CN111024127B - Method and system for detecting inter-satellite angular position error of high-resolution dynamic star simulator - Google Patents
Method and system for detecting inter-satellite angular position error of high-resolution dynamic star simulator Download PDFInfo
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Abstract
The embodiment of the application discloses a method, a device and a system for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator. The star point display device displays star point images according to star map data generated by the star map generation processor based on a star table database and position information, light rays emitted by the displayed star points are converged through the star simulator optical lens to form parallel light, and the parallel light rays are projected into a high-precision theodolite ocular positioned at the rear end of the star simulator optical lens to form images; the star point image acquisition device acquires the cross hair and the star point image to be detected displayed by the high-precision theodolite in real time, and sends the cross hair and the star point image to the inter-star angular position error detection processor, so that the star point image acquisition device processes the received image, calculates the position difference value of the center point positions of the cross hair and the star point image to be detected in the same direction, and finally calculates the inter-star angular position error value according to the corresponding high-precision theodolite dial display value when each position difference value is 0. The application effectively improves the testing precision and the detection efficiency of the inter-satellite angular position error.
Description
Technical Field
The embodiment of the application relates to the field of space science test instruments, in particular to a method, a device and a system for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator.
Background
The star sensor is a high-precision space attitude optical sensor and has important application value in aerospace. The dynamic star simulator is used as a component of the ground detection equipment of the star sensor, provides star map simulation of any direction under an inertial coordinate system at any moment for the star sensor, can perform functional detection on imaging, star map identification, star tracking and the like of the star sensor, and provides technical guidance for development of the star sensor.
When the high-resolution dynamic star simulator works, star map data which can be observed by the star sensor at the current moment is generated by star table data according to the direction of an optical axis provided by the simulation host, and then a star map is generated on the LCOS star point display device through an interface and a driving circuit. Light rays emitted by the simulated star points are converged by the collimating optical system to form parallel light, and the observation effect on the real star is simulated on the indoor limited distance.
So far, for the inter-satellite angular position error detection of the high-resolution dynamic star simulator, the star points and the cross hairs are observed by naked eyes, and then the theodolite is adjusted to be aligned.
Disclosure of Invention
The embodiment of the disclosure provides a method, a device, equipment and a computer readable storage medium for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator, and improves the detection precision and efficiency of the inter-satellite angular position error of the dynamic satellite simulator.
In order to solve the technical problems, the embodiment of the application provides the following technical scheme:
in one aspect, an embodiment of the present application provides a system for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator, including:
the device comprises a star map generation processor, a star point display device, a star simulator optical lens, a high-precision theodolite, a star point image acquisition device and an inter-star angular position error detection processor;
the star point display device is arranged on the star simulator optical lens and is used for displaying star point images according to star map data generated by the star map generation processor based on a star table database and position information, converging light rays emitted by the displayed star points through the star simulator optical lens to form parallel light, and emitting the parallel light to a high-precision theodolite ocular positioned at the rear end of the star simulator optical lens to form images so as to simulate the real star luminous effect at the position information; the star simulator optical lens and the high-precision theodolite meet the pupil matching principle;
the star point image acquisition device is positioned at the rear end of the high-precision theodolite ocular, is used for acquiring cross wires displayed by the high-precision theodolite and star point images to be detected, and transmits the cross wires and the star point images to the inter-star angular position error detection processor;
the inter-satellite angular position error detection processor is used for respectively calculating the position difference values of the center point of the cross hair and the center star point of the image of the star point to be detected in the same direction, and calculating the inter-satellite angular position error value according to the display numerical value of the high-precision theodolite dial corresponding to each position difference value of 0.
Optionally, the star point image acquisition device is a CMOS optical camera module, and the CMOS optical camera module is in a continuous acquisition state.
Optionally, the star point display device is a liquid crystal on silicon star point display device.
Optionally, the device further comprises a display connected with the inter-satellite angular position error detection processor, wherein the display is used for displaying the position difference values of the center point of the cross wire and each star point to be detected in the star point image to be detected in the same direction in real time in the corresponding position of the position information table in the high-precision theodolite adjustment process.
