process.
Space debris detection
After background fixed stars in all images are removed, detection false alarms generated by factors such as bright fixed stars and the like are reduced, and the detection success rate of dark and weak space debris is improved.
Because the time intervals of adjacent frames are difficult to keep consistent, the motion characteristics of each space debris are different, and missing detection of the space debris is easy to cause. In order to avoid the problem, the invention provides that the flight path of the space debris is converted into the apparent motion angular velocity through the three-dimensional space vector of the adjacent frame, whether the flight path belongs to the same target is judged according to the preset target judgment condition, if the flight path accords with the target judgment condition, the flight path is judged to belong to the same target, and if not, the flight path is judged not to belong to the same target. The judgment mode weakens the influence of the time interval of the adjacent frames on the judgment result, and judges whether the acquired flight path belongs to the same target or not by combining the three-dimensional space vectors of the adjacent frames, thereby reducing the risk of missed detection.
Specifically, the detection process of the space debris includes: and (4) detecting all space fragments on the image by integrating multiple judgment characteristics of the star images according to the removing result of the star images of the fixed stars of the multi-frame image. No matter the space debris adopts a tracking or observation mode, the flight path of the space debris can be converted into the apparent motion angular velocity through the three-dimensional space vector of the adjacent frame, and the apparent motion angular velocity is used as the judgment basis of the same target, so that the detection omission of the space debris caused by the fact that the frame frequency is not fixed and the motion characteristics are inconsistent and the detection methods of the space debris caused by different observation modes are different are avoided. The criteria are as follows:
wherein
Wherein the content of the first and second substances,
the j-th star on the ith frame image passes through the corresponding right ascension
And declination
Calculating a three-dimensional vector in the obtained inertial space;
the kth star on the (i + 1) th frame image passes through the corresponding right ascension channel
And declination
Calculating a three-dimensional vector in the obtained inertial space;
the 1 st star on the i +2 th frame image passes through the corresponding right ascension
And declination
Calculating a three-dimensional vector in the obtained inertial space; epsilon1The minimum detection threshold is the minimum included angle of the vectors of two certain planets in the inertial space of two adjacent frames; epsilon2And the maximum detection threshold is the difference between the included angle of the vector in the inertial space of the jth star image in the ith frame and the vector in the inertial space of the kth star image in the ith +1 frame and the vector in the inertial space of the 1 st star image in the ith +2 frame in the three continuous frames.
Further, the application of the detection data includes the following ways:
first mode
And feeding back the detection results of all the space debris on the image to a tracking module of the measuring system so as to realize the tracking of the space debris on the image.
Second mode
The results of the detection of all the spatial debris on the image are stored in a memory, such as a storage medium of a computer system, for data backup.
Third mode
The detection results of all the space debris on the image are displayed through the display system, and particularly, the image background estimation result, the full-frame scanning result of the image and the detection result of the moving star in the image can be displayed through the display system, so that a user can conveniently check the detection results at any time.
Based on the space debris detection method based on the star retrieval, the invention also provides a space debris detection system based on the star retrieval, and the space debris detection system comprises the following modules:
1) a module for receiving an image comprising spatial debris and background stars.
2) Means for estimating a background of the image.
3) And the module is used for scanning the image in a full frame according to the estimation result of the image background and calculating to obtain two-dimensional plane coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is an x-axis increasing direction, the lower side of the image is a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction.
4) And the module is used for combining the two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all the star images in an astronomical positioning mode, calculating the three-dimensional vectors of the inertia spaces corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining the two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the (X, Y) is the theoretical gray scale centroid coordinates of the fixed star obtained by searching the fixed star.
5) The method is used for judging whether each star in one frame of image meets the following star identification conditions:
a module for judging the star image meeting the star identification condition as a background star and eliminating the background star in the image, wherein,
is the gray scale centroid coordinate of the jth star on the ith frame image,
and searching for the theoretical gray level centroid coordinate of the kth star on the ith frame image, wherein epsilon is a matching threshold.
6) And the module is used for removing background stars on all the images.
7) And the module is used for acquiring the track characteristics of the residual star images and detecting all space debris on the images.
The invention relates to a space debris detection method based on star retrieval, which can remove star stars on a single-frame image according to a given threshold, flexibly adopt multi-frame images to detect space debris on the image, reduce detection false alarms generated by factors such as bright stars and the like, improve the detection success rate of dark and weak space debris, avoid missing detection of the space debris caused by non-fixed frame frequency and inconsistent motion characteristics, and avoid different space debris detection methods in observation modes, thereby being a very good space debris detection method.
Through tests, the detection success rate of the invention can almost reach 100% for the space debris with the signal-to-noise ratio larger than 3, and can almost reach more than 90% for the space debris with the signal-to-noise ratio smaller than 3 and larger than 2. The method has good actual treatment effect and can be widely applied to the fields of scientific research and engineering.
In this disclosure, aspects of the present invention are described with reference to the accompanying drawings, in which a number of illustrative embodiments are shown. Embodiments of the present disclosure are not necessarily defined to include all aspects of the invention. It should be appreciated that the various concepts and embodiments described above, as well as those described in greater detail below, may be implemented in any of numerous ways, as the disclosed concepts and embodiments are not limited to any one implementation. In addition, some aspects of the present disclosure may be used alone, or in any suitable combination with other aspects of the present disclosure.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the invention. Therefore, the protection scope of the present invention should be determined by the appended claims.
