CN112697136A - Rapid minimized area star map simulation method - Google Patents

Rapid minimized area star map simulation method Download PDF

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CN112697136A
CN112697136A CN202011352978.6A CN202011352978A CN112697136A CN 112697136 A CN112697136 A CN 112697136A CN 202011352978 A CN202011352978 A CN 202011352978A CN 112697136 A CN112697136 A CN 112697136A
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韩健
杨玉锋
唐成
周莉莉
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Beijing Research Institute of Mechanical and Electrical Technology
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Abstract

The invention provides a rapid minimized area star map simulation method which comprises the steps of star map supplement, star map segmentation, star map compensation and star map search. The method can complete the rapid extraction of the minimized region in the process of simulating the star map, reduce the time consumption generated by the search of the star map universe, and meet the extraction of the star map under the conditions of different simulated field sizes, so that the star points contained in the construction of the regional star map are as minimum as possible, the real-time property of the generation of the digital star map is ensured, and the time delay introduced by calculation in the process of generating the star map is reduced.

Description

Rapid minimized area star map simulation method
Technical Field
The invention belongs to the technical field of semi-physical simulation, and particularly relates to a star map simulation method.
Background
With the development of navigation technology and the demand of high precision and miniaturization of navigation systems, the starlight navigation technology has become one of the main research directions in the current navigation mode, and along with the development, the starlight navigation technology is a starlight simulation technology capable of verifying the starlight navigation technology. The starlight simulation can provide starpoint information under the simulated observation condition for starlight navigation so as to simulate the starpoint information of a real starry sky to help a starlight navigation system to complete performance verification, parameter calibration and attitude measurement.
The measures for assisting starlight navigation not only include starlight simulation, but theoretically the field starlight can also complete the same function, but the field starlight is very limited by natural observation conditions, particularly weather problems and light pollution problems, so that the use requirement of testing at any time cannot be met, and the field starlight cannot be a main means for ground testing and ground application of the starlight navigation system. However, the starlight simulation technology breaks through the limitation problem of the test condition, can complete the simulation of starlight navigation system observable starry sky at any time and under any condition, enhances the flexibility and reliability of the test of the starlight navigation system, and shows the necessity and importance of the starlight simulation technology.
In a semi-physical simulation environment, in order to realize a control closed loop of starlight navigation information, a simulated star map corresponding to the current state of the starlight navigation system needs to be provided for the starlight navigation system in the simulation environment, the size of the simulated star map depends on the size of a view field of the starlight navigation system, and the orientation of the simulated star map depends on the current posture of the starlight navigation system. In order to improve matching speed and identification precision, the starlight navigation technology generally adopts a multi-star identification matching method and utilizes multi-star information in a view field to perform attitude calculation.
In order to meet the requirement of multi-satellite identification and matching, multi-satellite generation simulation needs to quickly generate an area star map which contains correct celestial star point information and covers a starlight navigation view field. In the process of generating the regional star map, all star points in the star map library are generally required to be matched in order to determine star points contained in the regional star map, and because the star points in the star map library are large in number, the calculation efficiency is reduced due to the fact that a large number of cyclic functions are used in the matching process, and the real-time performance of calculation and interception of the regional star map is affected. The traditional star map simulation adopts a 2-time distorted view field interception mode, and when the star point base number in the star map is large, the matching efficiency is influenced. In order to further improve the real-time performance of star map simulation, the compressibility of the interception size is considered, a method for rapidly minimizing the regional star map simulation is provided, a mode of 1.5 times of view field matching compensation zone is adopted, a star map library is reconstructed by a segmentation index mode, the number of star points required to be subjected to matching calculation in the regional star map generation process is minimized, and the regional star map generation efficiency is improved.
Disclosure of Invention
The invention provides a rapid minimized area star map simulation method, which ensures the real-time property of digital star map generation and reduces the time delay introduced by calculation in the star map generation process.
