CN111238531A - Astronomical calibration controller IP core and calibration method thereof - Google Patents
Astronomical calibration controller IP core and calibration method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
- G01S7/4026—Antenna boresight
Abstract
The invention discloses an astronomical calibration controller IP core and a calibration method thereof, and relates to the technical field of photoelectric measurement. The controller IP core includes: the ephemeris calculation module is used for calculating a theoretical calculation accurate position value of the star body according to the stored star characteristic parameters; the star extraction and measurement module is used for extracting a target star from the background, calculating the miss distance of the star relative to the center of a view field, outputting the miss distance to the tracking frame servo controller and driving the tracking frame to continuously track the star; the basic management module is used for recording the angle value and the miss distance value of the tracking frame in real time to obtain an actual measurement value; the data calculation module is used for comparing the theoretically calculated accurate position value with an actual measured value, and obtaining a zero value and a shafting correction coefficient after separation and calculation; and the communication interface module is used for finishing communication with external equipment and realizing data acquisition and transmission. The invention solves the problems of low efficiency, poor autonomy and difficulty in meeting the external field calibration requirement of the mobile equipment in the existing calibration technology.
Description
Technical Field
The invention relates to the technical field of photoelectric measurement, in particular to an astronomical calibration controller IP (Intellectual Property) core and a calibration method thereof.
Background
The pointing accuracy of the target range theodolite and the radar is one of key indexes for determining whether the system can normally guide and capture the target and the output accuracy of the angular position of the target. The direction of the optical axis and the electric axis needs to be calibrated regularly or before a task. Traditional calibration mode needs establish a plurality of position marks around theodolite or radar, through geodetic survey and artifical target of aiming, obtains actual measurement position, every single move data, realizes the demarcation of radar self with artifical actual measurement data and geodetic survey contrast.
However, in practical application, the process of establishing an azimuth indicator, geodetic surveying and manual sighting is long in period, large in workload and large in random error, and the actual requirements of increasingly motorized optical measuring and lightning equipment are difficult to meet.
Disclosure of Invention
The invention aims to overcome the defects of the background technology, provides an astronomical calibration controller IP core and a calibration method thereof, and aims to solve the problems of low efficiency, poor autonomy and difficulty in meeting the external field calibration requirements of mobile equipment in the existing calibration technology.
To achieve the above object, the present invention provides an astronomical calibration controller IP core, comprising: the system comprises an ephemeris calculation module, a fixed star extraction measurement module, a basic management module, a data calculation module and a communication interface module which are mutually connected through a system bus;
the ephemeris calculation module is used for storing the characteristic parameters of each fixed star and calculating to obtain a theoretical calculation accurate position value of the specified star according to the characteristic parameters; the satellite tracking control system is sent to an external tracking frame servo control machine through a communication interface module and used for driving a photoelectric shaft to point to a star and introducing the designated star into the field of view of an external CCD camera;
the star extraction and measurement module is used for receiving a digital image converted from a CCD camera video, finishing the real-time processing of the digital image, extracting a target star from the background and calculating the miss distance of the target star relative to the center of a view field; the miss distance is output to a tracking frame servo controller through a communication interface module, and the tracking frame is driven to continuously track the target star;
the basic management module is used for recording the angle value and the miss distance value of the tracking frame in real time to obtain the actual measurement value of the target star;
the data calculation module is used for comparing a theoretical calculation accurate position value of the specified star with an actual measurement value of the target star, and obtaining a zero value and a shafting correction coefficient after the separation calculation of the single error coefficient is completed by adopting a least square method; and output through the communication interface module;
and the communication interface module is used for finishing interface communication protocol conversion with external equipment and realizing data acquisition and transmission.
On the basis of the technical scheme, the characteristic parameters of each star stored by the ephemeris calculation module comprise star numbers, stars and the like, horizontal right ascension, horizontal declination, self-walking and parallax.
On the basis of the technical scheme, the theoretically-calculated accurate position value of the specified star comprises a theoretical horizon A of the star0Theoretical pitch angle E0(ii) a The theoretical horizon orientation A0Theoretical pitch angle E0Respectively obtained by the following calculation formulas:
E0＝arcsin(sinδsinφ+cosδcosφcostm)；
in the formula, tm＝S0+1.00274t + lambda- α, α is the mean right ascension of the star, delta is the mean declination of the star, lambda is the longitude, phi is the latitude, t is the world time, S0The sidereal time at world time.
