CN113514949A - Full-automatic telescope system in visible light wave band and space debris monitoring method - Google Patents
Full-automatic telescope system in visible light wave band and space debris monitoring method Download PDFInfo
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- CN113514949A CN113514949A CN202110468117.2A CN202110468117A CN113514949A CN 113514949 A CN113514949 A CN 113514949A CN 202110468117 A CN202110468117 A CN 202110468117A CN 113514949 A CN113514949 A CN 113514949A
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- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/12—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices with means for image conversion or intensification
Abstract
A full-automatic telescope system of visible light wave band and a space debris monitoring method are provided, the full-automatic telescope system comprises a telescope subsystem, a main control subsystem, a power supply subsystem and a mobile platform subsystem, wherein the telescope subsystem comprises a large-view-field telescope unit and a small-view-field telescope unit, and simultaneous monitoring of a plurality of space debris and monitoring of single space debris in daytime can be realized by combining the large view field and the small view field.
Description
Technical Field
The invention relates to the technical field of astronomical monitoring equipment, in particular to a full-automatic telescope system in a visible light band and a space debris monitoring 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, and the accurate information of the space debris is obtained, so that the safety of the in-orbit spacecraft is guaranteed.
The invention of the CCD image sensor replaces the traditional photographic observation and becomes one of the effective means for monitoring the space debris. Due to the increase of human space activities, space debris in space is more and more, statistics shows that the space debris larger than 1 cm in space reaches tens of thousands, even hundreds of thousands and hundreds of thousands, and the space debris poses certain threats to the safety of the on-orbit spacecraft. In order to obtain the position information of these space debris, it must be observed. The observation of space debris by using a traditional optical telescope has the following characteristics:
there are high requirements on the control room area, which is usually not easily movable;
observation of a single space debris can only be conducted under the guidance of a forecast;
the need to provide a power supply and network environment;
the need for a separate base pier and dome;
need to be equipped with operators;
the optical telescope is separate from the control cabinet (control computer, time system, servo system, power system, switch system), requiring two independent installation spaces;
visible band optical telescope systems with slightly larger field of view are typically not observable during the day;
when the small-field optical telescope system tracks space debris with high movement speed, the number of fixed stars in a field of view is small, and star images of the fixed stars are elongated, so that astronomical positioning cannot be realized, only the shafting precision can be relied on, and the measurement precision is influenced by factors such as processing precision, scale precision, atmospheric refraction correction precision and the like;
usually, only one lens barrel is installed, and even if more than one lens barrel is installed, the lens barrel is only used as a guide star mirror;
the installation space requirement is large and the operation procedure is complex;
therefore, the traditional optical telescope can not meet the development requirement of space debris cataloging.
Disclosure of Invention
The invention mainly solves the technical problem of providing a full-automatic telescope system with visible light wave bands, which can realize simultaneous monitoring of a plurality of space fragments at night and single space fragment monitoring at daytime.
According to a first aspect, an embodiment provides a fully automatic telescope system with parallel optical axes of large and small fields of view for visible light bands, comprising:
the telescope subsystem comprises a large-view-field telescope unit and a small-view-field telescope unit, wherein the large-view-field telescope unit 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 small-view-field telescope unit is used for collecting an astronomical image pointing to an sky area to obtain a second astronomical image and sending the collected second astronomical image to the main control subsystem; 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;
the main control subsystem is used for receiving the first astronomical image and the second astronomical image which are sent by the telescope subsystem;
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;
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 a remote monitoring center;
the power supply subsystem is used for converting the received solar energy into alternating current electric energy, converting the alternating current electric energy into direct current electric energy and storing the direct current electric energy into the storage battery pack so as to supply power to the telescope subsystem, the main control subsystem, the negative model calibration subsystem and the mobile platform subsystem;
the mobile platform subsystem, telescope subsystem, main control subsystem and power subsystem all set up on the mobile platform subsystem, the mobile platform subsystem is used for moving to the assigned position according to the control command that the main control subsystem sent, so that the telescope subsystem can gather directional regional astronomical image.
According to a second aspect, an embodiment provides a space debris monitoring method based on a full-automatic telescope system in a visible light band, and the method comprises the following steps:
receiving a remote control instruction sent by a remote monitoring center, and analyzing the remote control instruction to obtain an observation area of the space debris to be monitored;
controlling the mobile platform subsystem to carry the telescope subsystem to move to the observation area;
controlling a large-view-field telescope unit in a telescope subsystem to collect an astronomical image pointing to an sky area to obtain a first astronomical image; controlling a small-field telescope unit in a telescope subsystem to collect an astronomical image pointing to an sky area 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 which are sent by the telescope subsystem;
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.
