CN113360735A - Method and device for automatically searching and tracking astronomical target by astronomical telescope - Google Patents
Method and device for automatically searching and tracking astronomical target by astronomical telescope Download PDFInfo
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Abstract
The invention discloses a method and a device for automatically searching and tracking an astronomical target by an astronomical telescope, wherein the method comprises the following steps: step S1: acquiring a preset astronomical target, acquiring the direction of the astronomical target under an astronomical coordinate system from a database of a human-computer interaction device, and recording the direction of the astronomical target under the astronomical coordinate system as a first direction; step S2: acquiring an astronomical image in real time, extracting features of the astronomical image and identifying a feature extraction result; step S3: calculating the pointing direction of the astronomical telescope under the celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction; step S4: comparing the first orientation with the second orientation; step S5: when the first direction is not consistent with the second direction, the servo device is adjusted, and the steps S2-S4 are repeated until the first direction is consistent with the second direction. Through the mode, the astronomical target tracking system can automatically align and track the astronomical target.
Description
Technical Field
The invention relates to the field of astronomical observation, in particular to a method and a device for automatically searching and tracking an astronomical target by an astronomical telescope.
Background
The working principle of the astronomical telescope is that an objective lens is used for condensing and imaging and is amplified by an eyepiece lens, the astronomical telescope adopts a structure that the objective lens and the eyepiece lens are separated, the objective lens has the main function of condensing, and the eyepiece lens has the main function of amplifying a target, so that the imaging quality is improved, the light intensity on a unit area is increased, and an observer can find darker and weaker celestial bodies or more details in the same celestial body. The current astronomical telescope adopts a hand-operated mode to align and track an observed celestial object, or needs a north polar star as a reference to identify the observed celestial object, or only identifies and tracks a fixed star object by utilizing a stored star map, or confirms the celestial object to be observed and tracked by adopting the star map stored by electronic equipment such as iPad and the like.
Therefore, there is a need to provide a new method and apparatus for automatically searching and tracking an astronomical target by an astronomical telescope to solve the above technical drawbacks.
Disclosure of Invention
The invention provides a method and a device for automatically searching and tracking an astronomical target by an astronomical telescope, which can automatically align and track the astronomical target and are suitable for the astronomical telescope at any observation position on the earth.
In order to solve the technical problems, the invention adopts a technical scheme that: the method for automatically searching and tracking the astronomical target by the astronomical telescope is applied to an astronomical observation system, and comprises the following steps: the system comprises an autonomous computing pointing device, a servo device, an astronomical telescope and a human-computer interaction device, wherein the autonomous computing pointing device is connected with the astronomical telescope and coaxially arranged, the servo device is connected with the astronomical telescope, the servo device is respectively connected with the autonomous computing pointing device and the human-computer interaction device, and the method comprises the following steps:
step S1: acquiring a preset astronomical target, acquiring the direction of the astronomical target under an celestial coordinate system from a database of the human-computer interaction device, and recording the direction of the astronomical target under the celestial coordinate system as a first direction;
step S2: acquiring an astronomical image in real time, extracting features of the astronomical image and identifying a feature extraction result;
step S3: calculating the pointing direction of the astronomical telescope under an celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction;
step S4: comparing the first orientation with the second orientation;
step S5: when the first direction is not consistent with the second direction, adjusting the servo device, and repeatedly executing the steps S2-S4 until the first direction is consistent with the second direction.
According to an embodiment of the present invention, the step S2 further includes:
extracting star point coordinates of all fixed stars from the astronomical image by adopting a centroid method;
and identifying the pointing direction of the star point coordinates under the celestial coordinate system by adopting a star map identification algorithm.
According to an embodiment of the present invention, the step of extracting the star point coordinates of all stars from the astronomical image by using the centroid method is performed according to the following formula:
According to an embodiment of the present invention, the step S3 further includes:
calculating the coordinates of the star point coordinates under an image space coordinate system according to the star point coordinates and the focal length of the autonomous calculation pointing device;
calculating the coordinates of the star point coordinates in the celestial coordinate system according to the directions of the star point coordinates in the celestial coordinate system;
and calculating the pointing direction of the astronomical telescope under an celestial coordinate system according to the coordinates of the star point coordinates under the image space coordinate system and the coordinates of the star point coordinates under the celestial coordinate system.
