CN113188508A - High-precision angle and distance measuring telescope system and angle and distance measuring method - Google Patents
High-precision angle and distance measuring telescope system and angle and distance measuring method Download PDFInfo
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- CN113188508A CN113188508A CN202110469307.6A CN202110469307A CN113188508A CN 113188508 A CN113188508 A CN 113188508A CN 202110469307 A CN202110469307 A CN 202110469307A CN 113188508 A CN113188508 A CN 113188508A
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G01S17/08—Systems determining position data of a target for measuring distance only
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Abstract
A high-precision angle and distance measuring telescope system and an angle and distance measuring method realize the night observation of a plurality of space fragments and the daytime observation of a single space fragment by combining a large-view-field visible light splitting system and a small-view-field visible light splitting system, a main control splitting system determines the astronomical positioning information of the space fragments observed at night and in the daytime according to a first astronomical image sent by the large-view-field visible light splitting system and a second astronomical image sent by the small-view-field visible light splitting system, calculates the precise direction of the space fragments and sends the precise direction to a laser distance measuring splitting system, the precise distance measuring splitting system determines the correction amount of laser distance measuring gate control time according to the astronomical positioning information of the space fragments and the space fragment prediction information and sends the correction amount to the laser distance measuring splitting system, and realizes day and night usable and high-precision angle and distance measuring.
Description
Technical Field
The invention relates to the technical field of laser ranging and angle measurement, in particular to a day and night usable high-precision angle measuring and ranging telescope system and an angle measuring and ranging method.
Background
In many fields such as scientific research, military affairs and the like, the space debris needs to be monitored, so that the position and the change of the space debris in the sky at each moment are given, the operation orbit of the space debris is determined, the accurate position information of the space debris is obtained, and the safety of the in-orbit spacecraft is guaranteed. Based on the requirement, the accurate measurement of the space debris is a very important basic link, and the accurate measurement of the space debris is not available, and the track identification, the cataloging and the rail fixing of the space debris and the precise rail fixing of the space debris cannot be realized.
The invention of CCD replaces the traditional photographic observation and becomes one of the effective means for monitoring the space debris. Due to the increase of human aerospace activities, space debris in space is more and more, the space debris larger than 1 cm reaches tens of thousands, even hundreds of thousands and hundreds of thousands in the future, and the safety of the in-orbit working spacecraft is threatened. In order to obtain information about these space debris, it must be observed.
At present, two modes of angle measurement and distance measurement are mainly used for the position accurate measurement of the passive space debris.
The space debris angle measurement has two modes of absolute positioning and relative positioning, wherein the absolute positioning is to realize the space debris measurement by utilizing the axis system of the telescope, and is influenced by the factors of the processing and adjusting precision of the axis system of the telescope, the atmospheric refraction correction precision, the temperature deformation and the like, and is not influenced by the position precision of a background fixed star. The relative positioning is to realize the measurement of the space debris according to the relative position of the space debris and the background fixed star, the pointing accuracy of the telescope does not directly influence the measurement result, but under the condition that the pointing direction of the telescope and the installation error of the image surface are large, the difference between the theoretical coordinate of the fixed star on the image and the actually measured coordinate of the fixed star on the image is large, especially for the image with the error of the image surface, the difference between the theoretical coordinate of the fixed star at the edge part on the image and the actually measured coordinate on the image is large, and the matching threshold of the given theoretical coordinate and the actually measured coordinate cannot be met, so that the matching failure of the theoretical star map and the actually measured star map of the fixed star is caused, and the relative positioning cannot be realized.
For space debris ranging measurement, two modes of laser ranging and radar ranging are available. The working principle of laser ranging is that laser is emitted to space through an emission subsystem of an optical telescope, a part of light of the laser beam after encountering space debris is reflected to a receiving subsystem of the optical telescope, and when the number of received photons reaches a certain threshold, the detection of the space debris is completed. And calculating the round trip time of laser emission and laser reception to obtain the distance between the optical telescope and the space debris. The radar ranging has the working principle that electromagnetic wave signals sent to a space have part of energy received by a radar receiver after encountering space debris, and when the transmitted echo signals exceed a certain threshold voltage value, the radar receiver completes the detection of the space debris. And calculating the round trip time of the transmitted wave and the reflected wave to obtain the distance between the radar and the space debris. The laser ranging is greatly influenced by weather and is not all-weather.