In another aspect, the embodiment of the application provides a method for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator, which comprises the following steps:
acquiring a cross hair image and a star point image to be detected, which are displayed by a high-precision theodolite;
processing the cross hair image and the star point image to be detected by using a digital image processing algorithm to obtain a center point coordinate of the cross hair image and a center star point coordinate of the star point image to be detected;
calculating the position difference values of the central point and the central star point in the horizontal direction and the vertical direction respectively;
acquiring a dial display value of the high-precision theodolite corresponding to each position difference value of 0;
calculating the inter-star angular position error value of the high-resolution dynamic star simulator according to the display numerical values of each scale.
Optionally, the star point image to be measured is a cross image composed of 9 star points to be measured, and the center interval of each star point to be measured is 200 pixels.
Optionally, after calculating the position difference values of the center point and the center star point in the horizontal direction and the vertical direction, the method further includes:
acquiring coordinate values of all the star points to be detected except the center star point of the star point image to be detected;
and calculating the position difference value of the central point and the star point to be measured in the horizontal direction and the vertical direction respectively for each star point to be measured, and obtaining the dial display value of the high-precision theodolite corresponding to each position difference value of 0.
Optionally, the calculating the inter-star angular position error value of the high-resolution dynamic star simulator according to the display numerical value of each scale includes:
taking the average number of all the numerical values displayed by the high-precision theodolite horizontal scale as the position error value of the high-resolution dynamic star simulator in the horizontal direction of the inter-star angle;
and averaging all the values displayed by the high-precision theodolite vertical scale to serve as a position error value of the high-resolution dynamic star simulator in the vertical direction of the inter-star angle.
Optionally, after calculating the position difference values of the center point and the star point to be measured in the horizontal direction and the vertical direction for each star point to be measured, the method further includes:
and in the high-precision theodolite adjusting process, filling the position difference values of the center point of the cross hair and each star point to be measured in the same direction in the star point image to the corresponding position of a pre-built position information table in real time, and sending the position information table to a display.
The embodiment of the application also provides a device for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator, which comprises the following steps:
the image acquisition module is used for acquiring a cross hair image and a star point image to be detected, which are displayed by the high-precision theodolite;
the image processing module is used for processing the cross hair image and the star point image to be detected by utilizing a digital image processing algorithm to obtain the center point coordinates of the cross hair image and the center star point coordinates of the star point image to be detected;
the relative position calculation module is used for calculating the position difference values of the central point and the central star point in the horizontal direction and the vertical direction respectively;
the dial reading acquisition module is used for acquiring dial display values of the high-precision theodolite corresponding to the position difference values of 0;
and the inter-satellite angular position error value calculating module is used for calculating the inter-satellite angular position error value of the high-resolution dynamic star simulator according to the display numerical values of each dial.
The embodiment of the application also provides a device for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator, which comprises a processor, wherein the processor is used for realizing the steps of the method for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator when executing the computer program stored in the memory.
The embodiment of the application finally provides a computer readable storage medium, wherein the computer readable storage medium stores a detection program of the inter-satellite angular position error of the high-resolution dynamic satellite simulator, and the detection program of the inter-satellite angular position error of the high-resolution dynamic satellite simulator realizes the steps of the detection method of the inter-satellite angular position error of the high-resolution dynamic satellite simulator when being executed by a processor.
The technical scheme provided by the application has the advantages that the image acquisition device is integrated at the ocular of the high-precision theodolite, the center positions of the cross hair and the star point image to be detected can be automatically identified and acquired through the inter-satellite angular position error detection processor, the position difference values of the two images in the horizontal direction and the vertical direction can be calculated in real time, when the position difference value is 0, the two images are indicated to coincide in the direction, and the inter-satellite angular position error value can be calculated according to the reading of the high-precision theodolite at the moment. The problems of accidental errors and individual differences caused by visual observation of cross hairs and star points in the theodolite in the related art are solved, and the testing precision of the inter-star angular position errors of the dynamic star simulator and the detection efficiency of the inter-star angular position errors are effectively improved.
In addition, the embodiment of the application also provides a corresponding implementation method, a device, equipment and a computer readable storage medium aiming at the detection system of the inter-satellite angular position error of the high-resolution dynamic star simulator, and the method, the device, the equipment and the computer readable storage medium have corresponding advantages.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions of the related art, the drawings that are required to be used in the embodiments or the description of the related art will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort to those of ordinary skill in the art.