The invention relates to a rapid minimized area star map simulation method, which comprises the following steps:
the method comprises the following steps: supplement to star map
Expanding an original star map by taking the right ascension information and the declination information as coordinates, continuously adding a supplementary star map, and forming a supplementary star map after supplementing;
step two: star map segmentation
Carrying out star map segmentation on the supplementary star map to form a fragment star map, reconstructing a star map data space by using memory storage alignment and minimizing occupied space as a reference, and converting and storing star map segmentation results in an index form;
step three: star map compensation
Designing a compensation band of the segment star map along the right ascension direction, dividing the compensation band into a left compensation band and a right compensation band, and converting and storing results in an index form;
step four: star map search
Determining a selected segment star map according to the right ascension and the declination pointed by the central optical axis of the starlight navigation visual field, determining to use a left compensation band and a right compensation band, obtaining a star index matched when determining the area star map, and determining the star points contained in the minimized area star map.
Further, the star atlas segmentation specifically includes:
by the information of the right ascension (by lambda)radOr λdegRepresentation) and declination information (in order to
Figure BDA0002801876560000031
Or
Figure BDA0002801876560000032
Representation) expands the original star Map for coordinatesoriginThe ithi∈I,I＝{1,2,…,N}The position of each star point is
Figure BDA0002801876560000033
At λdegContinuously adding supplementary star map after more than 360, wherein the supplementary star map is red meridian lambdadeg1 field of view starting from 0
Figure BDA0002801876560000034
Forming supplementary star Map for width star Mapaugmented。
Further, the star atlas segmentation specifically includes:
will supplement the star MapaugmentedAccording to the size of the field of view
Figure BDA0002801876560000035
To be provided with
Figure BDA0002801876560000036
0.5 field of view as origin
Figure BDA0002801876560000037
The star map is divided for the width, and the divided segment star map is
Figure BDA0002801876560000038
Wherein k is the number of the right ascension tapes, l is the number of the declination tapes, p is the maximum number of the right ascension tapes, q is the maximum number of the unidirectional declination tapes, j is the index number of the regional star map, and p, q and j meet the following conditions:
Figure BDA0002801876560000039
segment star map
Figure BDA00028018765600000310
The index of which contains the star point is
Figure BDA00028018765600000311
And converting and storing the star atlas segmentation result in a form of three-level index, wherein,
third-level indexing: an original sequence indexed by an asterisk i;
second-level indexing: all the segments of the star map contain star points
Figure BDA0002801876560000041
A reconstructed sequence that is an index;
the first-level index: and the segment star map position sequence which takes the segment star map serial number j as an index and corresponds to the reconstruction sequence.
Further, the star map compensation specifically comprises:
designing a segmented star map
Figure BDA0002801876560000042
Compensation belt along right ascension direction
Figure BDA0002801876560000043
The compensation belt is divided into a left compensation belt and a right compensation belt;
left compensation belt
Figure BDA0002801876560000044
Satisfies the following conditions:
an upper boundary:
Figure BDA0002801876560000045
lower bound:
Figure BDA0002801876560000046
left boundary:
Figure BDA0002801876560000047
right border:
Figure BDA0002801876560000048
left compensation belt
Figure BDA0002801876560000049
Satisfies the following conditions:
an upper boundary:
Figure BDA00028018765600000410
lower bound:
Figure BDA00028018765600000411
left boundary:
Figure BDA00028018765600000412
right border:
Figure BDA00028018765600000413
also, the method in the star map segmentation takes j as an index and is
Figure BDA00028018765600000414
The star point in the middle creates a three-level index, a compensation band
Figure BDA00028018765600000415
The index of which contains the star point is
Figure BDA00028018765600000416
Further, in step four, the simulation using method includes:
the first step is as follows: right ascension and declination pointed by central optical axis of starlight navigation view field
Figure BDA0002801876560000051
Determining a selected segment star map, the selected segment star map
Figure BDA0002801876560000052
Satisfy the requirement of
Figure BDA0002801876560000053
The second step is that: according to m0And n0Determining compensation band to use
Figure BDA0002801876560000054
If it satisfies
Figure BDA0002801876560000055
Then use the left compensation belt
Figure BDA0002801876560000056
Otherwise, right compensation belt is adopted
Figure BDA0002801876560000057
The third step: will correspond to
Figure BDA0002801876560000058
And
Figure BDA0002801876560000059
is indexed by
Figure BDA00028018765600000512
And
Figure BDA00028018765600000510
overlapping to obtain a star point index i for matching when determining the regional star mapfinal；
The fourth step: matching index i at star pointfinalThe pointing included angle between the central optical axis and the central optical axis of the field of view is less than
Figure BDA00028018765600000511
Star index iFOV，iFOVThe determined star points are the star points contained in the minimized regional star map.