The conventional laser ranging telescope has the following characteristics:
the aperture of the guide star mirror is small, the detection capability is low, the measurement function is not provided, and the guide star function cannot be realized in the daytime;
laser ranging of individual space debris is usually achieved under the guidance of precision forecasting;
the success rate of space debris laser ranging without precise prediction is low;
the success rate of daytime space debris laser ranging is low;
does not have a multi-target observation function;
space debris astronomical positioning is not provided;
therefore, the traditional laser ranging telescope cannot meet the requirement of space debris inventory development.
Disclosure of Invention
The invention mainly solves the technical problem of providing a high-precision angle measuring and distance measuring telescope system capable of observing day and night.
According to a first aspect, there is provided in an embodiment a high precision goniometric and ranging telescope system comprising:
the large-view-field visible light splitting system is used for collecting an astronomical image pointing to a sky area to obtain a first astronomical image and sending the collected first astronomical image to the main control subsystem; wherein the first astronomical image is a night astronomical image pointing to a sky area;
the small visual field visible light subsystem is used for acquiring an astronomical image pointing to an sky area to obtain a second astronomical image and sending the acquired second astronomical image to the main control subsystem; wherein the second astronomical image comprises a night astronomical image and a day astronomical image which point to a sky area;
the main control subsystem is used for receiving the first astronomical image and the second astronomical image;
when the received first astronomical image and the received second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space fragments on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of a plurality of space fragments at night, determining angle measurement information of the plurality of space fragments at night according to the astronomical positioning information of the plurality of space fragments at night, and sending the angle measurement information to a remote monitoring center;
when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the daytime single space debris, determining angle measurement information of the daytime single space debris according to the astronomical positioning information of the daytime single space debris, and sending the angle measurement information to a remote monitoring center;
the precision forecasting subsystem is used for determining correction of gating time for laser ranging according to astronomical positioning information of space debris and space debris forecasting information, and sending the correction of the gating time to the main control subsystem;
the main control subsystem is further used for determining a laser control signal, a gating signal and guiding data according to the correction amount of the gating time and the determined astronomical positioning information of the space debris, and sending the laser control signal, the gating signal and the guiding data to the laser ranging subsystem;
and the laser ranging subsystem is used for performing laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
According to a second aspect, an embodiment provides a high-precision angle measurement and distance measurement method based on a telescope system, comprising:
receiving a remote control instruction sent by a remote monitoring center, and analyzing the remote control instruction to obtain a measurement area of the space debris to be monitored;
controlling the laser ranging system to move to the measuring area;
controlling a large-view-field visible light splitting system to collect an astronomical image pointing to a sky area to obtain a first astronomical image; controlling a small visual field visible light splitting system to collect an astronomical image pointing to an astronomical region to obtain a second astronomical image; the first astronomical image is a night astronomical image pointing to a sky area, and the second astronomical image comprises a night astronomical image pointing to the sky area and a day astronomical image;
receiving a first astronomical image and a second astronomical image;
when the received first astronomical image and the received second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space fragments on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of a plurality of space fragments at night, determining angle measurement information of the plurality of space fragments at night according to the astronomical positioning information of the plurality of space fragments at night, and sending the angle measurement information to a remote monitoring center;
when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the daytime single space debris, determining angle measurement information of the daytime single space debris according to the astronomical positioning information of the daytime single space debris, and sending the angle measurement information to a remote monitoring center;
determining a laser control signal, a gate control signal and guiding data according to the correction quantity of the gate control time determined by the precision forecasting subsystem and the determined astronomical positioning information of the space debris, and sending the laser control signal, the gate control signal and the guiding data to the laser ranging subsystem;
the laser ranging subsystem is used for performing laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
According to the high-precision angle measuring and ranging telescope system, the large-view-field visible light splitting system and the small-view-field visible light splitting system are combined to realize night observation on a plurality of space fragments and daytime observation on a single space fragment, the main control splitting system determines astronomical positioning information of the space fragments observed at night and in the daytime and sends the astronomical positioning information to the laser ranging splitting system according to a first astronomical image sent by the large-view-field visible light splitting system and a second astronomical image sent by the small-view-field visible light splitting system, the precise forecasting splitting system determines correction amount of gating time according to the astronomical positioning information of the space fragments and space fragment forecasting information and sends the correction amount to the laser ranging splitting system, and day and night available high-precision angle measuring and ranging are realized.