FIG. 1 is a schematic diagram of a system for detecting angular position errors between satellites of a high resolution dynamic satellite simulator according to an exemplary embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a star point distribution according to an exemplary embodiment of the present disclosure;
FIG. 3 is a schematic illustration of an interface display according to an exemplary embodiment of the present disclosure;
FIG. 4 is a schematic flow chart of a method for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to the present disclosure;
fig. 5 is a block diagram of an embodiment of a device for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to the present disclosure.
Detailed Description
In order to better understand the aspects of the present application, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims and drawings are used for distinguishing between different objects and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements but may include other steps or elements not expressly listed.
Having described the technical solutions of embodiments of the present application, various non-limiting embodiments of the present application are described in detail below.
Referring first to fig. 1, fig. 1 is a schematic structural diagram of a system for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to an embodiment of the present application, where the embodiment of the present application may include the following:
the system for detecting the angular position error between the satellites of the high-resolution dynamic satellite simulator can comprise a star map generation processor 01, a star point display device 02, a satellite simulator optical lens 03, a high-precision theodolite 04, a star point image acquisition device 05 and an angular position error detection processor 06.
The star map generation processor 01 is connected with the star point display device 02; the star point display device 02 is arranged on the star simulator optical lens 03, the high-precision theodolite 04 is positioned at the rear end of the star simulator optical lens 03, and the star simulator optical lens 03 and the high-precision theodolite 04 meet the pupil matching principle; the star point image acquisition device 05 is positioned at the rear end of the ocular of the high-precision theodolite 04 and is connected with the inter-star angular position error detection processor 06.
The star map generation processor 01 generates star map data according to a star map database and position information, the star map database is constructed in advance and stored in the star map generation processor 01, the position information can be an instruction containing the position information sent by an upper computer, or the position of a certain area displaying the star map is selected, the star map data corresponds to the position information, and the imaging in the ocular lens of the high-precision theodolite 04 is the real star luminous effect of the area corresponding to the simulated position information.
The star map generation processor 01 may be any star point master computer in the related art, and the process of the star map generation processor 01 according to the star map data may refer to the implementation process of the related art, which is not limited in any way.
The star point display device 02 receives star map data transmitted from the star map generation processor 01 and displays a star point image in real time based on the received star map data. Alternatively, the star point display device 02 may employ an LCOS (Liquid Crystal on Silicon ) star point display device based on advantages of liquid crystal on silicon technology.
The star point display device 02 displays that light rays emitted by star points are converged by the star simulator optical lens 03 to form parallel light rays to be emitted, and the parallel light rays are used for simulating the real sun light-emitting effect.
The high-precision theodolite 04 receives star point rays which are converged by the star simulator optical lens 03 to form parallel light and images the star point rays in an ocular lens.
The star point image acquisition device 05 receives the cross hair image and the star point image to be detected which are displayed by the ocular of the high-precision theodolite 04, and sends the acquired images to the inter-star angular position error detection processor 06 for digital image processing and data calculation.
Before the star point image acquisition device 05 acquires the star point image, the ocular of the high-precision theodolite 04 needs to be adjusted first, so that the cross hairs of the high-precision theodolite 04 can be imaged clearly, and then the objective lens of the high-precision theodolite 04 is adjusted, so that the star point to be detected can be imaged clearly.
Based on the image acquisition advantage of the CMOS optical camera, the star point image acquisition device can adopt a CMOS optical camera module, namely the CMOS optical camera module is integrated at the rear end of the ocular of the high-precision theodolite 04. The CMOS camera optical module is connected with the inter-satellite angular position error detection processor 06 and is in a continuous acquisition state.
The inter-star angular position error detection processor 06 receives the cross hair image and the star point image to be detected sent by the star point image acquisition device 05, and performs digital image processing on the cross hair image and the star point image to be detected, for example, a threshold value in digital image processing, a related algorithm such as calculating an edge and the like can be adopted to obtain the position coordinates of the center point of the cross hair image and the center star point of the star point image to be detected. Any digital image processing algorithm can be used to extract the coordinate information of a certain pixel point in the image, the application is not limited in any way, and the specific implementation process of the algorithm can refer to the description of the related technology, and the description is omitted here.