The method of the invention compresses the quantity of the star points which are matched and calculated by the compensation zone segmentation mode, optimizes the extraction and use of the star point data by the index mode, improves the generation efficiency of the regional star map, improves the real-time performance of the star map simulation, and has more obvious effect especially when the star equal range is wide, namely the star point base number is large.
Drawings
FIG. 1 is a schematic view of a star map augmentation;
FIG. 2 is a schematic diagram of the initial segmentation of a star map;
FIG. 3 is a star map segmentation compensation band;
FIG. 4 is a schematic view of the left and right compensation bands.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The invention relates to a rapid minimized area star map simulation method, which comprises the following steps:
the method comprises the following steps: supplement to star map
Expanding an original star map by taking the right ascension information and the declination information as coordinates, continuously adding a supplementary star map, and forming a supplementary star map after supplementing;
step two: star map segmentation
Carrying out star map segmentation on the supplementary star map to form a fragment star map, reconstructing a star map data space by using memory storage alignment and minimizing occupied space as a reference, and converting and storing star map segmentation results in an index form;
step three: star map compensation
Designing a compensation band of the segment star map along the right ascension direction, dividing the compensation band into a left compensation band and a right compensation band, and converting and storing results in an index form;
step four: star map search
Determining a selected segment star map according to the right ascension and the declination pointed by the central optical axis of the starlight navigation visual field, determining to use a left compensation band and a right compensation band, obtaining a star index matched when determining the area star map, and determining the star points contained in the minimized area star map.
The method adopts a flow operation form and comprises a preparation stage and a use stage, and the method comprises the following specific steps:
1. preparation phase
The first step is as follows: supplement to star map
As shown in FIG. 1Show that the right ascension information (in lambda)radOr λdegRepresentation) and declination information (in order to
Figure BDA0002801876560000071
Or
Figure BDA0002801876560000072
Representation) expands the original star Map for coordinatesoriginThe ithi∈I,I＝{1,2,…,N}The position of each star point is
Figure BDA0002801876560000073
At λdegContinuously adding supplementary star map after more than 360, wherein the supplementary star map is red meridian lambdadeg1 field of view starting from 0
Figure BDA0002801876560000074
Forming supplementary star Map for width star Mapaugmented。
The second step is that: star map segmentation
As shown in FIG. 2, the star Map will be supplementedaugmentedAccording to the size of the field of view
Figure BDA0002801876560000075
To be provided with
Figure BDA0002801876560000076
0.5 field of view as origin
Figure BDA0002801876560000077
The star map is divided for the width, and the divided segment star map is
Figure BDA0002801876560000078
Wherein k is the number of the right ascension tapes, l is the number of the declination tapes, p is the maximum number of the right ascension tapes, q is the maximum number of the unidirectional declination tapes, j is the index number of the regional star map, and p, q and j meet the following conditions:
Figure BDA0002801876560000079
segment star map
Figure BDA00028018765600000710
The index of which contains the star point is
Figure BDA00028018765600000711
The memory storage is aligned, the occupied space is minimized to be the reference reconstructed star map data space, and the star map segmentation result is converted and stored in a three-level index mode. Wherein,
third-level indexing: an original sequence indexed by an asterisk i;
second-level indexing: all the segments of the star map contain star points
Figure BDA00028018765600000712
A reconstructed sequence that is an index;
the first-level index: taking the sequence number j of the segment star map as an index and corresponding to the position sequence of the segment star map of the reconstruction sequence;
the third step: star map compensation
As shown in fig. 3, the projection distortion of polar coordinates to planar coordinates is taken into account. Designing a segmented star map
Figure BDA0002801876560000081
Compensation belt along right ascension direction
Figure BDA0002801876560000082
The compensation belt is divided into a left compensation belt and a right compensation belt.