Drawings
FIG. 1 is a schematic diagram of a high precision goniometric and ranging telescope system according to an embodiment;
FIG. 2 is a flow chart of a high-precision angle measurement and distance measurement method based on a telescope system according to an embodiment.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments are numbered with like associated elements. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in detail in order to avoid obscuring the core of the present application from excessive description, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
Referring to fig. 1, fig. 1 is a schematic structural diagram of a high-precision angle and distance measuring telescope system according to an embodiment, the telescope system includes: the system comprises a large-view-field visible light splitting system 101, a small-view-field visible light splitting system 102, a main control subsystem 103, a precision forecasting subsystem 104, a laser ranging subsystem 105 and a negative model calibration subsystem 106.
The large-view-field visible light splitting system 101 is used for collecting an astronomical image pointing to a sky area to obtain a first astronomical image and sending the collected first astronomical image to the main control subsystem; the first astronomical image is a night astronomical image pointing to a sky area.
The small visual field visible light subsystem 102 is used for acquiring an astronomical image pointing to an sky area to obtain a second astronomical image and sending the acquired second astronomical image to the main control subsystem; wherein the second astronomical image comprises a night astronomical image and a day astronomical image which point to the sky area.
In one embodiment, the large field of view visible light splitting system 101 includes a large field of view optical barrel, a large field of view detector, and a first descum focusing component. The first despinning focusing component and the large view field detector are arranged on the large view field optical lens barrel, and the first despinning focusing component is used for adjusting the focal length of the large view field optical lens barrel according to a focusing control instruction sent by the main control subsystem, operating to a preset despinning position according to a given despinning speed according to a despinning position and speed control instruction sent by the main control subsystem, and feeding back the despinning and focusing states to the main control subsystem in real time.
The large-view-field detector is connected with the large-view-field optical lens barrel and used for collecting exposure square wave rising edge and falling edge coded discs, rising edge time and exposure square wave width data according to working parameters set by the main control subsystem and sending collected results to the main control subsystem.
In one embodiment, the small-field-of-view visible light splitting system 102 includes a small-field-of-view optical tube, a small-field-of-view detector, and a second descaled focusing component. The second despinning focusing component and the small visual field detector are arranged on the small visual field optical lens barrel, and the second despinning focusing component is used for adjusting the focal length of the small visual field optical lens barrel according to a focusing control instruction sent by the main control subsystem, operating to a preset despinning position according to a given despinning speed according to a despinning position and speed control instruction sent by the main control subsystem, and feeding back the despinning and focusing states to the main control subsystem in real time.
And the small field-of-view detector is connected with the small field-of-view optical lens barrel and used for acquiring the data of the rising edge and the falling edge of the exposure square wave coded disc, the moment of the rising edge and the width of the exposure square wave according to the working parameters set by the main control subsystem and transmitting the acquisition result to the main control subsystem.
The main control subsystem 103 is configured to receive a first astronomical image and a second astronomical image.
When the received first astronomical image and the received second astronomical image are both night astronomical images, all space fragments on the first astronomical image and the second astronomical image are respectively detected and astronomical positioned by utilizing the determined large and small view field model mapping relation to form astronomical positioning information of a plurality of space fragments at night, angle measurement information of a plurality of space fragments at night is determined according to the astronomical positioning information of the plurality of space fragments at night, and the angle measurement information is sent to a remote monitoring center.
And when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning the single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the single space debris in the daytime, determining angle measurement information of the single space debris in the daytime according to the astronomical positioning information of the single space debris in the daytime, and sending the angle measurement information to a remote monitoring center.
The small-field-of-view visible light splitting system 102 collects an astronomical image directed to an sky area with a smaller field of view, and since the second astronomical image has a smaller field of view, the second astronomical image usually only contains space debris and fewer stars, and may not have stars, and cannot be directly subjected to astronomical positioning.
The large-view-field visible light splitting system 101 can collect an astronomical image pointing to a sky area with a large view field, and the first astronomical image often has a large view field, can cover a space debris target and a plurality of fixed stars around the space debris target, and can perform astronomical positioning on the space debris.
The large-view-field visible light splitting system 101 cannot collect astronomical images in the daytime due to the problem of detection capability, and therefore, if the large-view-field visible light splitting system is solely relied on, space debris cannot be monitored in the daytime. The space debris is monitored in the daytime through the small-view-field visible light subsystem, but because the view field of the second astronomical image collected by the small-view-field visible light subsystem is small, the star data around the space debris cannot be acquired, and therefore the problem that the space debris cannot be positioned astronomically by independently depending on the small-view-field visible light subsystem also exists in the daytime.
