CN111879299B - Full-automatic satellite pointing method for ground-based telescope - Google Patents

Full-automatic satellite pointing method for ground-based telescope Download PDF

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CN111879299B
CN111879299B CN202010826728.5A CN202010826728A CN111879299B CN 111879299 B CN111879299 B CN 111879299B CN 202010826728 A CN202010826728 A CN 202010826728A CN 111879299 B CN111879299 B CN 111879299B
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telescope
coordinates
star
celestial
shafting
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CN111879299A (en
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齐朝祥
于涌
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Shanghai Astronomical Observatory of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Abstract

The invention relates to a full-automatic satellite pointing method for a ground-based telescope, which comprises the following steps: securing the telescope to the station; collecting star observation images in different areas, and recording the reading coordinate values of a telescope shafting body and star image data of the star observation images; identifying known stars in the star observation image to obtain celestial coordinates corresponding to the central pixel measurement coordinates; converting celestial coordinates pointed by the optical axis of the telescope into earth fixed coordinates in an international earth reference system; calculating a transformation matrix from an international earth reference system to a telescope shafting body coordinate system; multiplying the geodesic coordinates of the star to be observed by the conversion matrix to obtain the pointing parameters of the telescope shafting body; and controlling the telescope shafting to execute the body pointing parameters to realize accurate pointing to the target to be measured. The full-automatic satellite pointing method for the foundation telescope can effectively solve the problems that in the prior art, accurate measurement of longitude and latitude coordinates of a local station is required, azimuth difference and horizontal difference of the telescope are required to be adjusted manually, and the method is poor in timeliness and accuracy.

