CN112697136B - Quick minimum area star map simulation method - Google Patents
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Abstract
The invention provides a quick minimum area star map simulation method which comprises the steps of star map supplementing, star map dividing, star map compensating and star map searching. 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 global search of the star map, and can meet the star map extraction under the condition of different simulated field sizes, so that the star points contained in the star map in the region are minimized as much as possible during the construction of the star map, the real-time performance of digital star map generation is ensured, and the time delay introduced by calculation in the star map generation process is reduced.
Description
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 navigation systems for high precision and miniaturization, the star light navigation technology becomes one of the main research directions in the current navigation mode, and with the development of the star light navigation technology, the star light simulation technology capable of performing star light navigation technology verification is adopted. The star light simulation can provide star point information under simulated observation conditions for the star light navigation so as to simulate the star point information of a real star sky and help the star light navigation system to finish performance verification, parameter calibration and attitude measurement.
The measures for assisting the starlight navigation are not only starlight simulation, but also can complete the same function in theory of field starlight observation, but because the field starlight observation is very limited by natural observation conditions, especially weather problems and light pollution problems, the use requirements of the test at any time cannot be met, and the field starlight observation cannot become a main means of ground test and ground application of a starlight navigation system. However, the starlight simulation technology breaks through the limitation problem of the test condition, can complete the simulation of the observable starry sky of the starlight navigation system at any time and under any condition, enhances the flexibility and reliability of the testing 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 the control closed loop of the 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, wherein the size of the simulated star map depends on the field of view of the starlight navigation system, and the azimuth of the simulated star map depends on the current gesture of the starlight navigation system. In order to improve the matching speed and the recognition accuracy, the starlight navigation technology generally adopts a multi-star recognition matching method, and utilizes a plurality of star information in a field of view to carry out gesture calculation.
To meet the need for multi-star identification matching, multi-star generation simulation requires the rapid generation of an area star map that contains the correct celestial star point information and covers the starlight navigation field of view. In the regional star map generation, in order to determine star points contained in the regional star map, all the star points in the star map library are usually required to be matched, and due to the large number of star points in the star map library, a large number of cyclic functions are used in the matching process, so that the calculation efficiency is reduced, and the real-time performance of regional star map calculation and interception is affected. The traditional star map simulation adopts a cutting mode of 2 times distortion field of view, and when the number of star point bases in the star map is huge, the matching efficiency is affected. In order to further improve the real-time performance of star map simulation, in consideration of the compressibility of the cut-out size, a method for rapidly minimizing regional star map simulation is provided, a mode of matching 1.5 times of view fields with compensation bands is adopted, a star map library is reconstructed by using a segmentation index mode, the number of star points required to be matched and calculated 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 quick minimum regional star map simulation method, which ensures the real-time performance of digital star map generation and reduces the time delay introduced by calculation in the star map generation process.
The invention discloses a quick minimum area star map simulation method, which comprises the following steps:
step one: star map augmentation
Unfolding an original star map by taking the right ascension information and the right ascension information as coordinates, continuously adding a supplementary star map, and forming the supplementary star map after supplementing;
step two: star map segmentation
Performing star map segmentation on the supplementary star map to form a segment star map, reconstructing a star map data space by using memory storage alignment and space occupation minimization as references, and converting and storing star map segmentation results in an index form;
step three: star map compensation
Designing a compensating band of the segment star map along the direction of the right ascension, dividing the compensating band into a left compensating band and a right compensating band, and converting and storing the result in an index form;
step four: star map search
And determining the selected fragment star map according to the right ascension and the declination pointed by the central optical axis of the star navigation field of view, determining to use the left compensation band and the right compensation band, obtaining star point indexes matched when determining the regional star map, and determining star points contained in the minimized regional star map.
Further, the star map segmentation specifically includes:
with the information of the right ascension (with lambda rad Or lambda deg Representation) and declination information (in order toOr->Representation) of the original star Map for coordinate expansion origin I < th > i∈I,I＝{1,2,…,N} The position of each star point is->At lambda deg After more than 360, adding supplementary star map continuously, wherein the supplementary star map is represented by the red warp lambda deg Starting from =0, 1-fold field of view +.>Is a star Map with the width, and forms a supplementary star Map after supplementing augmented 。
Further, the star map segmentation specifically includes:
will supplement star Map augmented According to the size of the field of viewTo->Is the origin, 0.5 times the field of view +.>Performing star map segmentation for width, wherein the segmented segment star map is
Wherein k is a right ascension tape number, l is a right ascension tape number, p is a maximum right ascension tape number, q is a unidirectional right ascension maximum tape number, j is an regional star map index number, and p, q and j satisfy:
fragment star mapThe index of the containing star point is
Converting and storing star map segmentation results in the form of three-level indexes, wherein,
third level index: an original sequence indexed by asterisk i;
second level index: with all fragments including star points in the star mapA reconstructed sequence that is an index;
first level index: and a sequence of segment star map positions corresponding to the reconstructed sequence and indexed by segment star map sequence number j.