After the position coordinates of the center point of the cross wire and the center star point of the star point image to be detected are obtained, the relative position values of the center point of the cross wire and the center star point in the same direction are calculated, namely the coordinate difference value of the center point of the cross wire and the center star point image to be detected in the horizontal direction and the coordinate difference value of the center point of the star point image to be detected in the vertical direction are respectively calculated. For example, the center point coordinates of the cross hair are O (x 0 ，y 0 ) The center coordinate of the star point to be measured is P (x n ，y n ). The center coordinates P (xn, yn) of the star point to be measured and the center coordinates O (x) of the cross hair 0 ，y 0 ) And (5) making a difference in the same direction to obtain the relative position value of the star point center and the cross wire center coordinate point. I.e. the difference in position in the horizontal direction is Deltax n ＝x n -x 0 The difference in position between the two in the vertical direction is deltay n ＝y n -y 0 。
The high-precision theodolite is adjusted to enable the current star point to be detected to coincide with the center point of the cross wire, when the position difference value between the center point of the cross wire and the center star point of the image of the star point to be detected in a certain direction is 0, the position difference value indicates that the center point of the image of the star point to be detected and the center point of the image of the star point to be detected coincide in the certain direction, and the reading on the 04 scale of the high-precision theodolite is read. And then calculating the inter-star angular position error value of the high-resolution dynamic star simulator according to the dial display value of the high-precision theodolite 04.
The user can directly input the read dial display value of the high-precision theodolite 04 into the inter-satellite angular position error detection processor 06 through the man-machine interaction module, and can copy the read dial display value of the high-precision theodolite 04 into the inter-satellite angular position error detection processor 06 through the external storage device, and the read dial display value of the high-precision theodolite 04 can be sent into the inter-satellite angular position error detection processor 06 in other modes, so that the application is not limited in any way.
For example, in the horizontal direction, the high-precision theodolite 04 horizontal and vertical knobs are roughly adjusted, the center star point of the star point image to be measured is moved to the vicinity of the cross wire, the high-precision theodolite 04 horizontal knob is finely adjusted until the position difference value of the two knobs is 0, and the reading of the horizontal scale of the high-precision theodolite 04 at the moment is recorded; in the vertical direction, the high-precision theodolite 04 is roughly adjusted by a horizontal knob and a vertical knob, and the central star point of the star point image to be measured is moved to the vicinity of the cross hair. And finely adjusting the vertical direction knob of the high-precision theodolite 04 until the position difference value of the vertical direction knob and the vertical direction knob is 0, and recording the reading of the vertical scale of the high-precision theodolite 04 at the moment.
According to the technical scheme provided by the embodiment of the application, the image acquisition device is integrated at the ocular of the high-precision theodolite, the center positions of the cross hair and the star point image to be detected can be automatically identified and acquired through the inter-satellite angular position error detection processor, the position difference values of the two images in the horizontal direction and the vertical direction can be calculated in real time, when the position difference value is 0, the two images are indicated to coincide in the direction, and the inter-satellite angular position error value can be calculated according to the reading of the high-precision theodolite at the moment. The problems of accidental errors and individual differences caused by visual observation of cross hairs and star points in the theodolite in the related art are solved, and the testing precision of the inter-star angular position errors of the dynamic star simulator and the detection efficiency of the inter-star angular position errors are effectively improved.
After the inter-satellite angular position error detection processor 06 calculates the position difference value of the center point of the cross hair and the center star point of the star point image to be measured in the same direction in real time, a display connected with the inter-satellite angular position error detection processor 06 can be further arranged for facilitating the user to adjust the high-precision theodolite 04. The display is used for displaying the position difference value of the center point of the cross hair and the center star point of the star point image to be detected in the same direction to a user in real time. Of course, in other embodiments, the user client may also be directly bound, and the inter-star angular position error detection processor 06 sends the position difference between the center point of the cross hair and the center star point of the to-be-detected star point image in the same direction to the user client.
Alternatively, the inter-satellite angular position error detection processor 06 and the display may be integrated, that is, any intelligent device may be used to implement both functions, such as a PC, a desktop computer, a tablet, etc.