On the basis of the technical scheme, the actual measurement value packet of the target star bodyIncludes the actual measured value A of the azimuthiActual measurement value of pitch angle EiI is the serial number of the target star and represents the ith target star; the data calculation module compares the theoretically-calculated accurate position value of the specified star with the actual measurement value of the target star, and compares the theoretically-calculated horizontal position A with the actual measurement value of the target star0Theoretical pitch angle E0Respectively with the actual measured values of orientation AiActual measurement value of pitch angle EiSubtracted to obtain an azimuth measurement error value △ AiPitch angle measurement error value △ Ei；
When the data calculation module completes the separation calculation of the single error coefficient by adopting a least square method, the data calculation module is obtained according to the following functions:
△Ai＝F1(g，h，βX,βy,δ,c)
△Ei＝F2(g，h，βX,βy,δ,c)
wherein g is the azimuth encoder null position, h is the pitch encoder null position, βX、βyTwo orthogonal components, respectively, of the large disc that are not horizontal; delta is the non-perpendicularity of the pitch axis and the azimuth axis; and c is the optical-mechanical deviation.
On the basis of the technical scheme, the IP core of the astronomical calibration controller also comprises a gas masking error correction module which is used for correcting the actual measurement value E of the pitch angleiAnd (5) correcting the gas masking difference.
On the basis of the technical scheme, when the gas mask difference correction module performs gas mask difference correction, the gas mask difference correction value is obtained according to the following calculation formula:
wherein, P is atmospheric pressure and the unit is Pa; t is temperature in K; eijThe j measured pitch angle of the ith target star.
On the basis of the technical scheme, the star extraction and measurement module adopts a square centroid method to enable star coordinates to be accurate to a sub-pixel level.
On the basis of the technical scheme, the basic management module is also used for finishing starting operation, parameter setting operation and process control operation.
On the basis of the technical scheme, the astronomical calibration controller IP core further comprises a display module, wherein the display module is used for aliasing the digital image and the display parameter information, encoding the digital image and the display parameter information into VGA data, and sending the VGA data to an external display for comprehensive display through a digital-to-analog conversion circuit.
The invention also provides a calibration method based on the IP core of the astronomical calibration controller, which comprises the following steps:
s1, the ephemeris calculation module performs astronomical calculation according to the stored characteristic parameters of each fixed star to obtain a theoretical calculation accurate position value of the designated star, and the theoretical calculation accurate position value is sent to an external tracking frame servo control machine through the communication interface module to drive the photoelectric axis to point to the star and introduce the designated star into the external CCD camera view field;
s2, the star extraction measurement module receives a digital image converted from a CCD camera video, completes real-time processing of the digital image, extracts a target star from the background, and calculates the miss distance of the target star relative to the center of a view field; the tracking frame is sent to a tracking frame servo controller through a communication interface module to drive the tracking frame to continuously track the target star; the basic management module records the angle value of the tracking frame and the miss distance value in real time to obtain the actual measurement value of the target star;
s3, the data calculation module compares the theoretical calculation accurate position value of the specified star with the actual measurement value of the target star, and after the separation calculation of the single error coefficient is completed by adopting a least square method, a zero value and a shafting correction coefficient are obtained; and outputting the correction coefficient to a light measurement system and a thunder measurement system through a communication interface module, so that the error calibration is completed according to the correction coefficient.
The invention has the beneficial effects that:
(1) the astronomical calibration controller IP core is internally provided with a high-precision ephemeris, has the functions of automatic star selection and automatic star detection, can automatically calculate the horizontal height and the direction of a star to be detected and guide a tracking frame to point to the star to be detected according to time and a station position, adopts a digital image processing technology to automatically capture a star target, tracks and measures the angular position of the star target in real time, solves the error coefficient of a system, and improves the efficiency and the precision of external field calibration work.