According to the visible light band full-automatic telescope system of the embodiment, the telescope subsystem comprises the large-view-field telescope unit and the small-view-field telescope unit, and the simultaneous monitoring of multiple space fragments at night and the monitoring of single space fragment at daytime can be realized in a large-view-field and small-view-field combined mode.
Drawings
FIG. 1 is a schematic structural diagram of a fully automatic telescope system in visible light band according to an embodiment;
FIG. 2 is a diagram illustrating an exemplary embodiment of a mobile platform subsystem;
fig. 3 is a flowchart of a space debris monitoring method 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 full-automatic telescope system in visible light band according to an embodiment, where the full-automatic telescope system in visible light band includes: a telescope subsystem 10, a main control subsystem 20, a power supply subsystem 30, a mobile platform subsystem 40 and a negative model calibration subsystem 50.
The telescope subsystem 10 comprises a large view field telescope unit and a small view field telescope unit, wherein the large view field telescope unit 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 small-view-field telescope unit is used for collecting an astronomical image pointing to an astronomical region to obtain a second astronomical image and sending the collected second astronomical image to the main control subsystem; the first astronomical image is a night astronomical image pointing to the sky area, and the second astronomical image comprises a night astronomical image pointing to the sky area and a day astronomical image.
In one embodiment, a large field of view telescope unit includes a large field of view optical barrel, a large field of view detector, and a first desynchronized 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 telescope unit includes a small-field optical barrel, a small-field 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 30 is used for receiving the first astronomical image and the second astronomical image sent by the telescope subsystem.
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 utilizing the determined large and small view field model mapping relation, night observation data are generated, and the night observation data are sent to a remote monitoring center.
When the received second astronomical image is a daytime astronomical image, the space debris on the second astronomical image is detected and astronomical positioned by using the determined large and small view field model mapping relation, daytime observation data is generated, and the daytime observation data is sent to the remote monitoring center 60.
The small field telescope unit collects the astronomical image pointing to the sky area with a smaller field of view, so that the second astronomical image has a smaller field of view, and usually only contains space debris and fewer stars, or may not have stars, and cannot be directly subjected to astronomical positioning.
The large-view-field telescope unit can collect an astronomical image pointing to a sky area with a large view field, the first astronomical image usually 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 field telescope unit cannot acquire astronomical images in the daytime due to the problem of detection capability, and therefore, if the large field telescope unit is independently relied on, space debris cannot be monitored in the daytime. In the embodiment, the space debris is monitored in the daytime through the small-field telescope unit, but because the field of view of the second astronomical image acquired by the small-field telescope unit is small, the fixed star data around the space debris cannot be acquired, and therefore the problem that the space debris cannot be astronomically positioned by independently depending on the small-field telescope unit also exists in the daytime.
The negative film model calibration subsystem 20 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 then the optical axis is adjusted according to the imaging condition of the same fixed star by the large-field telescope and the small-field telescope, so that the optical axis of the small-field telescope unit is parallel to the optical axis of the large-field telescope unit.
The film model calibration subsystem 20 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-field telescope unit in the embodiment is a short-focus large-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-field telescope on a fixed star imaging negative plate on the premise of not considering factors influencing star image quality. Because the field of view of the large-field-of-view telescope unit is large, a single-frame image can acquire image data of a plurality of fixed stars in the same sky area, and therefore a large-field-of-view telescope measurement model (a large-field-of-view six-constant CCD image processing model) can be established by utilizing the first antenna image acquired by the large-field-of-view telescope unit.
The small field telescope unit in this embodiment is a long-focus small field telescope, and because the field of view is small, the number of fixed 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 specified sky area, and enabling the large-view-field telescope unit and the small-view-field telescope unit to simultaneously image the specified sky area 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 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.
The mobile platform subsystem 50 is used for moving to a designated position according to a control instruction sent by the main control subsystem, so that the telescope subsystem can collect an astronomical image of a pointing area. Wherein, telescope subsystem, main control subsystem and power subsystem all set up on the mobile platform subsystem.
Referring to fig. 2, the mobile platform subsystem includes: a mobile platform 51, a shelter 53, an electrically controlled flip mechanism and a sky monitoring device. The shelter 53 is installed on the mobile platform 51, and the shelter 53 comprises a cuboid frame located on the upper surface of the mobile platform 51, three side plates 55 located on the side surfaces of the frame, a top cover 54 located above the frame, and a cuboid containing cavity formed by the side plates 55, the top cover 54 and the mobile platform 51.
The electric control flip mechanism is respectively connected with the side plates 55 and the top cover 54, is electrically connected with the main control subsystem, and is used for enabling each side plate 55 to be turned outwards relative to the upper edge of the side face of the shelter where the side plate is located and enabling the top cover 54 to be turned outwards relative to the upper edge of the side face of the shelter where the side plate 55 is not arranged according to a control command of the main control subsystem. A support adjusting part 56 is further disposed below the moving platform to adjust the moving platform 51 to a horizontal state and provide a supporting force for the moving platform 51.