Description

Full-automatic satellite pointing method for ground-based telescope
Technical Field
The invention relates to the technical field of telescope pointing tracking, in particular to a full-automatic satellite pointing method for a ground-based telescope.
Background
At present, the directional calibration of a foundation telescope needs to measure or acquire geodetic longitude and latitude coordinates or astronomical longitude and latitude coordinates of a station where the telescope is located, and needs to manually and precisely adjust the azimuth difference of two shafting of a telescope frame relative to the due north direction of the station and the horizontal difference of the two shafting relative to the local horizontal plane. For telescopes needing rapid deployment (such as vehicle-mounted telescopes and maneuvering telescopes) and ultra-large telescopes which are difficult to control and adjust easily, the classical method is poor in timeliness and low in accuracy, and even cannot be implemented in some special stations.
Disclosure of Invention
The invention aims to provide a full-automatic satellite pointing method for a ground-based telescope, which can effectively solve the problems that in the prior art, accurate measurement of longitude and latitude coordinates of a local station is required, azimuth difference and horizontal difference of the telescope need to be adjusted manually, and the timeliness and the accuracy are poor.
In order to solve the technical problems, the invention adopts the following technical scheme:
a full-automatic pointing method for a ground-based telescope comprises the following steps:
(1) securing the telescope to the station;
(2) collecting star observation images in different areas through a telescope, and recording body reading coordinate values of a telescope shaft system and star image data of the star observation images;
(3) identifying known stars in the observation images of the stars in each region, and obtaining celestial coordinates corresponding to the central pixel measurement coordinates, namely the celestial coordinates pointed by the optical axis of the telescope, according to the pixel measurement coordinates of the known stars and the celestial coordinates in the star table of the fixed stars corresponding to the pixel measurement coordinates;
(4) converting celestial coordinates pointed by the optical axis of the telescope into earth fixed coordinates in an international earth reference system;
(5) calculating a transformation matrix from an international earth reference system to a telescope shafting body coordinate system;
(6) converting celestial coordinates of a star to be observed into coordinates in an international earth reference system, and multiplying the coordinates by a conversion matrix to obtain pointing parameters of a telescope shafting body;
(7) and controlling the telescope shafting to execute the body pointing parameters, namely realizing accurate pointing to the target to be measured.
And (3) in the step (2), the telescope points to at least 9 areas in the movable range of the two shafting, the movement step length of each shafting is the same, and the reading coordinate values of the two shafting bodies of the telescope at each step length and the observed star image data are recorded.
Wherein, the specific steps of the step (3) are as follows: and performing least square fitting on the pixel measurement coordinates of the star and the celestial coordinates in the star table of the star matched with the pixel measurement coordinates to obtain a function for converting the pixel measurement coordinates into the celestial coordinates, so as to obtain the celestial coordinates in the star table corresponding to the central pixel measurement coordinates.
And (4) converting the celestial coordinate vector pointed by the optical axis of the telescope into celestial coordinates in a geocentric celestial coordinate reference system, and converting the celestial coordinates in the geocentric celestial coordinate reference system into geostationary coordinates in an international terrestrial reference system.
In the step (5), an observation equation is constructed by the earth fixed coordinates in the international earth reference system and the body reading coordinates of the telescope axis system, and then a transformation matrix from the international earth reference system to the body coordinate system of the telescope axis system is calculated based on a least square method.
The method for fully automatically pointing the satellite of the foundation telescope provided by the technical scheme breaks through the limitation that a fixed relation needs to be established between a telescope body shaft system and a horizontal coordinate system where a station is located in a classical method, directly establishes the relation between the telescope body shaft system and an international earth reference system, directly observes a known satellite through the telescope, converts the coordinate of the satellite into the coordinate under the international earth reference system, and further solves a conversion matrix between the telescope body shaft system and the earth coordinate system, so that the telescope can accurately point any known satellite; at present, all telescopes can be provided with a camera, processing can be realized through a small processor, and automatic pointing of the telescopes to the star body can be automatically and accurately realized on the whole under the unattended condition (pixel level).
The full-automatic pointing method for the foundation telescope solves the problems that in the prior art, a fixed relation needs to be established between a telescope body shaft system and a horizontal coordinate system where a station is located, the azimuth difference and the horizontal difference of the telescope need to be adjusted, and timeliness and accuracy are poor and difficult to guarantee, directly establishes a way and a mechanism for connecting the telescope body shaft system and an international earth reference system, and can realize pointing and tracking of the telescope to a star body in a high-timeliness and accurate mode.
Drawings
FIG. 1 is a flow chart of a fully automatic pointing method for a ground-based telescope according to the present invention;
FIG. 2 is a schematic view of the structure of the apparatus used in this embodiment;
FIG. 3 is an international earth reference system [ M ] and a telescope two axis system body coordinate system [ T ];
fig. 4 is an image of a target star captured after the telescope is pointed in the embodiment.
In the figure: a CCD camera; 2. a lens; 3. a mirror.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the following description is given in conjunction with the accompanying examples. It is to be understood that the following text is merely illustrative of one or more specific embodiments of the invention and does not strictly limit the scope of the invention as specifically claimed.
In this embodiment, based on the full-automatic pointing method for the ground-based telescope, the following telescope axis pointing calibration observation experiment is performed according to the flow chart shown in fig. 1:
(1) in the national astronomical observational base, a telescope observation device shown in figure 2 is randomly arranged, wherein the device shown in the figure comprises a CCD camera 1, a Nikon lens 2 and a reflector 3 with a rotary table.
(2) The telescope is controlled to point to different sky areas in the movable range of two shafting, the number of the pointing areas is not less than 9, the movement step length of each shafting is uniform, the star is observed at each step length, and the reading coordinate values (omega, theta) of the body of the two shafting of the telescope and the observed star image data are recorded.