Compared with the prior art, the method utilizes the certainty of the position of the fixed star, replaces the traditional azimuth mark with the accurate position of the fixed star, automatically marks the zero value and the shafting error of the optical measurement and lightning measurement equipment, can improve the working efficiency and the automation level of external field calibration, and effectively solves the problem of external field pointing precision calibration of the optical measurement and lightning measurement equipment; meanwhile, the labor cost generated by azimuth mark arrangement and geodetic survey can be reduced, the complicated manual sighting mark operation is reduced, and the method has remarkable economic and social benefits.
(2) The fixed star extraction and measurement module has the functions of capturing, tracking and measuring an aerial target, monitoring the state of the target and the like, can fill up low-altitude and short-range blind areas of the radar, and can improve the capability of performing diversified measurement and control tasks by optical measurement and radar measurement.
(3) The astronomical calibration controller IP core of the invention comprehensively uses the astronomical navigation technology and the digital image processing technology, effectively solves the problem of external field calibration of optical measurement and lightning equipment, can be applied to the fields of aerospace measurement and control and target field measurement, and has good applicability.
(4) The astronomical calibration controller has the advantages of high IP core integration level, small overall dimension, light weight and good installation performance.
Drawings
FIG. 1 is a block diagram of an IP core of an astronomical calibration controller in an embodiment of the present invention;
FIG. 2 is a functional diagram of an ephemeris calculation module in an embodiment of the invention;
FIG. 3 is a functional diagram of a sidereal extraction measurement module according to an embodiment of the present invention;
FIG. 4 is a functional diagram of a data resolution module according to an embodiment of the present invention;
FIG. 5 is a functional diagram of a gas mask difference correction module according to an embodiment of the present invention;
in the figure: 1. an ephemeris calculation module; 2. a fixed star extraction measurement module; 3. a basic management module; 4. a data resolving module; 5. a communication interface module; 6. a gas masking difference correction module; 7. and a display module.
Detailed Description
First, the design principle of the present invention is explained in further detail: in order to provide an astronomical calibration controller IP core with high integration level, intellectualization and high degree of autonomy, the invention designs and utilizes the certainty of the position of a fixed star to replace the traditional azimuth mark with the accurate position of the fixed star, so that the astronomical calibration controller IP core does not depend on the azimuth mark and independently completes the pointing precision calibration task. Specifically, the invention designs an astronomical calibration process comprising three main steps of star introduction, star shooting and data processing.
Leading star: firstly, a high-precision digital ephemeris is preset in an IP core of an astronomical calibration controller, and the ephemeris records characteristic parameters such as asterisks, stars and the like, flat right ascension, flat declination, self-running, parallax and the like for each fixed star. Then, astronomical calculation is carried out according to the parameters, and the star theoretical horizon A with determined precision at any time and any place can be obtained0Angle of pitch E0. Calculating the theoretical horizon A of the star0Angle of pitch E0And the tracking frame servo controller of the external optical measurement and lightning equipment drives the photoelectric axis to point to the star body, and the star body is led into an external CCD (Charge-coupled Device) camera view field, so that the star leading operation is completed.
(II) shooting stars: an external video sampling circuit converts the video of the CCD camera into a digital image signal and transmits the digital image signal to an IP core of an astronomical calibration controller; an IP core of the astronomical calibration controller automatically captures a star target in an image, automatically separates the target and the background according to the characteristics of the target and the gray level distribution of the background, measures the miss distance of the target from a sighting axis, outputs the miss distance to a tracking frame servo controller, and drives the tracking frame to move in the azimuth direction and the pitching direction so as to ensure that external optical measurement and lightning equipment continuously track the target; meanwhile, the astronomical calibration controller IP core automatically records the angle value of the tracking frame and the miss distance value to obtain the actual measurement value of the star.
(III) data processing: theory of the stars to be measuredPosition value (azimuth A)0Angle of pitch E0) Comparing with an actual measured value, and obtaining zero values and shafting correction coefficients of the photometric and thunder measurement systems after completing the separation and calculation of the single error coefficients by adopting a least square method; and finally, outputting the calculation result, thereby completing the error calibration of the photometric and thunder measurement systems according to the obtained correction coefficient.