In one embodiment, the star point image to be measured may be a cross image composed of 9 star points to be measured, as shown in fig. 2, alternatively, 4 star points may be respectively disposed outside the center star point in the horizontal direction and the vertical direction, and the center interval of each star point to be measured may be set to 200 pixels. In the star point diagram to be measured, each star point to be measured in the diagram can be named sequentially from left to right and from top to bottom, or the star points to be measured are numbered. Of course, any center interval and star point number can be set in the view field according to the requirement, and the implementation of the application is not affected.
In the high-precision theodolite adjustment process, the position difference values of the center point of the cross hair and each star point to be measured in the star point image to be measured in the same direction can be filled in corresponding positions of a pre-built position information table in real time, and the position information table is sent to a display for display. The position information table may be in a table form as shown in fig. 3, where the position of the cross wire is the position coordinate of the center point of the cross wire, and the difference value is the relative position value of the center point of the cross wire 042 and each star point to be measured in the star point image 041 to be measured. Of course, other formats of position information table can be adopted, so long as the relative positions of the current star points to be measured and the center point of the cross wire are recorded and displayed in real time, and the realization of the application is not affected. The position difference value of each star point and the cross wire is displayed in real time in a position information table of a display interface of the display, and when a knob in the horizontal and vertical directions of the high-resolution theodolite is moved, namely, the position of each star point to be detected is changed, the relative position data in the position information table also changes in real time.
In order to further improve the detection precision of the inter-satellite angular position error of the high-resolution dynamic star simulator, the relative positions of each star point and the center point of the cross wire in the star map to be detected can be calculated in sequence, the corresponding readings of the high-precision theodolite 04 are recorded after the star points are overlapped, and the final inter-satellite angular position error value is determined based on the readings in the same direction. And finally calculating the inter-star angular position error of the dynamic star simulator according to the recorded reading data. In a specific embodiment, taking the average number of the numerical values displayed by the high-precision theodolite horizontal scale as a position error value of the high-resolution dynamic star simulator in the horizontal direction of the inter-star angle; and taking the average number of all the numerical values displayed by the high-precision theodolite vertical scale as a position error value of the high-resolution dynamic star simulator in the vertical direction of the inter-star angle.
Taking the star chart to be measured as shown in fig. 2 as an example, a central star point of the star point image to be measured is a star point with the reference number of 5 in the chart, and the star point at the center is used as a reference to measure the inter-star angular position errors in the horizontal direction and the vertical direction respectively.
Horizontal direction: coarse pitch high precision theodolite 04 horizontal and vertical knobs, move the center star point numbered 5 to near cross hair 042. Fine tuning high precision theodolite 04 horizontal direction knob, observing delta x in table 5 (relative position of measured star point and cross-hair center point numbered 5), when Δx 5 When the value of (2) is 0, the star point image 041 to be measured is completely overlapped with the cross hair 042 in the horizontal direction, and the horizontal reading of the high-precision theodolite 04 at the moment is recorded. According to the method, for the measured star points with serial numbers of 3, 4, 6 and 7 in the horizontal direction (the measured star point with serial number of 4 is the measured star point between serial numbers of 3 and 5 in the horizontal direction, the measured star point with serial number of 6 is the measured star point between serial numbers of 5 and 7 in the horizontal direction), the accurate adjustment high-precision theodolite 04 horizontal knob is respectively at delta x 3 、Δx 4 、Δx 6 、Δx 7 At a value of 0, corresponding level readings of the high-precision theodolite 04 are recorded, and the level readings are averaged to be used as a position error value of the high-resolution dynamic star simulator in the horizontal direction of the inter-star angle.