(3) Processing the observation image data of the star body, identifying all known star bodies in each area image, matching the pixel measurement coordinate (x, y) of the star image on the image with the celestial coordinates (alpha, delta) in the star table by using a classical triangular arc length matching method, and performing least square fitting on all the constant star image measurement coordinates and the celestial coordinates in each area to obtain a function for converting the measurement coordinates (x, y) into the celestial coordinates (alpha, delta), so as to obtain the central pixel coordinates (x, y)0,y0) Solving the corresponding celestial coordinates (alpha) in the star chart0,δ0) And resolving the celestial coordinates pointed by the optical axis of the telescope in each area.
(4) Coordinate vectors from star tables
Figure BDA0002636480980000031
Converting to celestial coordinates in the Earth's center celestial sphere reference system, and converting from celestial coordinates in the Earth's center celestial sphere reference system to geo-fixed coordinates in the International Earth's reference system
Figure BDA0002636480980000032
The method needs to correct the direction of the celestial body by self, annual parallax, light gravity deflection, annual aberration, nutation rotation and polar shift of the earth, and specifically comprises the following steps:
Figure BDA0002636480980000033
in the formula:
Figure BDA0002636480980000034
to observe the original location of the stars in the star table,
Figure BDA0002636480980000035
the correction items are self-correction items, annual parallax correction items, annual light aberration correction items and earth aberration nutation self-rotation polar transfer correction items.
The rotation matrix of the Cartesian coordinate system around a certain coordinate axis is defined by R in the embodimentnAnd (theta) is shown. Where n is 1, 2, and 3 denote rotations about the first, second, and third axes (i.e., the X, Y, Z axes), respectively. Here θ is the angle of rotation, right hand system, positive counterclockwise and negative clockwise. The Cartesian coordinate system is rotated about the first, second and third axes by an angle θ1,θ2,θ3The corresponding rotation matrix forms are respectively as follows:
Figure BDA0002636480980000036
1) self-correcting
Figure BDA0002636480980000037
Wherein t is0For a ephemeris position epoch, t is an observation time epoch, the position and velocity vectors of the celestial body may be expanded as follows:
Figure BDA0002636480980000041
Figure BDA0002636480980000042
Figure BDA0002636480980000043
Figure BDA0002636480980000044
wherein [ N ]0]Is the coordinate system of the centroid flat equator of the initial epoch of the ephemeris, and pi is the parallax error and mu of the celestial bodyα,μδIs a self-actuated parameter, VrIs the apparent velocity.
2) Annual parallax correction
Figure BDA0002636480980000045
Wherein pi is the parallax angle of the celestial body,
Figure BDA0002636480980000046
is the coordinate vector of the earth's centroid (geocentric) relative to the solar system centroid.
3) Light gravity deflection correction
Figure BDA0002636480980000047
Wherein
Figure BDA0002636480980000048
D is a supplementary angle of the vector included angle between the sun direction and the direction of the detected star at the geocentric position,
Figure BDA0002636480980000049
is the unit direction vector of the sun relative to the geocentric.
4) Annual light aberration correction
Figure BDA00026364809800000410
Wherein c is the speed of light,
Figure BDA00026364809800000411
is the instantaneous motion velocity vector of the earth center relative to the center of mass of the solar system.
5) Earth error nutation self-rotation polar motion correction
Figure BDA00026364809800000412
Wherein, the earth time offset nutation correction matrix is M (t) N.P.B, and the expansion form is as follows:
Figure BDA0002636480980000051
in the formula: b is a reference frame deviation correction matrix; p is a time difference selection matrix; n is a nutation rotation matrix; xi0And η0Are two positional deviations in the celestial reference frame; chi shapeAIs the precession of the ecliptic along the equator; epsilonAIs the flat yellow-red crossing angle corresponding to the date; d alpha0Is the right ascension shift of the vernal equinox in the geocentric celestial sphere reference system (GCRS) of epoch J2000.0; psiAIs precession of the longitude component; omegaAIs the precession of the yellow-red crossing angle; Δ ψ is the nutation of the longitude component; Δ ε is the nutation of the yellow-red angle; epsilon0Is the yellow-red crossing angle of epoch J2000.0.
Wherein the earth rotation correction matrix is
R(t)＝R3(GST) (7)
Here, GST is the rotation angle of the earth (i.e., greenwich mean time).
The earth polar motion correction matrix is:
W(t)＝R1(-yp)·R2(-xp) (8)
here, xp,ypIs the earth polar motion parameter.
(5) Firstly, an observation equation is constructed by the earth fixed coordinates in the international earth reference system and the body reading coordinates of the telescope axis system, and then a conversion matrix from the international earth reference system [ M ] to the body coordinate system [ T ] of the telescope axis system is calculated based on a least square method (the observation equation is shown in a formula 9, and the geometric relation between the two reference systems [ M ] and [ T ] is shown in FIG. 3, wherein XYZ axes form the international earth reference system [ M ] and XYZ axes form the body coordinate system [ T ]):
Figure BDA0002636480980000052
the geometric relation between the international earth reference system [ M ] and the telescope two axis system body coordinate system [ T ] can be completely determined by three Euler angles, and the mutual conversion relation is equivalent to a matrix.
(6) For the star to be observed, the coordinate of celestial sphere in the star table is firstly converted (alpha)c,δc) As coordinates in the international earth reference system
Figure BDA0002636480980000053
Multiplying the obtained result by the conversion matrix of the above steps to obtain the body coordinates (omega) of the two shafting directions of the telescopec,θc)；
Figure BDA0002636480980000061
(7) The calibration of the whole pointing parameter model is completed through the steps, and the body coordinate (omega) of any star to be measured is usedc,θc) The telescope can be controlled to execute the pointing parameters in the telescope body system, and the accurate pointing to the target to be measured is realized.
Based on the conversion matrix from the earth-fixed system to the telescope body coordinate system given by the method, the conversion precision of the conversion matrix is better than 10.6 arc seconds (the single measurement precision of the telescope is 36 arc seconds, and the resolving error of the conversion parameters is greatly reduced based on the uniform sampling observation).
Figure BDA0002636480980000062
Fig. 4 shows that after calibration is performed based on the full-automatic satellite pointing method for the ground-based telescope, a central satellite and three field satellites are given, the pointing parameters of the telescope are calculated, the telescope points, and then the shot image of the target satellite is obtained, so that the central satellite is in the center of the image, and the field satellites are around the image, and the feasibility and the accuracy of the method are fully developed.
The present invention is not limited to the above embodiments, and those skilled in the art can make various equivalent changes and substitutions without departing from the principle of the present invention after learning the content of the present invention, and these equivalent changes and substitutions should be considered as belonging to the protection scope of the present invention.