The precision forecasting subsystem 104 is configured to determine a correction amount of the gating time for laser ranging according to the astronomical positioning information of the space debris and the space debris forecasting information, and send the correction amount of the gating time to the main control subsystem. In this embodiment, the space debris prediction information may be information of a space position, a motion speed, and the like of the space debris input by the user in advance, however, since the space debris is in a motion state in the space, the space debris prediction information is not accurate, and the position information of the space debris at the next time needs to be determined according to the current astronomical positioning information of the space debris, so as to correct the gating time of the laser ranging.
The main control subsystem 103 is further configured to determine a laser control signal, a gate control signal, and guidance data according to the correction amount of the gate control time and the determined astronomical positioning information of the space debris, and send the laser control signal, the gate control signal, and the guidance data to the laser ranging subsystem.
In this embodiment, the main control subsystem 103 can obtain astronomical positioning information of a plurality of space fragments at night and astronomical positioning information of a single space fragment at daytime according to the first astronomical image and the second astronomical image, and can determine a laser control signal, a gate control signal and guiding data according to the precise prediction subsystem, and send the laser control signal, the gate control signal and the guiding data to the laser ranging subsystem to realize day and night high-precision laser ranging. Therefore, the embodiment of the invention adopts a mode of combining the large-view-field visible light splitting system and the small-view-field visible light splitting system, and solves the problem that space debris can be subjected to astronomical positioning at night and in the daytime.
And the laser ranging subsystem 105 carries out laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
The horizontal tracking rotary table subsystem is used for receiving a control command sent by the main control subsystem and bearing the movement of the laser emission subsystem, the laser receiving subsystem and the time subsystem to a specified position.
The laser emission subsystem is used for emitting laser to the position where the space debris is located according to the determined laser control signal and the guiding data, wherein the laser control signal is used for controlling the laser to be emitted, and the guiding data is used for precisely guiding the laser range finder to point to the space position where the space debris is located.
The laser receiving subsystem is used for receiving laser echoes of the emitted laser after the emission of the space debris; and the time difference between the emitted laser and the received laser echo is utilized to measure the distance and the angle of the space debris. The gating signal is used for controlling a switching gate which receives laser echo in the laser receiving subsystem.
The time subsystem is used for receiving the GPS and the Beidou signals, generating clock trigger signals according to the GPS and the Beidou signals and sending the clock trigger signals to the main control subsystem, and the clock trigger signals are used for determining the exposure time of the large-view-field visible light splitting system and the exposure time of the small-view-field visible light splitting system.
The negative film model calibration subsystem 106 is used for acquiring a first astronomical image and a second astronomical image from the main control subsystem when the first astronomical image and the second astronomical image received by the main control subsystem are both night astronomical images, establishing a large view field telescope measurement model based on the first astronomical image, establishing a small view field telescope measurement model based on the second astronomical image, and establishing a mapping relation of the large view field telescope measurement model and the small view field telescope measurement model; and adjusting the optical axis according to the imaging condition of the large-field telescope and the small-field telescope on the same fixed star so as to enable the optical axis of the small-field visible light subsystem to be parallel to the optical axis of the large-field visible light subsystem.
The film model calibration subsystem 106 is further configured to, when the second astronomical image received by the main control subsystem is a daytime astronomical image, obtain a large and small view field model mapping relationship established at night in a designated day area corresponding to the second astronomical image, and send the large and small view field model mapping relationship to the main control subsystem.
In this embodiment, obtaining a large and small view field model mapping relationship established at night in a designated day zone corresponding to the second astronomical image includes:
establishing a large-view-field telescope measurement model based on a first astronomical image of a designated day area acquired at night;
establishing a small-field telescope measurement model based on a second astronomical image of a designated sky area acquired at night and the large-field telescope measurement model;
and establishing a rotation and translation mapping relation between the large-field telescope measurement model and the small-field telescope measurement model to obtain the large-field and small-field model mapping relation.
The large-view-field visible light splitting system in the embodiment is a short-focus large-view-field telescope, and a six-constant CCD image processing model is adopted to establish a mapping relation between a fixed star theoretical coordinate value and a gray centroid coordinate of the large-view-field telescope on a fixed star imaging negative film on the premise of not considering factors influencing star image quality. The large-view-field visible light splitting system has a large view field, and a single frame image can acquire image data of a plurality of stars in the same day area, so that a large-view-field telescope measurement model (a large-view-field six-constant CCD image processing model) can be established by utilizing the first antenna image acquired by the large-view-field visible light splitting system.