Further, the star map compensation specifically includes:
design fragment star mapCompensation band in the direction of the right ascension>The compensation belt is divided into a left compensation belt and a right compensation belt;
left compensating beltThe method meets the following conditions:
upper boundary:
the lower boundary:
left boundary:
right boundary:
left compensating beltThe method meets the following conditions:
upper boundary:
the lower boundary:
left boundary:
right boundary:
also, the method in the star map segmentation is indexed by j as inThe star points in (a) create a three-level index, compensation band +.>The index of the containing star point is
Further, in the fourth step, the simulation using method includes:
the first step: right ascension and declination pointed by central optical axis of starlight navigation view fieldDetermining a selected segment star map, selected segment star map +.>Satisfy the following requirements
And a second step of: according to m 0 And n 0 Compensation bands for use in determiningIf it meets->Then use left compensation tape +>Otherwise adopt right compensation area->
And a third step of: will correspond toAnd->Index of->And->Superposition is carried out to obtain star index i which is matched when determining regional star map final ；
Fourth step: matching at star index i final The directional included angle between the middle and the central optical axis of the field of view is smaller thanStar index i of (1) FOV ，i FOV The determined star points are the star points contained in the minimum area star map.
The method provided by the invention compresses the number of star points calculated by matching in the compensation band segmentation mode, optimizes the extraction and use of star point data in the index mode, improves the regional star map generation efficiency, improves the real-time performance of star map simulation, and has more obvious effects especially when the star is in a wide range, namely the star point base is large.
Drawings
FIG. 1 is a star map augmentation schematic;
FIG. 2 is a schematic diagram of a star map primary segmentation;
FIG. 3 is a star map segmentation compensation band;
fig. 4 is a schematic diagram of left and right compensation bands.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The invention discloses a quick minimum area star map simulation method, which comprises the following steps:
step one: star map augmentation
Unfolding an original star map by taking the right ascension information and the right ascension information as coordinates, continuously adding a supplementary star map, and forming the supplementary star map after supplementing;
step two: star map segmentation
Performing star map segmentation on the supplementary star map to form a segment star map, reconstructing a star map data space by using memory storage alignment and space occupation minimization as references, and converting and storing star map segmentation results in an index form;
step three: star map compensation
Designing a compensating band of the segment star map along the direction of the right ascension, dividing the compensating band into a left compensating band and a right compensating band, and converting and storing the result in an index form;
step four: star map search
And determining the selected fragment star map according to the right ascension and the declination pointed by the central optical axis of the star navigation field of view, determining to use the left compensation band and the right compensation band, obtaining star point indexes matched when determining the regional star map, and determining star points contained in the minimized regional star map.
The method adopts a flow operation mode, is divided into a preparation stage and a use stage, and comprises the following specific steps:
1. preparation stage
The first step: star map augmentation
As shown in fig. 1, with the right-hand information (with lambda rad Or lambda deg Representation) and declination information (in order toOr->Representation) of the original star Map for coordinate expansion origin I < th > i∈I,I＝{1,2,…,N} The position of each star point is->At lambda deg After more than 360, adding supplementary star map continuously, wherein the supplementary star map is represented by the red warp lambda deg Starting from =0, 1-fold field of view +.>Is a star Map with the width, and forms a supplementary star Map after supplementing augmented 。
And a second step of: star map segmentation
As shown in FIG. 2, the star Map will be augmented augmented According to the size of the field of viewTo->Is the origin, 0.5 times the field of view +.>Performing star map segmentation for width, wherein the segmented segment star map is
Wherein k is a right ascension tape number, l is a right ascension tape number, p is a maximum right ascension tape number, q is a unidirectional right ascension maximum tape number, j is an regional star map index number, and p, q and j satisfy:
fragment star mapThe index of the containing star point is
And (3) the memory storage is aligned, the occupied space is minimized as a reference, the star map data space is reconstructed, and star map segmentation results are converted and stored in a three-level index mode. Wherein,
third level index: an original sequence indexed by asterisk i;
second level index: with all fragments including star points in the star mapA reconstructed sequence that is an index;
first level index: a segment star map position sequence corresponding to the reconstructed sequence with the segment star map sequence number j as an index;
and a third step of: star map compensation
As shown in fig. 3, the projected distortion of the polar coordinates to the planar coordinates is taken into account. Design fragment star mapCompensation band in the direction of the right ascension>The compensation belt is divided into a left compensation belt and a right compensation belt.