Claims (2)

1. A full-automatic pointing method for a ground-based telescope is characterized by comprising the following steps:
(1) securing the telescope to the station;
(2) collecting star observation images in different areas through a telescope, and recording body reading coordinate values of a telescope shaft system and star image data of the star observation images;
(3) processing the star observation image data to identify all known stars in each area image, matching the pixel metric coordinates (x, y) of the star on the image with the celestial coordinates (alpha, delta) in the star table, and performing least square fitting on the metric coordinates (x, y) of all the satellites and celestial coordinates in each area to obtain a function for converting the metric coordinates (x, y) to the celestial coordinates (alpha, delta), and further processing the central pixel coordinates (x, y) to identify all known stars in each area image0,y0) Solving the corresponding celestial coordinates (alpha) in the star chart0,δ0) I.e. the celestial coordinates pointed by the optical axis of the telescope;
(4) coordinate vectors from star tables
Figure FDA0003451238820000011
Converting to celestial coordinates in the Earth's center celestial sphere reference system, and converting from celestial coordinates in the Earth's center celestial sphere reference system to geo-fixed coordinates in the International Earth's reference system
Figure FDA0003451238820000012
(5) An observation equation is constructed by the earth fixed coordinates in the international earth reference system and the body reading coordinates of the telescope shafting, and then a conversion matrix from the international earth reference system [ M ] to the body coordinate system [ T ] of the telescope shafting is calculated based on a least square method;
the observation equation is
Figure FDA0003451238820000013
(6) Transforming (alpha) coordinates of celestial sphere in star chart of star body to be observedc,δc) As coordinates in the international earth reference system
Figure FDA0003451238820000014
Multiplying the obtained result by the conversion matrix of the above steps to obtain the body coordinates (omega) of the two shafting directions of the telescopec,θc)；
Figure FDA0003451238820000015
(7) And controlling the telescope shafting to execute the body pointing parameters, namely realizing accurate pointing to the target to be measured.
2. The full-automatic satellite pointing method for the ground-based telescope according to claim 1, characterized in that: in the step (2), the telescope points to at least 9 areas in the movable range of the two shafting, the movement step length of each shafting is the same, and reading coordinate values of the two shafting bodies of the telescope at each step length and observed star image data are recorded.
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