The small-field visible light subsystem in this embodiment is a long-focus small-field telescope, and because the field of view is small, the number of stars included in the second astronomical image is small, and the small-field telescope measurement model (a small-field six-constant CCD image processing model) is not supported to be established, the small-field telescope measurement model needs to be established by means of a large-field telescope measurement model, and the specific implementation manner is as follows:
(1) and at night, selecting the same appointed sky area, and simultaneously imaging the appointed sky area by the large-view-field visible light splitting system and the small-view-field visible light splitting system to obtain a first astronomical image and a second astronomical image.
(2) By using the fixed star coordinates in the same frame of picture acquired by the first astronomical image, a large-view-field telescope measurement model can be established and the large-view-field telescope measurement model coefficient can be solved.
The established large-field telescope measurement model is as follows:
wherein, ab，bb，cb，db，eb，fbFor large field of view telescope measurement model coefficients, (x)b，yb) And (xi, zeta) is a theoretical star coordinate according to a star gray scale centroid coordinate of the star in the first astronomical image. It should be noted that the star gray centroid coordinate (x) of the star in the first astronomical imageb，yb) I.e. the measured star coordinates obtained with the first astronomical image.
(3) Establishing a small-field telescope measurement model as follows:
wherein, as，bs，cs，ds，es，fsMeasuring model coefficients for small field of view telescopes, (x)s，ys) And (xi, zeta) is a theoretical star coordinate. It should be noted that the gray centroid coordinate (x) of the star in the second astronomical images，ys) The fixed star coordinates are measured by using the second astronomical image, but the view field of the second astronomical image is small, so that the fixed star contained in the second astronomical image is very few, and the measurement model coefficient of the telescope with the small view field cannot be obtained.
(4) And according to the large-field telescope measurement model and the small-field telescope measurement model, establishing a rotation and translation mapping relation between the two measurement models, namely a large-field and small-field model mapping relation.
(5) And (3) observing fixed stars in different specified sky areas by repeating the steps (1), (2), (3) and (4), so that the mapping relation of the large and small view field models can be solved, and finally, the coefficient of the small view field telescope measurement model can be solved according to the mapping relation of the large and small view field models, so that the small view field telescope measurement model can be obtained.
In this embodiment, the master control subsystem is further configured to: when the received first astronomical image and the second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space debris on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to generate night observation data, and sending the night observation data to a remote monitoring center; and when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning the space debris on the second astronomical image by using the determined large and small view field model mapping relation, generating daytime observation data, and sending the daytime observation data to the remote monitoring center.
In an embodiment, when the received first astronomical image and the received second astronomical image are both night astronomical images, all space debris on the first astronomical image and the second astronomical image are respectively detected and astronomical positioned by using the determined large and small view field model mapping relation, and night observation data is generated, including:
determining astronomical positioning information of a plurality of space debris in the first astronomical image according to the determined large-field telescope measurement model;
determining a small-field telescope measurement model according to the large-field and small-field mapping relation, and determining astronomical positioning information of a single space fragment in the second astronomical image by using the determined small-field telescope measurement model;
and combining the determined astronomical positioning information of the plurality of space fragments in the first astronomical image and the determined astronomical positioning information of the single space fragment in the second astronomical image to generate night observation data.
In another embodiment, when the received second astronomical image is a daytime astronomical image, the method for detecting and positioning space debris on the second astronomical image by using the determined large and small view field model mapping relation generates daytime observation data, and comprises the following steps:
acquiring a large-view-field telescope measurement model which is acquired at night and corresponds to a first astronomical image of a same pointing sky area of a second astronomical image; wherein the night is the night of the same day observed by the second astronomical image;
acquiring a large and small view field model mapping relation at night according to the large view field telescope measurement model;
determining a small-field telescope measurement model according to the large-field and small-field mapping relation, and determining astronomical positioning information of a single space fragment in the second astronomical image by using the determined small-field telescope measurement model;
and generating daytime observation data by using the determined astronomical positioning information of the single space debris in the second astronomical image.
In this embodiment, the master control subsystem is further configured to: and receiving a remote control instruction sent by a remote monitoring center, analyzing the remote control instruction, and determining working parameters of the large-view-field visible light splitting system and working parameters of the small-view-field visible light splitting system.