Vertical direction: coarse pitch high precision theodolite 04 horizontal and vertical knobs, move the center star numbered 5 to near cross hair 042. Fine tuning high precision theodolite 04 vertical direction knob, observing delta y in table 5 When Δy is the value of 5 When the value of (2) is 0, it indicates that the star point image 041 has completely overlapped with the cross hair 042 in the vertical direction, and the vertical reading of the high-precision theodolite 04 is recorded. According to the method, for the measured star points with serial numbers of 1, 2, 8 and 9 in the vertical direction (the measured star point with serial number of 2 is located between serial numbers of 1 and 5 in the vertical directionThe measured star points with the number of 8 are measured star points positioned between the number of 5 and the number of 9 in the vertical direction), the horizontal knob of the high-precision theodolite 04 is finely adjusted, and when deltax is calculated 1 、Δx 2 、Δx 8 、Δx 9 When the values are 0, the vertical readings of the high-precision theodolite 04 at the moment are recorded, and the vertical readings are averaged to be used as the position error value of the high-resolution dynamic star simulator in the vertical direction of the inter-star angle.
The application also provides a corresponding implementation method for the detection system of the inter-satellite angular position error of the high-resolution dynamic satellite simulator, which is applied to an inter-satellite angular position error detection processor.
Referring first to fig. 4, fig. 4 is a flow chart of a method for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to an embodiment of the present application, where the embodiment of the present application may include the following:
s401: and acquiring a cross hair image and a star point image to be detected, which are displayed by the high-precision theodolite.
S402: and processing the cross hair image and the star point image to be detected by using a digital image processing algorithm to obtain the center point coordinates of the cross hair image and the center star point coordinates of the star point image to be detected.
S403: and calculating the position difference values of the central point and the central star point in the horizontal direction and the vertical direction respectively.
S404: and obtaining the corresponding dial display numerical value of the high-precision theodolite when the difference value of each position is 0.
S405: calculating the inter-star angular position error value of the high-resolution dynamic star simulator according to the display numerical values of each scale.
Optionally, between S403 and S404, the method may further include:
acquiring coordinate values of each star point to be measured except for a center star point in the star point image to be measured;
and calculating the position difference value of the central point and the star point to be measured in the horizontal direction and the vertical direction respectively for each star point to be measured, and obtaining the dial display value of the high-precision theodolite corresponding to each position difference value of 0.
In a specific embodiment, the star point image to be measured is a cross image composed of 9 star points to be measured, and S405 may be:
taking the average number of the numerical values displayed by the high-precision theodolite horizontal scale as the position error value of the high-resolution dynamic star simulator in the horizontal direction of the inter-star angle;
and averaging all the numerical values displayed by the high-precision theodolite vertical scale to serve as a position error value of the high-resolution dynamic star simulator in the vertical direction of the inter-star angle.
In other embodiments, after S405, it may further include:
in the high-precision theodolite adjusting process, the position difference values of the center point of the cross hair and each star point to be measured in the star point image to be measured in the same direction are filled in corresponding positions of a pre-built position information table in real time, and the position information table is sent to a display.
From the above, the embodiment of the application solves the current situation of accidental errors and individual differences caused by visual observation of cross hairs and star points in theodolites in the related art, and effectively improves the testing precision and the detection efficiency of the inter-star angular position errors of the dynamic star simulator.
The embodiment of the application also provides a corresponding implementation device for the detection method of the inter-satellite angular position error of the high-resolution dynamic satellite simulator, so that the method has more practicability. The following describes the device for detecting the inter-satellite angular position error of the high-resolution dynamic star simulator provided by the embodiment of the application, and the device for detecting the inter-satellite angular position error of the high-resolution dynamic star simulator described below and the method for detecting the inter-satellite angular position error of the high-resolution dynamic star simulator described above can be correspondingly referred to each other.
Referring to fig. 5, fig. 5 is a block diagram of a device for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to an embodiment of the present application, where the device may include:
the image acquisition module 501 is used for acquiring a cross hair image and a star point image to be detected, which are displayed by the high-precision theodolite.
The image processing module 502 is configured to process the cross hair image and the star point image to be detected by using a digital image processing algorithm, so as to obtain a center point coordinate of the cross hair image and a center star point coordinate of the star point image to be detected.
The relative position calculating module 503 is configured to calculate a position difference value between the center point and the center star point in the horizontal direction and the vertical direction, respectively.
The dial reading obtaining module 504 is configured to obtain a dial display value of the high-precision theodolite corresponding to each position difference value of 0.
The inter-star angular position error value calculating module 505 is configured to calculate an inter-star angular position error value of the high-resolution dynamic star simulator according to the display values of the scales.
