CN111121822A - Method for solving automatic correction pointing of star sensor camera by utilizing image recognition - Google Patents
Method for solving automatic correction pointing of star sensor camera by utilizing image recognition Download PDFInfo
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Abstract
The invention discloses a method for solving the problem of automatic pointing correction of a satellite sensitive camera by utilizing image recognition, which comprises the following steps: establishing a coordinate system, and calculating a theoretical observation angle of a camera; observing a target day zone; continuously and automatically acquiring current camera images; identifying whether a fixed bright spot exists in the image according to the gray value of the image, if not, adjusting the observation angle to observe again, and if so, the bright spot is the actual position of the observed target; and calculating a reference coordinate and an observation coordinate of the observed target, calculating a plane vector difference value of the observation coordinate and the reference coordinate, namely the alignment error of the satellite sensitive camera, finishing the correction process if the plane vector difference value is within the error range, and performing error correction on the theoretical observation angle of the satellite sensitive camera and observing again if the plane vector difference value is not within the error range. The method can automatically identify the observation target by utilizing the image multi-frame identification mode without manual judgment, and automatically carry out pointing correction on the current alignment error, thereby improving the observation pointing accuracy of the satellite-sensitive camera.
Description
Technical Field
The invention belongs to the field of satellite observation, and particularly relates to a method for solving automatic correction pointing of a satellite sensitive camera by utilizing image recognition.
Background
In the ground satellite observation and ranging activities, a micro-optic camera with high sensitivity and low illumination is usually used for observing an orbiting satellite and other artificial aircrafts by matching with a large-caliber telescope, and the observation artificial aircrafts are mainly used for specific applications such as ranging, orbit determination and the like, so that the requirement on the alignment precision of a satellite sensitive camera is higher, and the deviation of a satellite star image is manually judged and corrected depending on the experience of an operator under the manual participation in actual observation at present. However, due to the development of society, the scale of cities is continuously enlarged, so that the light pollution phenomenon around the cities is serious; suburbs and mountainous areas far away from cities provide good observation conditions for satellite observation, solve the problem of light pollution, and increase the commuting burden of operators. Therefore, the observation station puts requirements on automatic operation, and in order to complete the automatic observation requirements, an important link is to complete the automatic correction of the alignment error of the star sensor camera.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems in the prior art, the invention discloses a method for solving the problem of automatic pointing correction of a satellite-sensitive camera by utilizing image recognition, which is mainly used for position recognition of an artificial celestial body, automatically recognizes an observation target by utilizing an image multi-frame recognition mode, corrects the error between the observation target and a reference position, and finally improves the observation pointing accuracy of the satellite-sensitive camera.
The technical scheme is as follows: the invention adopts the following technical scheme: a method for solving the problem of automatic pointing correction of a star sensor camera by utilizing image recognition is characterized by comprising the following steps of:
step A, according to the forecasted satellite orbit parameters, establishing a coordinate system by taking the reference position of the observed target as an original point, and calculating a theoretical observation angle of the satellite sensitive camera to the observed target;
b, adjusting an observation angle by an actuating mechanism of the satellite sensitive camera to observe a target sky area;
step C, continuously and automatically acquiring a current camera image by the star sensor camera;
step D, processing the camera image, identifying whether a bright spot with a fixed central position exists in the image according to the gray value of the image, if so, the bright spot is the actual position of the observed target, if not, the actuating mechanism adjusts the observation angle according to equal-length steps to perform spiral scanning, and repeating the step C, D at each interval point;
step E, calculating the coordinate of the reference position of the observed target in the camera pixel area array, namely a reference coordinate, calculating the coordinate of the central position of the bright spot in the camera pixel area array, namely an observation coordinate, calculating the plane vector difference value of the observation coordinate and the reference coordinate, namely the alignment error of the satellite-sensitive camera, turning to step G if the alignment error of the satellite-sensitive camera is within the error range, and turning to step F if the alignment error of the satellite-sensitive camera is not within the error range;
step F, adding the alignment error of the satellite-sensitive camera into a satellite-sensitive camera pointing forecast file, converting the alignment error of the satellite-sensitive camera into a camera observation angle, correcting the error of the observation angle of the satellite-sensitive camera, and turning to step B;
and G, finishing the automatic correction pointing process of the satellite sensitive camera, and executing satellite observation and distance measurement processes.
Preferably, in the step C, the star sensor camera continuously extracts at least 60 frames of images at the frequency of 1 Hz.
Preferably, the step D of determining whether there is a bright spot with a fixed center position in the image includes the following steps:
d1, identifying the bright point of each frame of image according to the gray value of the image;
and D2, if the bright spot is a bright spot in at least 50 frames of images and the number of the non-bright spots is not 3 consecutive frames, the bright spot is a fixed bright spot in the images.
Has the advantages that: the invention discloses a method for solving the problem of automatic pointing correction of a satellite-sensitive camera by utilizing image recognition, which can automatically recognize an observation target by utilizing an image multi-frame recognition mode without manual judgment and automatically perform pointing correction on a current alignment error, thereby improving the observation pointing accuracy of the satellite-sensitive camera.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic diagram of error correction according to the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The invention discloses a method for solving the problem of automatic pointing correction of a satellite-sensitive camera by utilizing image recognition, which is mainly applied to calibrating the absolute pointing accuracy of the current satellite-sensitive camera by utilizing a single-point satellite image and a reference coordinate origin under the condition of clear night sky and comprises the following two key steps: firstly, processing a camera image to identify a current observation target star image, and then extracting coordinates of the point to compare with reference coordinates to obtain an alignment error of the current star sensor camera.