And respectively configuring the large-view-field visible light splitting system and the small-view-field visible light splitting system according to working parameters, so that the large-view-field visible light splitting system and the small-view-field visible light splitting system respectively acquire astronomical images pointing to the sky area according to given exposure time and frame frequency.
The method comprises the steps of generating a first control instruction based on a received remote control instruction, and sending the first control instruction to a large-view-field visible light splitting system and a small-view-field visible light splitting system, wherein the first control instruction comprises a focusing control instruction, a despin position and a speed control instruction, and the first control instruction is used for controlling the large-view-field visible light splitting system and the small-view-field visible light splitting system to respectively adjust the focal length of an optical lens barrel and controlling a first despin focusing component and a second despin focusing component to respectively operate to a preset despin position according to a given despin speed.
And receiving the despin and focusing states fed back by the large-view-field visible light splitting system and the small-view-field visible light splitting system in real time, and sending the despin and focusing states to a remote monitoring center.
In this embodiment, each item of data is transmitted between the telescope subsystem and the main control subsystem through serial port communication, for example, despin speed, despin position, despin and focusing state are transmitted through a serial port; for example, exposure square wave rising edge and falling edge code discs, rising edge time and exposure square wave width data, etc. The data are transmitted through serial port communication.
In the embodiment of the invention, the precise tracking of a single space debris while monitoring a plurality of optical debris in a day area at night, the astronomical positioning and laser ranging of the space debris between day and night are realized by combining the large-view-field visible light splitting system and the small-view-field visible light splitting system, the tracking and the astronomical positioning of dark and weak space debris with higher movement speed are realized at night, the precise tracking, the astronomical positioning and the laser ranging of space debris without guide data in an important day area are realized, and the high-precision angle measuring and ranging telescope system which has high efficiency and cost performance and can observe the space debris day and night is provided.
Referring to fig. 2, fig. 2 is a flowchart of an embodiment of a high-precision angle and distance measuring method based on a telescope system, the method including the following steps:
And step 206, when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning the single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the single space debris in the daytime, determining angle measurement information of the single space debris in the daytime according to the astronomical positioning information of the single space debris in the daytime, and sending the angle measurement information to a remote monitoring center.
And step 207, determining a laser control signal, a gate control signal and guiding data according to the correction quantity of the gate control time determined by the precision forecasting subsystem and the determined astronomical positioning information of the space debris, and sending the laser control signal, the gate control signal and the guiding data to the laser ranging subsystem.
The laser ranging subsystem is used for performing laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
It should be noted that, the specific implementation of the above steps has been described in the above embodiments, and is not described herein again.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (10)
1. A high accuracy goniometer and range telescope system comprising:
the large-view-field visible light splitting system is used for collecting an astronomical image pointing to a sky area to obtain a first astronomical image and sending the collected first astronomical image to the main control subsystem; wherein the first astronomical image is a night astronomical image pointing to a sky area;
the small visual field visible light subsystem is used for acquiring an astronomical image pointing to an sky area to obtain a second astronomical image and sending the acquired second astronomical image to the main control subsystem; wherein the second astronomical image comprises a night astronomical image and a day astronomical image which point to a sky area;
the main control subsystem is used for receiving the first astronomical image and the second astronomical image;
when the received first astronomical image and the received second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space fragments on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of a plurality of space fragments at night, determining angle measurement information of the plurality of space fragments at night according to the astronomical positioning information of the plurality of space fragments at night, and sending the angle measurement information to a remote monitoring center;
when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the daytime single space debris, determining angle measurement information of the daytime single space debris according to the astronomical positioning information of the daytime single space debris, and sending the angle measurement information to a remote monitoring center;
the precision forecasting subsystem is used for determining correction of gating time for laser ranging according to astronomical positioning information of space debris and space debris forecasting information, and sending the correction of the gating time to the main control subsystem;
the main control subsystem is further used for determining a laser control signal, a gating signal and guiding data according to the correction amount of the gating time and the determined astronomical positioning information of the space debris, and sending the laser control signal, the gating signal and the guiding data to the laser ranging subsystem;
and the laser ranging subsystem is used for performing laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
2. The telescope system for high precision goniometry and rangefinding of claim 1, wherein the laser rangefinding subsystem comprises: the system comprises a horizontal tracking rotary table subsystem, a laser transmitting subsystem, a laser receiving subsystem and a time subsystem, wherein the laser transmitting subsystem, the laser receiving subsystem and the time subsystem are arranged on the horizontal tracking rotary table subsystem;
the horizontal tracking rotary table subsystem is used for receiving a control instruction sent by the main control subsystem and moving to a specified position;
the laser emission subsystem is used for emitting laser to the position where the space debris is located according to the determined laser control signal and the guiding data, the laser control signal is used for controlling the laser emission, and the guiding data is used for guiding the laser ranging subsystem to point to the space position where the space debris is located;
the laser receiving subsystem is used for receiving laser echoes of the emitted laser after the emitted laser is emitted by the space debris; the time difference between the emitted laser and the received laser echo is utilized to measure the distance of the space debris; the gate control signal is used for controlling a switch gate for receiving laser echo in the laser receiving subsystem;
the time subsystem is used for receiving GPS and Beidou signals, generating clock trigger signals according to the GPS and the Beidou signals and sending the clock trigger signals to the main control subsystem, and the clock trigger signals are used for determining the exposure time of the large-view-field visible light splitting system and the exposure time of the small-view-field visible light splitting system.