The functions of each functional module of the device for detecting the inter-satellite angular position error of the high-resolution dynamic star simulator according to the embodiment of the present application may be specifically implemented according to the method in the embodiment of the method, and the specific implementation process may refer to the related description of the embodiment of the method, which is not repeated herein.
From the above, the embodiment of the application solves the current situation of accidental errors and individual differences caused by visual observation of cross hairs and star points in theodolites in the related art, and effectively improves the testing precision and the detection efficiency of the inter-star angular position errors of the dynamic star simulator.
The embodiment of the application also provides a device for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator, which can specifically comprise:
a memory for storing a computer program;
a processor configured to execute a computer program to implement the steps of the method for detecting an inter-satellite angular position error of a high resolution dynamic satellite simulator as described in any of the embodiments above.
The functions of each functional module of the device for detecting the inter-satellite angular position error of the high-resolution dynamic star simulator according to the embodiment of the present application may be specifically implemented according to the method in the embodiment of the method, and the specific implementation process may refer to the related description of the embodiment of the method and will not be repeated herein.
From the above, the embodiment of the application solves the current situation of accidental errors and individual differences caused by visual observation of cross hairs and star points in theodolites in the related art, and effectively improves the testing precision and the detection efficiency of the inter-star angular position errors of the dynamic star simulator.
The embodiment of the application also provides a computer readable storage medium storing a detection program of the inter-satellite angular position error of the high-resolution dynamic satellite simulator, and the detection method of the inter-satellite angular position error of the high-resolution dynamic satellite simulator is implemented by a processor.
The functions of each functional module of the computer readable storage medium according to the embodiments of the present application may be specifically implemented according to the method in the embodiments of the method, and the specific implementation process may refer to the relevant description of the embodiments of the method, which is not repeated herein.
From the above, the embodiment of the application solves the current situation of accidental errors and individual differences caused by visual observation of cross hairs and star points in theodolites in the related art, and effectively improves the testing precision and the detection efficiency of the inter-star angular position errors of the dynamic star simulator.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, so that the same or similar parts between the embodiments are referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The method, the device, the equipment and the computer readable storage medium for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator provided by the application are described in detail. The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present application and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the application can be made without departing from the principles of the application and these modifications and adaptations are intended to be within the scope of the application as defined in the following claims.
Claims (8)
1. The system is characterized by comprising a star map generation processor, a star point display device, a star simulator optical lens, a high-precision theodolite, a star point image acquisition device, an inter-star angular position error detection processor and a display connected with the inter-star angular position error detection processor;
the star point display device is arranged on the star simulator optical lens and is used for displaying star point images according to star map data generated by the star map generation processor based on a star table database and position information, converging light rays emitted by the displayed star points through the star simulator optical lens to form parallel light, and emitting the parallel light to a high-precision theodolite ocular positioned at the rear end of the star simulator optical lens to form images so as to simulate the real star luminous effect at the position information; the star simulator optical lens and the high-precision theodolite meet the pupil matching principle;
the star point image acquisition device is positioned at the rear end of the high-precision theodolite ocular, is used for acquiring cross wires displayed by the high-precision theodolite and star point images to be detected, and transmits the cross wires and the star point images to the inter-star angular position error detection processor;
the inter-satellite angular position error detection processor is used for respectively calculating the position difference values of the center point of the cross wire and the center star point of the image of the star point to be detected in the same direction, and calculating the inter-satellite angular position error value according to the display numerical value of the high-precision theodolite dial corresponding to each position difference value of 0;
the display is used for displaying the position difference values of the center point of the cross wire and each star point to be detected in the star point image to be detected in the same direction in real time in the corresponding position of the position information table in the high-precision theodolite adjusting process; the position difference value of each star point and the cross wire is displayed in real time in a position information table of a display interface of a display, and when the positions of the star points to be detected are changed when a knob in the horizontal and vertical directions of the high-resolution theodolite is moved, the relative position data in the position information table also changes in real time.
2. The system for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator according to claim 1, wherein the star point image acquisition device is a CMOS optical camera module, and the CMOS optical camera module is in a continuous acquisition state.
3. The system for detecting angular position errors between satellites in a high-resolution dynamic satellite simulator of claim 2 wherein the star point display device is a liquid crystal on silicon star point display device.