Left compensation belt
Figure BDA0002801876560000083
Satisfies the following conditions:
upper boundary:
Figure BDA0002801876560000084
lower bound:
Figure BDA0002801876560000085
left boundary:
Figure BDA0002801876560000087
the right boundary:
Figure BDA0002801876560000088
left compensation belt
Figure BDA0002801876560000089
Satisfies the following conditions:
upper boundary:
Figure BDA00028018765600000810
lower bound:
Figure BDA00028018765600000811
left boundary:
Figure BDA00028018765600000812
the right boundary:
Figure BDA00028018765600000813
similarly, the method in the second step is indexed by j, which is
Figure BDA00028018765600000814
The star point in the middle creates a three-level index, a compensation band
Figure BDA00028018765600000815
The index of which contains the star point is
Figure BDA00028018765600000816
2. Stage of use
The first step is as follows: right ascension and declination pointed by central optical axis of starlight navigation view field
Figure BDA00028018765600000817
Determining a selected segment star map, the selected segment star map
Figure BDA00028018765600000818
Satisfy the requirement of
Figure BDA0002801876560000091
The second step is that: according to m0And n0Determining compensation band to use
Figure BDA0002801876560000092
If it satisfies
Figure BDA0002801876560000093
Then use the left compensation belt
Figure BDA0002801876560000094
Otherwise, right compensation belt is adopted
Figure BDA0002801876560000095
See fig. 4.
The third step: will correspond to
Figure BDA0002801876560000096
And
Figure BDA0002801876560000097
is indexed by
Figure BDA0002801876560000098
And
Figure BDA0002801876560000099
overlapping to obtain the star in the determined areaStar index i for matching in graph timefinal；
The fourth step: matching index i at star pointfinalThe pointing included angle between the central optical axis and the central optical axis of the field of view is less than
Figure BDA00028018765600000910
Star index iFOV，iFOVThe determined star points are the star points contained in the minimized regional star map.
The above embodiments are only for explaining and explaining the technical solution of the present invention, but should not be construed as limiting the scope of the claims. It should be clear to those skilled in the art that any simple modification or replacement based on the technical solution of the present invention may be adopted to obtain a new technical solution, which falls within the scope of the present invention.

Claims (5)

1. A rapid minimized area star map simulation method is characterized by comprising the following steps:
the method comprises the following steps: supplement to star map
Expanding an original star map by taking the right ascension information and the declination information as coordinates, continuously adding a supplementary star map, and forming a supplementary star map after supplementing;
step two: star map segmentation
Carrying out star map segmentation on the supplementary star map to form a fragment star map, reconstructing a star map data space by using memory storage alignment and minimizing occupied space as a reference, and converting and storing star map segmentation results in an index form;
step three: star map compensation
Designing a compensation band of the segment star map along the right ascension direction, dividing the compensation band into a left compensation band and a right compensation band, and converting and storing results in an index form;
step four: star map search
Determining a selected segment star map according to the right ascension and the declination pointed by the central optical axis of the starlight navigation visual field, determining to use a left compensation band and a right compensation band, obtaining a star index matched when determining the area star map, and determining the star points contained in the minimized area star map.