In addition, in terms of the overall unit module design, SOPC (System-on-a-Programmable-Chip) is used. The SOPC is a programmable system with a flexible design, tailorable, extensible, and upgradeable to meet system requirements for size, flexibility, and stability. The SOPC is introduced to combine the parallel hardware processing of the image with the MCU sequential structure processing of the data, so that the respective advantages are exerted, and the development and maintenance difficulty is reduced. The FPGA logic mainly assists in real-time parallel processing of image data, and calculation is completed by an SOPC soft core. The controller IP core needs to interact with data of the peripheral interface and relates to relevant communication protocols. In the aspect of communication protocol development and maintenance, the traditional processor language programming mode has more advantages compared with the hardware logic mode of FPGA.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
However, it should be noted that: the examples to be described next are only some specific examples, and are not intended to limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Example one
Referring to fig. 1, an embodiment of the present invention provides an astronomical calibration controller IP core, including: the system comprises an ephemeris calculation module 1, a fixed star extraction measurement module 2, a basic management module 3, a data calculation module 4 and a communication interface module 5 which are connected with each other through a system bus.
Referring to fig. 2, the ephemeris calculation module 1 is configured to store a characteristic parameter of each star, and to determine a characteristic parameter of each star according to the stored characteristic parameterPerforming astronomical calculation according to the characteristic parameters to obtain a theoretically-calculated accurate position value of the specified star with determined accuracy at any measurement time, namely the theoretical horizon A of the star0And a pitch angle E0(ii) a The device is also used for sending the calculated theoretical calculation accurate position value (namely the star guide angle) of the specified star to an external tracking frame servo control machine through a communication interface module 5, so as to drive the photoelectric axis to point to the star and introduce the specified star into the field of view of an external CCD camera.
It can be understood that compared with the conventional calibration, the astronomical calibration can know the pointing accuracy of the device at any time, and is convenient for users to use. One of the cores of astronomical calibration is the accurate calculation of the theoretical position of the star. In this embodiment, the ephemeris calculation module 1 stores characteristic parameters such as the star number, the star, the flat right ascension, the flat declination, the self-movement, the parallax, and the like of each fixed star, and performs astronomical calculation according to the characteristic parameters to obtain the apparent position of the specified star with the determined precision at any measurement time and any measurement place, that is, the theoretically calculated precise position of the specified star — the theoretically horizontal position a0And a pitch angle E0。
Further, in an alternative embodiment, the theoretical horizon A of the star is specified0And a pitch angle E0The following calculation formula is used to obtain:
E0＝arcsin(sinδsinφ+cosδcosφcostm)；
in the formula, tm＝S0+1.00274t + lambda- α, α is the mean right ascension of the star, delta is the mean declination of the star, lambda is the longitude, phi is the latitude, t is the world time, S0The sidereal time at world time.
Referring to fig. 3, the star extraction measurement module 2 is used for receiving the digital image converted from the CCD camera video, performing real-time processing on the digital image, extracting the target star (i.e. the designated star mentioned above) from the background, and calculating the relative field of view of the target starThe basic management module 3 is used for recording the angle value and the miss distance value of the tracking frame in real time to obtain the actual measurement value of the target star, namely the azimuth actual measurement value AiActual measurement value of pitch angle EiAnd i is the serial number of the target star and represents the ith target star. It will be appreciated that the theoretical horizon orientation A will be0Angle of pitch E0Respectively with the actual measured values of orientation AiActual measurement value of pitch angle EiSubtracted to provide an azimuth measurement error value △ AiAnd pitch measurement error value △ Ei. In this embodiment, the star extraction and measurement module 2 adopts a square centroid method to make the star coordinates accurate to the sub-pixel level, thereby improving the accuracy of subsequent calculation.
Further, in actual operation, the basic management module 3 is also used for completing operations such as startup, parameter setting, and process control. Specifically, the start operation: the method is used for finishing the initialization of calibration data and functional modules and the self-checking of hardware. Wherein, the hardware self-test includes but is not limited to: communication serial port self-checking, video input interface self-checking, display output interface self-checking and the like. Parameter setting operation: the method is used for completing the setting of the IP core parameters of the astronomical calibration controller, and the set parameters include but are not limited to: communication interface parameters, guide correction parameters, control instructions for the CCD camera, and the like. And (3) process control operation: the method is used for completing the process control of the working states of self-checking, star-leading, star-measuring and data resolving.