According to an embodiment of the present invention, the step S3 is to calculate the orientation of the astronomical telescope in the celestial coordinate system according to the following formula:
According to an embodiment of the present invention, after the step S4 or the step S5, the method further includes:
step S6: when the first pointing direction is consistent with the second pointing direction, the servo device does not adjust, and the astronomical telescope continues to track the astronomical target.
According to an embodiment of the present invention, after the step S6, the method further includes: manually confirming, by the astronomical telescope, that the first orientation is consistent with the second orientation.
According to an embodiment of the present invention, after step S6, the method further includes: and acquiring a tracking result in real time, and updating a database of the human-computer interaction device according to the tracking result.
According to an embodiment of the present invention, in step S2, the method further includes: and after the astronomical image is obtained, denoising the astronomical image by adopting a Gaussian filter.
In order to solve the technical problem, the invention adopts another technical scheme that: the device for automatically searching and tracking the astronomical target by the astronomical telescope comprises:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a preset astronomical target, acquiring the direction of the astronomical target under an celestial coordinate system from a database of a human-computer interaction device, and recording the direction of the astronomical target under the celestial coordinate system as a first direction;
the characteristic extraction and identification module is used for acquiring an astronomical image in real time, extracting the characteristic of the astronomical image and identifying the characteristic extraction result;
the calculation module is used for calculating the pointing direction of the astronomical telescope under the celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction;
the comparison module is used for comparing the first direction with the second direction;
and an adjusting module, adjusting the servo device when the first direction is not consistent with the second direction, and repeatedly executing the steps S2-S4 until the first direction is consistent with the second direction.
The invention has the beneficial effects that: the direction of the astronomical target under the celestial coordinate system is compared with the direction of the astronomical telescope under the celestial coordinate system in real time, so that the astronomical target can be autonomously aligned and automatically tracked.
Drawings
Fig. 1 is a schematic structural view of an astronomical observation system according to a first embodiment of the present invention;
FIG. 2 is a schematic flow chart of a method for automatically searching and tracking an astronomical target by an astronomical telescope according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating step S2 according to the first embodiment of the present invention;
FIG. 4 is a flowchart illustrating step S3 according to the first embodiment of the present invention;
FIG. 5 is a schematic view of the process of the astronomical telescope for automatic searching and tracking of an astronomical target according to the second embodiment of the present invention;
FIG. 6 is a schematic structural diagram of an astronomical observation system according to a second embodiment of the present invention;
FIG. 7 is a schematic diagram of experimental results of astronomical telescope search and tracking stars according to an embodiment of the present invention;
FIG. 8 is a partial detail view of FIG. 7;
FIG. 9 is a schematic structural diagram of an astronomical observation system according to a third embodiment of the present invention;
fig. 10 is a schematic structural diagram of an apparatus for automatically searching and tracking an astronomical target by an astronomical telescope according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first", "second" and "third" in the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise. All directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an astronomical observation system, which includes: the device comprises an autonomous computing pointing device, a servo device, an astronomical telescope and a human-computer interaction device, wherein the autonomous computing pointing device is connected with the astronomical telescope and coaxially arranged, the servo device is mechanically connected with the astronomical telescope, the servo device is respectively in communication connection with the autonomous computing pointing device and the human-computer interaction device, and the autonomous computing pointing device is also in communication connection with the human-computer interaction device.
Fig. 2 is a flow chart of the method for automatically searching and tracking an astronomical target by an astronomical telescope according to the first embodiment of the present invention. It should be noted that the method of the present invention is not limited to the flow sequence shown in fig. 2 if the results are substantially the same. The method is applied to the astronomical observation system, and as shown in fig. 2, the method comprises the following steps:
step S1: the method comprises the steps of obtaining a preset astronomical target, obtaining the direction of the astronomical target under an celestial coordinate system from a database of a human-computer interaction device, and recording the direction of the astronomical target under the celestial coordinate system as a first direction.