3. The high precision goniometer and range finder telescope system as claimed in claim 1, further comprising:
the negative film model calibration subsystem is used for acquiring a first astronomical image and a second astronomical image from the master control subsystem when the first astronomical image and the second astronomical image received by the master control subsystem are both night astronomical images, establishing a large-view-field telescope measurement model based on the first astronomical image, establishing a small-view-field telescope measurement model based on the second astronomical image, and adjusting the optical axis of the large-view-field visible light splitting system and the optical axis of the small-view-field visible light splitting system according to the imaging condition of the large-view-field visible light splitting system and the small-view-field visible light splitting system on the same fixed star so as to enable the optical axis of the small-view-field visible light splitting system to be parallel to the optical axis of the large-view-field visible light splitting system;
the negative film model calibration subsystem is further used for acquiring a large and small view field model mapping relation established at night in a designated day area corresponding to a second astronomical image when the second astronomical image received by the main control subsystem is a daytime astronomical image, and sending the large and small view field model mapping relation to the main control subsystem.
4. The high accuracy goniometric and ranging telescope system of claim 3, wherein the establishing of the large field of view telescope measurement model based on the first astronomical image comprises:
obtaining a star gray centroid coordinate (x) of the star in the first astronomical image based on the first astronomical imageb，yb)；
Establishing the following large-view-field telescope measurement model according to the first astronomical image and calculating the coefficient of the large-view-field telescope measurement model:
wherein, ab，bb，cb，db，eb，fbFor large field of view telescope measurement model coefficients, (x)b，yb) And (xi, zeta) is a theoretical star coordinate according to a star gray scale centroid coordinate of the star in the first astronomical image.
5. The high accuracy goniometer system as claimed in claim 4, wherein the establishment of the small field telescope measurement model based on the second astronomical image comprises:
obtaining a star gray scale centroid coordinate (x) of the star in the second astronomical image based on the second astronomical images，ys)；
Establishing the following small-field telescope measurement model according to the second astronomical image and calculating the coefficients of the small-field telescope measurement model:
wherein, as，bs，cs，ds，es，fsMeasuring model coefficients for small field of view telescopes, (x)s，ys) And (xi, zeta) is a theoretical star coordinate.
6. The telescope system for high precision goniometry and rangefinding of claim 5, wherein the mapping of the large and small field of view models established at night for the designated day zone corresponding to the acquired second astronomical image comprises:
establishing a large-view-field telescope measurement model based on a first astronomical image of a designated day area acquired at night;
establishing a small-field telescope measurement model based on a second astronomical image of a designated sky area acquired at night and the large-field telescope measurement model;
and establishing a rotation and translation mapping relation between the large-field telescope measurement model and the small-field telescope measurement model to obtain the large-field and small-field model mapping relation.
7. The high accuracy goniometer and range finder telescope system as claimed in claim 1, wherein the master control subsystem is further adapted to:
when the received first astronomical image and the second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space debris on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to generate night observation data, and sending the night observation data to a remote monitoring center;
and when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning the space debris on the second astronomical image by using the determined large and small view field model mapping relation, generating daytime observation data, and sending the daytime observation data to the remote monitoring center.