4. The method for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator is characterized by comprising the following steps of:
acquiring a cross hair image and a star point image to be detected, which are displayed by a high-precision theodolite;
processing the cross hair image and the star point image to be detected by using a digital image processing algorithm to obtain a center point coordinate of the cross hair image and a center star point coordinate of the star point image to be detected;
calculating the position difference values of the central point and the central star point in the horizontal direction and the vertical direction respectively;
acquiring a dial display value of the high-precision theodolite corresponding to each position difference value of 0;
calculating an inter-satellite angular position error value of the high-resolution dynamic satellite simulator according to the display numerical values of each dial;
in the high-precision theodolite adjusting process, filling the position difference values of the center point of the cross hair and each star point to be measured in the star point image to be measured in the same direction to the corresponding position of a pre-built position information table in real time, and sending the position information table to a display; the position difference value of each star point and the cross wire is displayed in real time in a position information table of a display interface of a display, and when the positions of the star points to be detected are changed when a knob in the horizontal and vertical directions of the high-resolution theodolite is moved, the relative position data in the position information table also changes in real time.
5. The method for detecting the inter-satellite angular position error of the high-resolution dynamic satellite simulator according to claim 4, wherein the image of the star point to be detected is a cross image composed of 9 star points to be detected, and the center interval of each star point to be detected is 200 pixels.
6. The method for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to claim 5, wherein after calculating the position difference values of the center point and the center star point in the horizontal direction and the vertical direction, respectively, further comprises:
acquiring coordinate values of all the star points to be detected except the center star point of the star point image to be detected;
and calculating the position difference value of the central point and the star point to be measured in the horizontal direction and the vertical direction respectively for each star point to be measured, and obtaining the dial display value of the high-precision theodolite corresponding to each position difference value of 0.
7. The method for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator according to claim 6, wherein calculating the inter-satellite angular position error value of the high-resolution dynamic satellite simulator based on the display values of the respective scales comprises:
taking the average number of all the numerical values displayed by the high-precision theodolite horizontal scale as the position error value of the high-resolution dynamic star simulator in the horizontal direction of the inter-star angle;
and averaging all the values displayed by the high-precision theodolite vertical scale to serve as a position error value of the high-resolution dynamic star simulator in the vertical direction of the inter-star angle.
8. A device for detecting an inter-satellite angular position error of a high-resolution dynamic satellite simulator, comprising:
the image acquisition module is used for acquiring a cross hair image and a star point image to be detected, which are displayed by the high-precision theodolite;
the image processing module is used for processing the cross hair image and the star point image to be detected by utilizing a digital image processing algorithm to obtain the center point coordinates of the cross hair image and the center star point coordinates of the star point image to be detected;
the relative position calculation module is used for calculating the position difference values of the central point and the central star point in the horizontal direction and the vertical direction respectively;
the dial reading acquisition module is used for acquiring dial display values of the high-precision theodolite corresponding to the position difference values of 0;
the inter-satellite angular position error value calculation module is used for calculating an inter-satellite angular position error value of the high-resolution dynamic star simulator according to the display numerical values of each dial; in the high-precision theodolite adjusting process, filling the position difference values of the center point of the cross hair and each star point to be measured in the star point image to be measured in the same direction to the corresponding position of a pre-built position information table in real time, and sending the position information table to a display; the position difference value of each star point and the cross wire is displayed in real time in a position information table of a display interface of a display, and when the positions of the star points to be detected are changed when a knob in the horizontal and vertical directions of the high-resolution theodolite is moved, the relative position data in the position information table also changes in real time.
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| CN113970327B (en) * | 2021-11-01 | 2022-09-13 | 北京微纳星空科技有限公司 | Electronic star map simulator, electronic simulation star map generation method and electronic equipment |
| CN114633906B (en) * | 2022-04-12 | 2023-12-22 | 中国科学院光电技术研究所 | Ultraviolet dynamic earth simulator |
| CN115406408B (en) * | 2022-10-31 | 2023-01-17 | 中国科学院长春光学精密机械与物理研究所 | Method for detecting and correcting vertical axis tilt error of photoelectric theodolite |
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