Referring to fig. 4, the data calculating module 4 is used for calculating the accurate position value (a) of the specified star theoretically0、E0) Actual measurement of the target star (A)i、Ei) Alignment is performed (i.e., theoretical horizon orientation A)0Angle of pitch E0Respectively with the actual measured values of orientation AiActual measurement value of pitch angle EiSubtracted to provide an azimuth measurement error value △ AiAnd pitch measurement error value △ Ei) Using least square method to complete the orderAfter the separation and calculation of the item error coefficients, obtaining zero values and shafting correction coefficients; and outputs the correction coefficient as a calculation result through the communication interface module 5.
Further, in actual operation, the errors in the star measurement can be considered to be caused by the zero position difference and the shafting difference of the radar antenna. Therefore, in an alternative embodiment, when the data calculation module 4 performs the separate calculation of the single error coefficient by using the least square method, it can obtain the following function:
△Ai＝F1(g，h，βX,βy,δ,c)
△Ei＝F2(g，h，βX,βy,δ,c)
wherein g is the azimuth encoder null position, h is the pitch encoder null position, βX、βyTwo orthogonal components of the big disc, delta is the non-horizontality of the pitch axis and the azimuth axis, Sb is the deviation of the optical machine, F1 and F2 are relatively complex functions, linear models of F1 and F2 are obtained through engineering approximation, and g, h and β are solved by using a least square methodX、βyDelta, c are the values of the error coefficients.
Referring to fig. 1, the communication interface module 5 is configured to complete interface communication protocol conversion with an external device, so as to realize data collection and transmission. In this embodiment, the external device that communicates with the IP core of the astronomical calibration controller through the communication interface module 5 includes: the system comprises time system equipment, a tracking frame angle measuring system, a tracking frame servo controller, a main control computer for photometric measurement and thunder measurement and a CCD camera. Specifically, the method comprises the following steps: when communicating with the time management equipment, receiving an IRIG-B specification Beijing time signal, a timing pulse, longitude, latitude and elevation data sent by the time management equipment; when the system is communicated with a tracking frame angle measuring system, receiving the tracking frame position and the pitching pointing angle sent by the tracking frame angle measuring system; when the tracking frame servo control machine is communicated with the tracking frame servo control machine, the fixed star direction and the pitching guide value are sent to the tracking frame servo control machine; when the system is communicated with a main control computer for optical measurement and thunder measurement, the system sends information such as the working state of an IP core of an astronomical calibration controller, calculation result data and the like to the main control computer; when the CCD camera is communicated, the data such as lens light filter control, camera parameter setting and the like are sent to the CCD camera, and the working state monitoring data of the CCD camera are received.
Furthermore, due to atmospheric refraction, the observed star position and the real star position are different, and the real star height can be obtained more accurately only by subtracting the gas covering difference from the observed star height, so that the actual pitch angle measurement value E of the target stariA masking gas difference correction should be performed. In view of the above, as a preferred embodiment, referring to fig. 1 and 5, the astronomical calibration controller IP core further comprises a Mongolian error correction module 6 for actual measurement value E of pitch angle of target stariAnd (5) correcting the gas masking difference. In practical operation, the correction value of the gas masking difference can be obtained by adopting the following calculation formula:
wherein, P is atmospheric pressure and the unit is Pa; t is temperature in K; eijThe j measured pitch angle of the ith target star.
Still further, in order to comprehensively display a digital image on an external display, as a preferred embodiment, referring to fig. 1, the astronomical calibration controller IP core further includes a display module 7, which is used for aliasing the digital image and display parameter information, encoding the aliased digital image and display parameter information into VGA (Video Graphics Array) data, and sending the VGA data to the external display for comprehensive display through a DA (digital to analog) conversion circuit. Wherein the displaying the parameter information includes: tracking the information of the wave gate, the cross division line, the working state word and the like.