8. The high accuracy goniometer system as claimed in claim 3, wherein the master control subsystem is further adapted to:
receiving a remote control instruction sent by a remote monitoring center, analyzing the remote control instruction, and determining working parameters of the large-view-field visible light splitting system and working parameters of the small-view-field visible light splitting system;
respectively configuring the large-view-field visible light splitting system and the small-view-field visible light splitting system according to the working parameters so as to enable the large-view-field visible light splitting system and the small-view-field visible light splitting system to respectively acquire astronomical images pointing to the sky area according to given exposure time and frame frequency;
generating a first control instruction based on the received remote control instruction, and sending the first control instruction to the large-view-field visible light splitting system and the small-view-field visible light splitting system, wherein the first control instruction comprises a focusing control instruction, a despin position and a speed control instruction, and the first control instruction is used for controlling the large-view-field visible light splitting system and the small-view-field visible light splitting system to respectively adjust the focal length of the optical lens barrel, and controlling the first despin focusing component and the second despin focusing component to respectively operate to a preset despin position according to a given despin speed;
and receiving the despin and focusing states fed back by the large-view-field visible light splitting system and the small-view-field visible light splitting system in real time, and sending the despin and focusing states to a remote monitoring center.
9. The high accuracy goniometric and rangefinding telescope system of claim 1, wherein the large field of view visible light splitting system comprises a large field of view optical barrel, a large field of view detector, and a first descaled focusing component; the first despinning focusing component and the large view field detector are arranged on the large view field optical lens barrel, and the first despinning focusing component is used for adjusting the focal length of the large view field optical lens barrel according to a focusing control instruction sent by the main control subsystem, operating to a preset despinning position according to a given despinning speed according to a despinning position and speed control instruction sent by the main control subsystem, and feeding back the despinning and focusing states to the main control subsystem in real time;
the large-view-field detector is connected with the large-view-field optical lens barrel and used for collecting a rising edge code disc, a falling edge code disc, rising edge time and exposure square wave width data of exposure square waves according to working parameters set by the main control subsystem and sending the collected results to the main control subsystem;
the small visual field visible light splitting system comprises a small visual field optical lens barrel, a small visual field detector and a second despinning focusing component, the second despinning focusing component and the small visual field detector are arranged on the small visual field optical lens barrel, the second despinning focusing component is used for adjusting the focal length of the small visual field optical lens barrel according to a focusing control instruction sent by the main control subsystem, operating to a preset despinning position according to a given despinning speed according to a despinning position and speed control instruction sent by the main control subsystem, and feeding back the despinning and focusing states to the main control subsystem in real time;
the small field-of-view detector is connected with the small field-of-view optical lens barrel and used for collecting exposure square wave rising edge and falling edge coded discs, rising edge time and exposure square wave width data according to working parameters set by the main control subsystem, and collecting results and sending the results to the main control subsystem.
10. A high-precision angle measurement and distance measurement method based on a telescope system is characterized by comprising the following steps:
receiving a remote control instruction sent by a remote monitoring center, and analyzing the remote control instruction to obtain a measurement area of the space debris to be monitored;
controlling the laser ranging system to move to the measuring area;
controlling a large-view-field visible light splitting system to collect an astronomical image pointing to a sky area to obtain a first astronomical image; controlling a small visual field visible light splitting system to collect an astronomical image pointing to an astronomical region to obtain a second astronomical image; the first astronomical image is a night astronomical image pointing to a sky area, and the second astronomical image comprises a night astronomical image pointing to the sky area and a day astronomical image;
receiving a first astronomical image and a second astronomical image;
when the received first astronomical image and the received second astronomical image are both night astronomical images, respectively detecting and astronomical positioning all space fragments on the first astronomical image and the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of a plurality of space fragments at night, determining angle measurement information of the plurality of space fragments at night according to the astronomical positioning information of the plurality of space fragments at night, and sending the angle measurement information to a remote monitoring center;
when the received second astronomical image is a daytime astronomical image, detecting and astronomical positioning single space debris on the second astronomical image by using the determined large and small view field model mapping relation to form astronomical positioning information of the daytime single space debris, determining angle measurement information of the daytime single space debris according to the astronomical positioning information of the daytime single space debris, and sending the angle measurement information to a remote monitoring center;
determining a laser control signal, a gate control signal and guiding data according to the correction quantity of the gate control time determined by the precision forecasting subsystem and the determined astronomical positioning information of the space debris, and sending the laser control signal, the gate control signal and the guiding data to the laser ranging subsystem;
the laser ranging subsystem is used for performing laser ranging on the space debris according to the laser control signal, the gating signal and the guide data.
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