In step S1, the user selects an astronomical target to be searched and tracked through the human-computer interaction device, where the astronomical target of the present embodiment includes stars, planets, and comets, but not limited to the above. The man-machine interaction device is provided with a database, the database stores an astronomical target and a direction corresponding to the astronomical target, after the man-machine interaction device obtains the astronomical target preset by a user, the direction of the astronomical target under the celestial coordinate system is inquired, and the inquiry result is sent to the servo device. The first direction of the present embodiment is the right ascension and declination of the astronomical object in the celestial coordinate system.
Step S2: acquiring an astronomical image in real time, extracting the features of the astronomical image and identifying the feature extraction result.
In step S2, the image sensor is used to capture an astronomical image, and after the astronomical image is obtained, a gaussian filter is used to perform filtering and denoising processing on the astronomical image, thereby improving the quality of the astronomical image and ensuring accurate and reliable subsequent recognition results.
Further, as shown in fig. 3, step S2 further includes the following steps:
step S21: and extracting the star point coordinates of all fixed stars from the astronomical image by adopting a centroid method.
In step S21, the star point coordinates of all stars are extracted according to the following formula:
wherein, when I (x, y)>When T is greater than or equal to I (x, y) -T, I' (x, y) is 0; i (x, y) is the signal intensity of the star at (x, y) on the astronomical image, T is a preset signal intensity threshold value, and xiIs the abscissa, y, of the coordinates of the star pointiAs ordinate of the coordinates of the star points, nx，nyRepresenting the diffuse spot size of a star point as nx×nyX, y satisfy the following formula: (x-x)0)2-(y-y0)2≤R0 2，(x0,y0) The center of a circle of a circular area on the astronomical image, R, of which the signal intensity is greater than the signal intensity threshold value0Are discrete radii.
Step S22: and identifying the pointing direction of the star point coordinates under the celestial coordinate system by adopting a star map identification algorithm.
In step S22, the star map recognition algorithm has a relatively high flexibility, and the most widely used star map recognition algorithm in engineering applications is the triangle recognition algorithm, which has a simple principle and is easy to implement, and can achieve relatively high efficiency and relatively high correctness after being simply improved.
Step S3: and calculating the pointing direction of the astronomical telescope under the celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction.
In step S3, the second orientation is right ascension and declination of the astronomical telescope in the celestial coordinate system; further, as shown in fig. 4, step S3 further includes the following steps:
step S31: calculating coordinates of the star point coordinates under an image space coordinate system according to the star point coordinates and the focal length of the autonomous calculation pointing device;
step S32: calculating the coordinates of the star point coordinates in the celestial coordinate system according to the directions of the star point coordinates in the celestial coordinate system;
step S33: and calculating the direction of the astronomical telescope under the celestial coordinate system according to the coordinates of the star point coordinates under the image space coordinate system and the coordinates of the star point coordinates under the celestial coordinate system.
More specifically, the orientation of the astronomical telescope in the celestial coordinate system can be calculated according to the following formula:
where N denotes the total number of the star point coordinates of the recognition result in step S2, ωk1/N, A denotes the calculated matrix of the orientation of the astronomical telescope in the celestial coordinate system, VkbRepresenting the coordinates of the kth star point in the image space coordinate system,
(xk,yk) Denotes the kth star point coordinate, f denotes the focal length of the autonomous computing pointing device, VkiDenotes the coordinates of the kth star point in the celestial coordinate system, Vki＝(cosαkcosδk,sinαkcosδk,sinδk)，(αk,δk) Indicating the orientation of the k star point coordinate after being identified in the celestial coordinate system.
The above steps S2-S3 are executed in the autonomous computing pointing device, and the autonomous computing pointing device sends the computed result to the servo device after computing the pointing direction of the astronomical telescope in the celestial coordinate system.
Step S4: and comparing the first orientation with the second orientation.