Example two
Based on the same inventive concept, the embodiment of the invention also provides a calibration method based on the IP core of the astronomical calibration controller, and the calibration method comprises the following steps:
s1, the ephemeris calculation module 1 carries out astronomy calculation according to the stored characteristic parameters of each fixed star to obtain a theoretical calculation accurate position value of the specified star, namely the theoretical horizon A of the star0And a pitch angle E0(ii) a And sent to the outside through the communication interface module 5The tracking frame servo control machine drives the photoelectric axis to point to the star body, and the designated star body is introduced into the view field of the external CCD camera;
s2, the star extraction measurement module 2 receives the digital image converted from the CCD camera video, finishes the real-time processing of the digital image, extracts the target star from the background, calculates the miss distance of the target star relative to the center of the field of view, namely the azimuth miss distance △ A and the pitch angle miss distance △ E, sends the miss distance to the external tracking frame servo controller through the communication interface module 5, drives the tracking frame to continuously track the target star, and the basic management module 3 records the angle value and the miss distance value of the tracking frame in real time to obtain the actual measurement value of the target star, namely the actual measurement value A of the azimuthiAnd actual measurement value of pitch angle Ei；
S3, the data calculation module 4 calculates the accurate position value (A) of the specified star in the step S1 based on the theory0、E0) And the actual measured value (A) of the target star in step S2i、Ei) Comparing, and obtaining a zero value and a shafting correction coefficient after the separation and the solution of the single error coefficient are completed by adopting a least square method; and outputting the correction coefficient serving as a calculation result to a light measurement system and a thunder measurement system through a communication interface module 5, so that the error calibration is completed according to the correction coefficient.
Note that: the above-described embodiments are merely examples and are not intended to be limiting, and those skilled in the art can combine and combine some steps and devices from the above-described separately embodiments to achieve the effects of the present invention according to the concept of the present invention, and such combined and combined embodiments are also included in the present invention, and such combined and combined embodiments are not described herein separately.
Advantages, effects, and the like, which are mentioned in the embodiments of the present invention, are only examples and are not limiting, and they cannot be considered as necessarily possessed by the various embodiments of the present invention. Furthermore, the foregoing specific details disclosed herein are merely for purposes of example and for purposes of clarity of understanding, and are not intended to limit the embodiments of the invention to the particular details which may be employed to practice the embodiments of the invention.
The block diagrams of devices, apparatuses, systems involved in the embodiments of the present invention are only given as illustrative examples, and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. As used in connection with embodiments of the present invention, the terms "or" and "refer to the term" and/or "and are used interchangeably herein unless the context clearly dictates otherwise.
The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the invention. Thus, the present invention is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing description has been presented for purposes of illustration and description. Furthermore, the description is not intended to limit embodiments of the invention to the form disclosed herein. While a number of example aspects and embodiments have been discussed above, those of skill in the art will recognize certain variations, modifications, alterations, additions and sub-combinations thereof. And those not described in detail in this specification are within the skill of the art.
Claims (10)
1. An astronomical calibration controller IP core, which is characterized in that: the astronomical calibration controller IP core comprises an ephemeris calculation module, a fixed star extraction measurement module, a basic management module, a data calculation module and a communication interface module which are connected with each other through a system bus;
the ephemeris calculation module is used for storing the characteristic parameters of each fixed star and calculating to obtain a theoretical calculation accurate position value of the specified star according to the characteristic parameters; the satellite tracking control system is sent to an external tracking frame servo control machine through a communication interface module and used for driving a photoelectric shaft to point to a star and introducing the designated star into the field of view of an external CCD camera;
the star extraction and measurement module is used for receiving a digital image converted from a CCD camera video, finishing the real-time processing of the digital image, extracting a target star from the background and calculating the miss distance of the target star relative to the center of a view field; the miss distance is output to a tracking frame servo controller through a communication interface module, and the tracking frame is driven to continuously track the target star;
the basic management module is used for recording the angle value and the miss distance value of the tracking frame in real time to obtain the actual measurement value of the target star;
the data calculation module is used for comparing a theoretical calculation accurate position value of the specified star with an actual measurement value of the target star, and obtaining a zero value and a shafting correction coefficient after the separation calculation of the single error coefficient is completed by adopting a least square method; and output through the communication interface module;
and the communication interface module is used for finishing interface communication protocol conversion with external equipment and realizing data acquisition and transmission.
2. The astronomical calibration controller IP core of claim 1, wherein: the characteristic parameters of each fixed star stored by the ephemeris calculation module comprise star numbers, stars and the like, flat right ascension, flat declination, self-walking and parallax.