The moving platform 51 is parallel to the ground, and a moving assembly 52 is arranged below the moving platform 51, wherein the moving assembly 52 can be a roller, a pulley and the like.
It should be noted that the structure of the mobile platform subsystem is the same as that of the existing mobile platform subsystem, and the detailed description thereof is omitted here.
The telescope subsystem 10, the main control subsystem 30 and the negative model calibration subsystem 10 are arranged in the shelter.
The sky monitoring equipment is arranged on the mobile platform and used for collecting the cloud pictures of the measuring stations in real time and sending the collected cloud pictures of the measuring stations to the master control subsystem, and the master control subsystem receives the cloud pictures of the measuring stations sent by the sky monitoring equipment and analyzes the weather state of the area where the measuring stations are located in real time.
The mobile platform subsystem 50 moves to a designated position according to a control instruction sent by the main control subsystem, and the shelter is opened through the electric control flip mechanism, so that the telescope subsystem and/or the power supply subsystem are in an open state.
In this embodiment, the side panels 55 of the shelter 53 are manually extendable, and the canopy 54 of the shelter is electrically and manually operable to open and close the flip members. After the mobile platform subsystem 50 moves to the designated position, the flip part can be opened through electric control/manual operation to open the shelter, so that the telescope system can collect astronomical images pointing to the sky area, or the power subsystem can receive solar energy to convert the solar energy into electric energy.
The power supply subsystem 40 is used for converting the received solar energy into alternating current energy, converting the alternating current energy into direct current energy, and storing the direct current energy into a storage battery pack so as to supply power to the telescope subsystem 10, the main control subsystem 30, the negative model calibration subsystem 20 and the mobile platform subsystem 50.
In one embodiment, power subsystem 40 includes a plurality of solar panels, transformers, and battery packs. The solar cell panel is installed on the outer surfaces of the side plate 55 and the top cover 54 of the shelter, and is used for converting received solar energy into alternating current electric energy, converting the alternating current electric energy generated by conversion into direct current electric energy through a transformer and storing the direct current electric energy into the storage battery pack.
In this embodiment, power subsystem 40 may also be configured to monitor the status of components that convert solar energy to electrical energy and send the monitored status of the components to main control subsystem 30. In addition, power subsystem 40 may also be capable of monitoring the status of the battery pack and sending the status of the battery pack to the master control subsystem.
In another embodiment, power subsystem 40 may also be capable of converting 220V ac power from the mains supply to dc power for storage in a battery pack.
In this embodiment, the main control subsystem 30 is further configured to: and receiving a remote control instruction sent by the remote monitoring center 60, analyzing the remote control instruction, and determining working parameters of the large-field telescope unit and working parameters of the small-field telescope unit.
And respectively configuring the large-view-field telescope unit and the small-view-field telescope unit according to the working parameters so as to enable the large-view-field telescope unit and the small-view-field telescope unit to respectively acquire astronomical images pointing to the sky area according to the given exposure time and frame frequency.
And generating a first control instruction based on the received remote control instruction, and sending the first control instruction to the large-field telescope unit and the small-field telescope unit, 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-field telescope unit and the small-field telescope unit to respectively adjust the focal length of the optical lens barrel and controlling the first despin component and the second despin component to respectively operate to a preset despin position according to a given despin speed.
Receives the despin and focusing states fed back by the large-field telescope unit and the small-field telescope unit in real time, and sends the despin and focusing states to the remote monitoring center 60.
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 addition, the astronomical images (the first astronomical image and/or the second astronomical image) collected by the telescope subsystem 10 are transmitted to the main control subsystem through a network or a USB interface.
Various data in the power subsystem 40 are transmitted to the main control subsystem through serial communication, for example, the state of the storage battery, the state of the components for converting solar energy into electric energy, and the like.
The status data and control data in the mobile platform subsystem 50 are also transmitted to the main control subsystem through serial communication. Wherein, the station-measuring cloud picture is transmitted to the main control subsystem through the network.
The main control subsystem 30 and the remote monitoring center 60 transmit remote control commands and the like through cable network, satellite communication, mobile communication and the like.
Referring to fig. 3, fig. 3 is a method for monitoring space debris according to an embodiment of the fully automatic telescope system in visible light band provided in the foregoing embodiment, where the method includes the following steps:
And 202, controlling the mobile platform subsystem to carry the telescope subsystem to move to the observation area.
And 204, receiving the first astronomical image and the second astronomical image sent by the telescope subsystem.
And step 205, when the received first astronomical image and the received second astronomical image are both night astronomical images, respectively detecting and 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 step 206, 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.
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.