In step S4, it is determined whether the first direction and the second direction match, if the first direction and the second direction match, step S6 is performed, and if the first direction and the second direction do not match, step S5 is performed, and step S6 is performed.
Step S5: when the first direction is not consistent with the second direction, the servo device is adjusted, and the steps S2-S4 are repeated until the first direction is consistent with the second direction.
In step S5, if the first direction is not consistent with the second direction, it indicates that the astronomical target is not searched by the astronomical telescope, the servo device is adjusted to adjust the observation angle of the astronomical telescope, and the steps S2-S4 are repeated until the first direction is consistent with the second direction.
Step S6: when the first direction is consistent with the second direction, the servo device does not adjust, and the astronomical telescope continues to track the astronomical target.
In step S6, if the first direction is consistent with the second direction, it indicates that the astronomical telescope successfully searches for the astronomical target, and the astronomical target is continuously tracked without adjusting the servo device. After the step S4, if the first orientation matches the second orientation, the step S6 is performed, and after the step S5, the step S6 is performed if the first orientation matches the second orientation.
In other preferred embodiments, after step S6, the method further includes the following steps: and manually confirming that the first direction is consistent with the second direction through the astronomical telescope. The embodiment ensures that the astronomical telescope successfully searches the astronomical target by automatically aligning the astronomical telescope and manually confirming that the first direction is consistent with the second direction again. In other embodiments, after step S6, the human-computer interaction device obtains the tracking result in real time and updates the database according to the tracking result, so as to provide data support for big data search and model training.
Specifically, referring to fig. 5, the working flow of the method for automatically searching and tracking an astronomical target by an astronomical telescope is as follows: step S51 is first executed: acquiring a preset astronomical target, acquiring the orientation of the astronomical target in an astronomical coordinate system from a database of the human-computer interaction device, and recording the orientation of the astronomical target in the astronomical coordinate system as a first orientation, step S52: acquiring astronomical images in real time, in this embodiment, the steps S51 and S52 may be performed in no sequence, and then S53 is performed: filtering and denoising the astronomical image, and performing step S54: extracting the star point coordinates of all stars from the astronomical image, and step S55: identifying the pointing direction of the star point coordinates under the celestial coordinate system; step S56 is then executed: calculating the orientation of the astronomical telescope in the celestial coordinate system in real time according to the recognition result, recording the orientation of the astronomical telescope in the celestial coordinate system as a second orientation, and performing step S57: judging whether the first direction is consistent with the second direction; in step S57, if yes, go to step S58: manually confirming whether the first direction is consistent with the second direction through the astronomical telescope, and if not, executing the step S52 again; in step S58, if yes, the flow ends, and if no, step S52 is executed again.
The method for automatically searching and tracking the astronomical target by the astronomical telescope of the first embodiment of the invention realizes the autonomous alignment and the automatic tracking of the astronomical target by comparing the pointing direction of the astronomical target under the celestial coordinate system with the pointing direction of the astronomical telescope under the celestial coordinate system in real time, is suitable for the astronomical telescope of any observation position on the earth, can observe any astronomical target on the celestial sphere, does not need to pay attention to the information of the constellation, the position, the local time and the like of the astronomical target, has high autonomy and reliability, and can meet the requirements of astronomical observers without astronomical foundation and observation astronomical experience.