Left compensating beltThe method meets the following conditions:
upper boundary:
lower boundary:
left boundary:
right boundary:
left compensating beltThe method meets the following conditions:
upper boundary:
lower boundary:
left boundary:
right boundary:
also, the method in the second step is indexed by j asThe star points in (a) create a three-level index, compensation band +.>The index of the containing star point is
2. Stage of use
The first step: right ascension and declination pointed by central optical axis of starlight navigation view fieldDetermining a selected segment star map, selected segment star map +.>Satisfy the following requirements
And a second step of: according to m 0 And n 0 Compensation bands for use in determiningIf it meets->Then use left compensation tape +>Otherwise adopt right compensation area->See fig. 4.
And a third step of: will correspond toAnd->Index of->And->Superposition is carried out to obtain star index i which is matched when determining regional star map final ；
Fourth step: matching at star index i final The directional included angle between the middle and the central optical axis of the field of view is smaller thanStar index i of (1) FOV ，i FOV The determined star points are the star points contained in the minimum area star map.
The above embodiments are only limited to the explanation and description of the technical solutions 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 substitution of the technical solution of the present invention results in a new technical solution that falls within the scope of the present invention.
Claims (3)
1. The quick minimum area star map simulation method is characterized by comprising the following steps of:
step one: star map augmentation
Unfolding an original star map by taking the right ascension information and the right ascension information as coordinates, continuously adding a supplementary star map, and forming the supplementary star map after supplementing;
step two: star map segmentation
Performing star map segmentation on the supplementary star map to form a segment star map, reconstructing a star map data space by using memory storage alignment and space occupation minimization as references, and converting and storing star map segmentation results in an index form;
the star map segmentation specifically comprises:
will supplement star Map augmented According to the size of the field of viewTo->At 0.5 times of the field of viewPerforming star map segmentation for width, wherein the segmented segment star map is
Wherein k is a right ascension tape number, l is a right ascension tape number, p is a maximum right ascension tape number, q is a unidirectional right ascension maximum tape number, j is an regional star map index number, and p, q and j satisfy:
fragment star mapThe index of the containing star point is
Converting and storing star map segmentation results in the form of three-level indexes, wherein,
third level index: an original sequence indexed by asterisk i;
second level index: with all fragments including star points in the star mapA reconstructed sequence that is an index;
first level index: a segment star map position sequence corresponding to the reconstructed sequence with the segment star map sequence number j as an index;
step three: star map compensation
Designing a compensating band of the segment star map along the direction of the right ascension, dividing the compensating band into a left compensating band and a right compensating band, and converting and storing the result in an index form;
the star map compensation specifically comprises the following steps:
design fragment star mapCompensation band in the direction of the right ascension>The compensation belt is divided into a left compensation belt and a right compensation belt;
left compensating beltThe method meets the following conditions:
upper boundary:
the lower boundary:
left boundary:
right boundary:
left compensating beltThe method meets the following conditions:
upper boundary:
the lower boundary:
left boundary:
right boundary:
also, the method in the star map segmentation is indexed by j as inThe star points in (a) create a three-level index, compensation band +.>The index of the containing star point is
Step four: star map search
And determining the selected fragment star map according to the right ascension and the declination pointed by the central optical axis of the star navigation field of view, determining to use the left compensation band and the right compensation band, obtaining star point indexes matched when determining the regional star map, and determining star points contained in the minimized regional star map.
2. The method of claim 1, wherein in step one, the star map augmentation specifically comprises:
with the information of the right ascension (with lambda rad Or lambda deg Representation) and declination information (in order toOr->Representation) of the original star Map for coordinate expansion origin I < th > i∈I,I＝{1,2,…,N} The position of each star point is->At lambda deg After more than 360, adding supplementary star map continuously, wherein the supplementary star map is represented by the red warp lambda deg Starting from =0, 1-fold field of view +.>Is a star Map with the width, and forms a supplementary star Map after supplementing augmented 。
3. The method for simulating a rapid minimum area star map according to claim 1, wherein in the fourth step, the simulation method comprises:
the first step: right ascension and declination pointed by central optical axis of starlight navigation view fieldDetermining a selected segment star map, selected segment star map +.>Satisfy the following requirements
And a second step of: according to m 0 And n 0 Determining a causeCompensating belt for useIf it meets->Then use left compensation tape +>Otherwise adopt right compensation area->
And a third step of: will correspond toAnd->Index of->And->Superposition is carried out to obtain star index i which is matched when determining regional star map final ；
Fourth step: matching at star index i final The directional included angle between the middle and the central optical axis of the field of view is smaller thanStar index i of (1) FOV ，i FOV The determined star points are the star points contained in the minimum area star map.
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