Claims (10)
1. A space debris detection method based on star retrieval is characterized by comprising the following steps:
s1: receiving at least one frame of image comprising space debris and background stars, and estimating the background of the image;
s2: according to the estimation result of the image background, performing full-frame scanning on the image, and calculating to obtain two-dimensional plane actual measurement coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is an x-axis increasing direction, the lower side of the image is a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction;
s3: combining two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all the star images in an astronomical positioning mode, calculating three-dimensional vectors of inertia spaces corresponding to all the star images according to the right ascension alpha and the declination delta, and obtaining two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the two-dimensional tangent plane theoretical coordinates (X, Y) are theoretical gray scale centroid coordinates of the fixed star obtained through fixed star retrieval;
s4: judging whether each star image in each frame image meets the following star identification conditions:
judging the star image meeting the star identification condition into a background star, and removing the background star in the image, wherein,
is the gray scale centroid coordinate of the jth star on the ith frame image,
searching for a theoretical gray scale centroid coordinate of a kth fixed star on an ith frame image, wherein epsilon is a matching threshold;
repeating the above processes until background fixed stars in all the images are identified and eliminated;
s5: and (4) combining all the images with the background stars removed, acquiring the track characteristics of the residual star images, and detecting all the space fragments on the images.
2. The method for detecting spatial debris based on star search of claim 1, wherein in step S1, the background in the received image is estimated by using an image background estimation model.
3. The sidereal search-based space debris detection method according to claim 2, wherein the detection method further comprises:
and comprehensively analyzing a plurality of frames of images containing space debris and background stars to create an image background estimation model.
4. The method for detecting space debris based on star search of claim 1, wherein in step S2, the step of performing a full-frame scan on the image according to the estimation result of the image background and calculating the two-dimensional plane actual measurement coordinates (x, y) of all star images on the image comprises the following steps:
and combining the estimation result of the image background and the original image containing the space debris and the background fixed star, and performing full-frame scanning on the image containing the space debris and the background fixed star according to a preset threshold value to give a reduction result of the two-dimensional plane actual measurement coordinates (x, y) of all the star images on the image.
5. The method for detecting space debris based on star search as claimed in claim 1, wherein in step S5, the step of obtaining the track characteristics of the remaining stars and detecting all space debris on the image comprises the following steps:
converting the flight path of the space debris into an apparent motion angular velocity through the three-dimensional space vector of the adjacent frame, judging whether the flight path belongs to the same target according to a preset target judgment condition, if the flight path accords with the target judgment condition, judging that the flight path belongs to the same target, and if not, judging that the flight path does not belong to the same target.
6. The method according to claim 5, wherein the preset target judgment conditions are:
wherein
Wherein the content of the first and second substances,
the j-th star on the ith frame image passes through the corresponding right ascension
And declination
Calculating a three-dimensional vector in the obtained inertial space;
the kth star on the (i + 1) th frame image passes through the corresponding right ascension channel
And declination
Calculating a three-dimensional vector in the obtained inertial space;
the 1 st star on the i +2 th frame image passes through the corresponding right ascension
And declination
Calculating a three-dimensional vector in the obtained inertial space; epsilon1The minimum detection threshold is the minimum included angle of the vectors of two certain planets in the inertial space of two adjacent frames; epsilon2And the maximum detection threshold is the difference between the included angle of the vector in the inertial space of the jth star image in the ith frame and the vector in the inertial space of the kth star image in the ith +1 frame and the vector in the inertial space of the 1 st star image in the ith +2 frame in the three continuous frames.
7. The sidereal search-based space debris detection method according to claim 1, wherein the detection method further comprises:
and feeding back the detection results of all the space debris on the image to a tracking module of the measuring system.
8. The sidereal search-based space debris detection method according to claim 1, wherein the detection method further comprises:
and storing the detection results of all the space debris on the image into a memory.
9. The sidereal search-based space debris detection method according to claim 1, wherein the detection method further comprises:
and displaying the detection results of all the space debris on the image through a display system.
10. A space debris detection system based on star retrieval, the space debris detection system comprising:
means for receiving an image comprising spatial debris and background stars;
means for estimating a background of the image;
the module is used for carrying out full-frame scanning on the image according to the estimation result of the image background and calculating to obtain two-dimensional plane actual measurement coordinates (x, y) of all the stars on the image, wherein the upper left corner of the image is set as a coordinate origin (0, 0), the right side of the image is an x-axis increasing direction, the lower side of the image is a y-axis increasing direction, x is the distance between the position of the star in the image and the coordinate origin in the x-axis direction, and y is the distance between the position of the star in the image and the coordinate origin in the y-axis direction;
a module used for combining the two-dimensional plane actual measurement coordinates (X, Y) of all star images on the image, obtaining the right ascension alpha and the declination delta of all star images in an astronomical positioning mode, calculating the three-dimensional vector of the inertia space corresponding to all star images according to the right ascension alpha and the declination delta, and obtaining the two-dimensional tangent plane theoretical coordinates (X, Y) of each fixed star in the image, wherein the two-dimensional tangent plane theoretical coordinates (X, Y) are the theoretical gray centroid coordinates of the fixed star obtained by fixed star retrieval;
the method is used for judging whether each star image in each frame image meets the following star identification conditions:
a module for judging the star image meeting the star identification condition as a background star and eliminating the background star in the image, wherein,
for the gray scale of the j-th star on the ith frame imageThe coordinates of the center of mass,
searching for a theoretical gray scale centroid coordinate of a kth fixed star on an ith frame image, wherein epsilon is a matching threshold;
a module for rejecting background stars on all images;
and the module is used for acquiring the track characteristics of the residual star images and detecting all space debris on the images.
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