As shown in fig. 1, the present invention specifically includes the following steps:
and step A, establishing a coordinate system by taking the reference position of the observed target as an original point according to the forecasted satellite orbit parameters, calculating a theoretical observation angle of the satellite sensitive camera on the observed target, and tracking in real time.
And step B, adjusting an observation angle by an actuating mechanism of the satellite sensitive camera to observe the target sky area.
And step C, continuously and automatically acquiring the camera image of the star image of the current observation area by the star sensor camera.
The star image picture also includes images of other celestial bodies besides the observation target star image, but because the star sensitive camera is tracking in real time, and the fixed star has a constant rotation speed relative to the earth, the star image of the observed target is constant at the moment by taking the field of view of the camera as a reference coordinate system, and the star images of other celestial bodies are changed along with the change of time. According to the characteristics of the two images, the star sensor camera continuously extracts at least 60 frames of images at the frequency of 1Hz, and each frame of image is identified frame by frame.
And D, processing the camera image, identifying whether a bright spot with a fixed central position exists in the image according to the gray value of the image, if so, determining that the bright spot is the actual position of the observed target, otherwise, adjusting the observation angle by the executing mechanism according to the equal-length step, performing spiral scanning, and repeating the step C, D at each interval point.
When judging whether a fixed bright spot exists in the image, the method comprises the following steps:
d1, identifying the bright point of each frame of image according to the gray value of the image;
and D2, if the bright spot is a bright spot in at least 50 frames of images and the number of the non-bright spots is not continuous 3 frames, the bright spot is a fixed bright spot in the images, and the judgment method can effectively avoid the influence of system white noise or interference targets.
Step E, as shown in FIG. 2, calculating the coordinate of the reference position of the observed target in the camera pixel area array, i.e. the reference coordinate (X) according to the satellite orbit parameters0，Y0) Calculating the coordinate of the central position of the bright spot in the camera pixel area array, namely the observation coordinate (X)S，YS) Calculating a plane vector difference value delta (x, y) of the observation coordinate and the reference coordinate, namely an alignment error of the satellite-sensitive camera, if the alignment error of the satellite-sensitive camera is within an error range, turning to the step G, and if the alignment error of the satellite-sensitive camera is not within the error range, turning to the step F;
step F, adding the alignment error of the satellite-sensitive camera into a satellite-sensitive camera pointing forecast file, converting the alignment error of the satellite-sensitive camera into a camera observation angle, correcting the error of the observation angle of the satellite-sensitive camera, and turning to step B;
and G, finishing the automatic correction pointing process of the satellite sensitive camera, and executing satellite observation and distance measurement processes.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (3)
1. A method for solving the problem of automatic pointing correction of a star sensor camera by utilizing image recognition is characterized by comprising the following steps of:
step A, according to the forecasted satellite orbit parameters, establishing a coordinate system by taking the reference position of the observed target as an original point, and calculating a theoretical observation angle of the satellite sensitive camera to the observed target;
b, adjusting an observation angle by an actuating mechanism of the satellite sensitive camera to observe a target sky area;
step C, continuously and automatically acquiring a current camera image by the star sensor camera;
step D, processing the camera image, identifying whether a bright spot with a fixed central position exists in the image according to the gray value of the image, if so, determining that the bright spot is the actual position of the observed target, if not, adjusting the observation angle by the executing mechanism according to equal-length steps, performing spiral scanning, and repeating the step C, D at each interval point;
step E, calculating the coordinate of the reference position of the observed target in the camera pixel area array, namely a reference coordinate, calculating the coordinate of the central position of the bright spot in the camera pixel area array, namely an observation coordinate, calculating the plane vector difference value of the observation coordinate and the reference coordinate, namely the alignment error of the satellite-sensitive camera, turning to step G if the alignment error of the satellite-sensitive camera is within the error range, and turning to step F if the alignment error of the satellite-sensitive camera is not within the error range;
step F, adding the alignment error of the satellite-sensitive camera into a satellite-sensitive camera pointing forecast file, converting the alignment error of the satellite-sensitive camera into a camera observation angle, correcting the error of the observation angle of the satellite-sensitive camera, and turning to step B;
and G, finishing the automatic correction pointing process of the satellite sensitive camera, and executing satellite observation and distance measurement processes.
2. The method for solving the problem of automatic pointing correction of the star sensor camera by means of image recognition as claimed in claim 1, wherein in the step C, the star sensor camera continuously extracts at least 60 frames of images at a frequency of 1 Hz.
3. The method as claimed in claim 1, wherein the step D of determining whether there is a bright spot with a fixed center position in the image comprises the following steps:
d1, identifying the bright point of each frame of image according to the gray value of the image;
and D2, if the bright spot is a bright spot in at least 50 frames of images and the number of the non-bright spots is not 3 consecutive frames, the bright spot is a fixed bright spot in the images.
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| CN115829916A (en) * | 2023-02-20 | 2023-03-21 | 中国科学院云南天文台 | Method and system for rapid target identification and pointing correction of high-dispersion optical fiber spectrometer |
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