3. The astronomical calibration controller IP core of claim 2, wherein: the theoretically-calculated accurate position value of the specified star comprises the theoretical horizon A of the star0Theoretical pitch angle E0(ii) a The theoretical horizon orientation A0Theoretical pitch angle E0Respectively obtained by the following calculation formulas:
E0＝arcsin(sinδsinφ+cosδcosφcostm)；
in the formula, tm＝S0+1.00274t + lambda- α, α is the mean right ascension of the star, delta is the mean declination of the star, lambda is the longitude, phi is the latitude, t is the world time, S0The sidereal time at world time.
4. The astronomical calibration controller IP core of claim 3, wherein: the actual measurement value of the target star comprises an azimuth actual measurement value AiActual measurement value of pitch angle EiI is the serial number of the target star and represents the ith target star;
the data calculation module compares the theoretically-calculated accurate position value of the specified star with the actual measurement value of the target star, and compares the theoretically-calculated horizontal position A with the actual measurement value of the target star0Theoretical pitch angle E0Respectively with the actual measured values of orientation AiActual measurement value of pitch angle EiSubtracted to obtain an azimuth measurement error value △ AiPitch angle measurement error value △ Ei；
When the data calculation module completes the separation calculation of the single error coefficient by adopting a least square method, the data calculation module is obtained according to the following functions:
△Ai＝F1(g，h，βX,βy,δ,c)
△Ei＝F2(g，h，βX,βy,δ,c)
wherein g is the azimuth encoder null position, h is the pitch encoder null position, βX、βyTwo orthogonal components, respectively, of the large disc that are not horizontal; delta is the non-perpendicularity of the pitch axis and the azimuth axis; and c is the optical-mechanical deviation.
5. The astronomical calibration controller IP core of claim 4, wherein: the IP core of the astronomical calibration controller also comprises a gas masking difference correction module which is used for correcting the actual measurement value E of the pitch angleiAnd (5) correcting the gas masking difference.
6. The astronomical calibration controller IP core of claim 5, wherein: when the gas mask difference correction module is used for correcting the gas mask difference, the gas mask difference correction value is obtained according to the following calculation formula:
wherein, P is atmospheric pressure and the unit is Pa; t is temperature in K; eijThe j measured pitch angle of the ith target star.
7. The astronomical calibration controller IP core of claim 1, wherein: the star extraction and measurement module adopts a square centroid method to enable star coordinates to be accurate to a sub-pixel level.
8. The astronomical calibration controller IP core of claim 1, wherein: the basic management module is also used for finishing starting operation, parameter setting operation and process control operation.
9. The astronomical calibration controller IP core of claim 1, wherein: the astronomical calibration controller IP core also comprises a display module which is used for aliasing the digital image and the display parameter information, encoding the digital image and the display parameter information into VGA data, and sending the VGA data to an external display for comprehensive display through a digital-to-analog conversion circuit.
10. A calibration method based on the astronomical calibration controller IP core of any one of claims 1 to 9, the calibration method comprising the steps of:
s1, the ephemeris calculation module performs astronomical calculation according to the stored characteristic parameters of each fixed star to obtain a theoretical calculation accurate position value of the designated star, and the theoretical calculation accurate position value is sent to an external tracking frame servo control machine through the communication interface module to drive the photoelectric axis to point to the star and introduce the designated star into the external CCD camera view field;
s2, the star extraction measurement module receives a digital image converted from a CCD camera video, completes real-time processing of the digital image, extracts a target star from the background, and calculates the miss distance of the target star relative to the center of a view field; the tracking frame is sent to a tracking frame servo controller through a communication interface module to drive the tracking frame to continuously track the target star; the basic management module records the angle value of the tracking frame and the miss distance value in real time to obtain the actual measurement value of the target star;
s3, the data calculation module compares the theoretical calculation accurate position value of the specified star with the actual measurement value of the target star, and after the separation calculation of the single error coefficient is completed by adopting a least square method, a zero value and a shafting correction coefficient are obtained; and outputting the correction coefficient to a light measurement system and a thunder measurement system through a communication interface module, so that the error calibration is completed according to the correction coefficient.
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