In one embodiment, as shown in fig. 6, the servo device 61 is communicatively connected to the autonomous computing pointing device 62 and the human-computer interaction device 63 through the RS422, respectively, and the autonomous computing pointing device 62 is further connected to the human-computer interaction device 63 through a USB interface. In this embodiment, the main performance indicators of the autonomous computing pointing device 62 are as follows: the optical focal length is 45mm, the visual field is 13 degrees multiplied by 11 degrees, the area array is 2560 degrees multiplied by 2048, the detection stars and the like are 7Mv, the data updating rate is 15Hz, the astronomical telescope 64 selects BOSMA tianlong Maka 200/2400 model, and the servo device 61 selects EM11 model. The astronomical target is used as a Venus for detailed description, the right ascension of the Venus is 118.3237 degrees and the declination is-22.249 degrees during observation, a user firstly aligns the astronomical telescope 64 at a certain region of the celestial sphere randomly (the initial right ascension and the declination are 99.1037 degrees and 7.211 degrees respectively through the output of the autonomous computing pointing device 62), then selects the Venus target through the human-computer interaction device 63, clicks 'confirm', the human-computer interaction device 63 inquires the pointing direction of the Venus target and sends the inquiry result to the servo device 61 through the RS422 interface; the autonomous computation pointing device 62 acquires an astronomical image in real time and performs image filtering and denoising processing on the astronomical image, extracts a star point coordinate from the processed astronomical image and identifies the star point coordinate, the direction of the astronomical telescope under the celestial coordinate system is calculated according to the recognition result, the calculation result is sent to the servo device 61 through the RS422, meanwhile, the astronomical images are transmitted to the man-machine interaction device 63 through the USB interface in real time, the servo device 61 is used for calculating the results and inquiring the results, by controlling two servo motors to search for the golden star (as shown in figure 7, the right ascension points to the curve part, the angle ranges from 99.1037 degrees to 118.3237 degrees, the declination points to the curve part, the angle ranges from 7.21137 degrees to-22.249 degrees), after the golden star is searched, the servo system of the astronomical telescope 64 overcomes the autorotation of the earth and tracks the golden star all the time, as shown in fig. 8, the right ascension always maintained 118.3237 degrees and the declination always maintained-22.249 degrees. In this embodiment, the directions of the astronomical telescopes 64 can be randomly set, because the autonomous calculation pointing device 62 can autonomously calculate the directions of the astronomical telescopes 64 in real time, and the directions are input into the servo device 61, the servo device 61 adopts two orthogonal electric controls to direct the right ascension and the declination of the astronomical telescopes 64, the astronomical telescopes 64 are searched, aligned and tracked by adopting the method, the autonomy is good, and simultaneously, because the processes of searching, aligning and tracking do not need user participation, the dependence of astronomical enthusiasts on astronomical basic knowledge is reduced, and the use requirements of all astronomical enthusiasts can be met.
In another embodiment, referring to fig. 9, the autonomous computing pointing device 91 receives star information and images through the image sensor 92, sends an astronomical image to the FPGA chip through the LVDS interface, the FPGA chip in the autonomous computing pointing device 91 acquires the astronomical image in real time and performs image filtering and de-noising processing on the astronomical image, extracts star coordinates from the processed astronomical image and stores the astronomical image in the DDR2, sends the astronomical image to the human-computer interaction device 93 through the USB interface in real time, the DSP chip of the autonomous computing pointing device 91 reads the star coordinate information and identifies the star coordinates, computes the pointing direction of the astronomical telescope 94 in a celestial coordinate system according to the identification result, sends the computation result to the servo device 95 through the RS422, the servo device 95 controls the rotation of the astronomical telescope 94 and the autonomous computing pointing device 91 according to the computation result and the query result, searching and aligning the astronomical target set by the user, and then continuously tracking the astronomical target. In the present embodiment, the image sensor 92 selects a Python1300 series detector of the company, on-mei, an EP3C16F484I7 chip of the company, FPGA chip selects a TMS320C6713B chip of the company intel, DSP selects a MT47H64M16HR, DDR2 selects a CY7C68013A chip.
Fig. 10 is a schematic structural diagram of an apparatus for automatically searching and tracking an astronomical target by an astronomical telescope according to an embodiment of the present invention. As shown in fig. 10, the apparatus 100 includes an obtaining module 101, a feature extracting and identifying module 102, a calculating module 103, a comparing module 104, and an adjusting module 105.
The acquisition module 101 is configured to acquire a preset astronomical target, acquire a direction of the astronomical target in an astronomical coordinate system from a database of the human-computer interaction device, and record the direction of the astronomical target in the astronomical coordinate system as a first direction.
The feature extraction and identification module 102 is configured to obtain an astronomical image in real time, perform feature extraction on the astronomical image, and identify a feature extraction result.