2. The method for rapidly simulating a star atlas of a minimized area according to claim 1, wherein in the first step, the star atlas segmentation specifically comprises:
by the information of the right ascension (by lambda)radOr λdegRepresentation) and declination information (in order to
Figure FDA0002801876550000011
Or
Figure FDA0002801876550000012
Representation) expands the original star Map for coordinatesoriginThe ithi∈I,I＝{1,2,…,N}The position of each star point is
Figure FDA0002801876550000013
At λdegContinuously adding supplementary star map after more than 360, wherein the supplementary star map is red meridian lambdadeg1 field of view starting from 0
Figure FDA0002801876550000014
Forming supplementary star Map for width star Mapaugmented。
3. The method for rapidly simulating a star atlas of a minimized area according to claim 2, wherein in the second step, the star atlas segmentation specifically comprises:
will supplement the star MapaugmentedAccording to the size of the field of view
Figure FDA0002801876550000021
To be provided with
Figure FDA0002801876550000022
0.5 field of view as origin
Figure FDA0002801876550000023
The star map is divided for the width, and the divided segment star map is
Figure FDA0002801876550000024
Wherein k is the number of the right ascension tapes, l is the number of the declination tapes, p is the maximum number of the right ascension tapes, q is the maximum number of the unidirectional declination tapes, j is the index number of the regional star map, and p, q and j meet the following conditions:
Figure FDA0002801876550000025
segment star map
Figure FDA0002801876550000026
The index of which contains the star point is
Figure FDA0002801876550000027
And converting and storing the star atlas segmentation result in a form of three-level index, wherein,
third-level indexing: an original sequence indexed by an asterisk i;
second-level indexing: all the segments of the star map contain star points
Figure FDA0002801876550000028
A reconstructed sequence that is an index;
the first-level index: and the segment star map position sequence which takes the segment star map serial number j as an index and corresponds to the reconstruction sequence.
4. The method for rapidly simulating a star atlas of a minimized area according to claim 1, wherein in step three, the star atlas compensation specifically comprises:
designing a segmented star map
Figure FDA0002801876550000029
Along the Chi meridianDirectional compensation belt
Figure FDA00028018765500000210
The compensation belt is divided into a left compensation belt and a right compensation belt;
left compensation belt
Figure FDA00028018765500000211
Satisfies the following conditions:
an upper boundary:
Figure FDA00028018765500000212
lower bound:
Figure FDA0002801876550000031
left boundary:
Figure FDA0002801876550000032
right border:
Figure FDA0002801876550000033
left compensation belt
Figure FDA0002801876550000034
Satisfies the following conditions:
an upper boundary:
Figure FDA0002801876550000035
lower bound:
Figure FDA0002801876550000036
left boundary:
Figure FDA0002801876550000037
right border:
Figure FDA0002801876550000038
also, the method in the star map segmentation takes j as an index and is
Figure FDA0002801876550000039
The star point in the middle creates a three-level index, a compensation band
Figure FDA00028018765500000310
The index of which contains the star point is
Figure FDA00028018765500000311
5. The method for simulating the rapidly minimized regional star map as claimed in claim 1, wherein in step four, the simulation using method comprises:
the first step is as follows: right ascension and declination pointed by central optical axis of starlight navigation view field
Figure FDA00028018765500000312
Determining a selected segment star map, the selected segment star map
Figure FDA00028018765500000313
Satisfy the requirement of
Figure FDA00028018765500000314
The second step is that: according to m0And n0Determining compensation band to use
Figure FDA00028018765500000315
If it satisfies
Figure FDA00028018765500000316
Then adoptBy left compensation bands
Figure FDA00028018765500000317
Otherwise, right compensation belt is adopted
Figure FDA00028018765500000318
The third step: will correspond to
Figure FDA0002801876550000041
And
Figure FDA0002801876550000042
is indexed by
Figure FDA0002801876550000043
And
Figure FDA0002801876550000044
overlapping to obtain a star point index i for matching when determining the regional star mapfinal；
The fourth step: matching index i at star pointfinalThe pointing included angle between the central optical axis and the central optical axis of the field of view is less than
Figure FDA0002801876550000045
Star index iFOV，iFOVThe determined star points are the star points contained in the minimized regional star map.
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