And the calculating module 103 is used for calculating the pointing direction of the astronomical telescope under the celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction.
A comparing module 104, configured to compare the first direction with the second direction.
The adjusting module 105 is configured to adjust the servo device when the first direction is inconsistent with the second direction, and repeatedly perform steps S2-S4 until the first direction is consistent with the second direction.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method for automatically searching and tracking an astronomical target by an astronomical telescope is applied to an astronomical observation system, and comprises the following steps: the system comprises an autonomous computing pointing device, a servo device, an astronomical telescope and a human-computer interaction device, wherein the autonomous computing pointing device is connected with the astronomical telescope and coaxially arranged, the servo device is connected with the astronomical telescope, and the servo device is respectively connected with the autonomous computing pointing device and the human-computer interaction device; characterized in that the method comprises:
step S1: acquiring a preset astronomical target, acquiring the direction of the astronomical target under an celestial coordinate system from a database of the human-computer interaction device, and recording the direction of the astronomical target under the celestial coordinate system as a first direction;
step S2: acquiring an astronomical image in real time, extracting features of the astronomical image and identifying a feature extraction result;
step S3: calculating the pointing direction of the astronomical telescope under an celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction;
step S4: comparing the first orientation with the second orientation;
step S5: when the first direction is not consistent with the second direction, adjusting the servo device, and repeatedly executing the steps S2-S4 until the first direction is consistent with the second direction.
2. The method according to claim 1, wherein the step S2 further comprises:
extracting star point coordinates of all fixed stars from the astronomical image by adopting a centroid method;
and identifying the pointing direction of the star point coordinates under the celestial coordinate system by adopting a star map identification algorithm.
3. The method according to claim 2, wherein the step of extracting the star point coordinates of all stars from the astronomical image by using the centroid method is performed according to the following formula:
4. The method according to claim 2, wherein the step S3 further comprises:
calculating the coordinates of the star point coordinates under an image space coordinate system according to the star point coordinates and the focal length of the autonomous calculation pointing device;
calculating the coordinates of the star point coordinates in the celestial coordinate system according to the directions of the star point coordinates in the celestial coordinate system;
and calculating the pointing direction of the astronomical telescope under an celestial coordinate system according to the coordinates of the star point coordinates under the image space coordinate system and the coordinates of the star point coordinates under the celestial coordinate system.
5. The method according to claim 4, wherein the step S3 is to calculate the orientation of the astronomical telescope in the celestial coordinate system according to the following formula:
6. The method according to claim 1, further comprising, after the step S4 or the step S5:
step S6: when the first pointing direction is consistent with the second pointing direction, the servo device does not adjust, and the astronomical telescope continues to track the astronomical target.
7. The method according to claim 6, wherein after the step S6, the method further comprises: manually confirming, by the astronomical telescope, that the first orientation is consistent with the second orientation.
8. The method according to claim 6, further comprising, after step S6: and acquiring a tracking result in real time, and updating a database of the human-computer interaction device according to the tracking result.
9. The method according to claim 1, wherein in the step S2, the method further comprises: and after the astronomical image is obtained, denoising the astronomical image by adopting a Gaussian filter.
10. An astronomical telescope automatic searching and tracking device for an astronomical target, comprising:
the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a preset astronomical target, acquiring the direction of the astronomical target under an celestial coordinate system from a database of a human-computer interaction device, and recording the direction of the astronomical target under the celestial coordinate system as a first direction;
the characteristic extraction and identification module is used for acquiring an astronomical image in real time, extracting the characteristic of the astronomical image and identifying the characteristic extraction result;
the calculation module is used for calculating the pointing direction of the astronomical telescope under the celestial coordinate system in real time according to the recognition result, and recording the pointing direction of the astronomical telescope under the celestial coordinate system as a second pointing direction;
the comparison module is used for comparing the first direction with the second direction;
and an adjusting module, adjusting the servo device when the first direction is not consistent with the second direction, and repeatedly executing the steps S2-S4 until the first direction is consistent with the second direction.
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