Those skilled in the art will appreciate that all or part of the functions of the various methods in the above embodiments may be implemented by hardware, or may be implemented by computer programs. When all or part of the functions of the above embodiments are implemented by a computer program, the program may be stored in a computer-readable storage medium, and the storage medium may include: a read only memory, a random access memory, a magnetic disk, an optical disk, a hard disk, etc., and the program is executed by a computer to realize the above functions. For example, the program may be stored in a memory of the device, and when the program in the memory is executed by the processor, all or part of the functions described above may be implemented. In addition, when all or part of the functions in the above embodiments are implemented by a computer program, the program may be stored in a storage medium such as a server, another computer, a magnetic disk, an optical disk, a flash disk, or a removable hard disk, and may be downloaded or copied to a memory of a local device, or may be version-updated in a system of the local device, and when the program in the memory is executed by a processor, all or part of the functions in the above embodiments may be implemented.
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 full-automatic telescope system in visible light wave band, characterized by comprising:
the telescope subsystem comprises a large-view-field telescope unit and a small-view-field telescope unit, wherein the large-view-field telescope unit 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 small-view-field telescope unit is used for collecting an astronomical image pointing to an sky area to obtain a second astronomical image and sending the collected second astronomical image to the main control subsystem; 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;
the main control subsystem is used for receiving the first astronomical image and the second astronomical image which are sent by the telescope subsystem;
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;
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 a remote monitoring center;
the power supply subsystem is used for converting the received solar energy into alternating current electric energy, converting the alternating current electric energy into direct current electric energy and storing the direct current electric energy into the storage battery pack so as to supply power to the telescope subsystem, the main control subsystem, the negative model calibration subsystem and the mobile platform subsystem;
the mobile platform subsystem, telescope subsystem, main control subsystem and power subsystem all set up on the mobile platform subsystem, the mobile platform subsystem is used for moving to the assigned position according to the control command that the main control subsystem sent, so that the telescope subsystem can gather directional regional astronomical image.
2. The fully automated telescope system in the visible wavelength band according to 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 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 adjusting the optical axis of the large view field telescope unit and the optical axis of the small view field telescope unit according to the imaging condition of the large view field telescope unit and the small view field telescope unit on the same fixed star so as to enable the optical axis of the small view field telescope unit to be parallel to the optical axis of the large view field telescope unit;
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.
3. The fully automated telescope system in the visible wavelength band according to claim 2, wherein the establishing a 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.
4. The fully automated telescope system in the visible wavelength band according to claim 3, wherein the modeling of the small field telescope measurement 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.
5. The fully automatic telescope system according to claim 4, wherein the mapping relationship between 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.
6. The fully automated telescope system in the visible wavelength band of claim 2, wherein the master control subsystem is further configured to:
receiving a remote control instruction sent by a remote monitoring center, analyzing the remote control instruction, and determining working parameters of the large-field telescope unit and the small-field telescope unit;
respectively configuring the large-view-field telescope unit and the small-view-field telescope unit according to the working parameters so as to enable the large-view-field telescope unit and the small-view-field telescope unit to respectively collect 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-field telescope unit and the small-field telescope unit, 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-field telescope unit and the small-field telescope unit 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 despinning and focusing states fed back by the large-view-field telescope unit and the small-view-field telescope unit in real time, and sending the despinning and focusing states to a remote monitoring center.
7. The fully automated telescope system according to claim 6, wherein the large field of view telescope unit 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 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.
8. The full-automatic telescope system in visible light band as claimed in claim 7, wherein the small field of view telescope unit comprises a small field of view optical barrel, a small field of view detector and a second despinning component, the second despinning component and the small field of view detector are disposed on the small field of view optical barrel, the second despinning component is used for adjusting the focal length of the small field of view optical barrel according to the focusing control command sent by the main control subsystem, and operating to a predetermined despinning position according to a given despinning speed according to the despinning position and speed control command sent by the main control subsystem, and feeding back the despinning and focusing status 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.
9. The fully automated telescope system according to claim 1, wherein the mobile platform subsystem comprises: the system comprises a mobile platform, a shelter, an electric control flip mechanism and sky monitoring equipment;
the telescope subsystem, the main control subsystem, the negative model calibration subsystem and the mobile platform subsystem are arranged in the shelter;
the sky monitoring equipment is arranged on the mobile platform and used for collecting a station cloud picture in real time and sending the collected station cloud picture to the master control subsystem, and the master control subsystem receives the station cloud picture sent by the sky monitoring equipment and analyzes the weather state of the area where the station is located in real time;
the mobile platform subsystem moves to a designated position according to a control instruction sent by the main control subsystem, and the shelter is opened through the electric control flip mechanism, so that the telescope subsystem and/or the power supply subsystem are in an open state.
10. A space debris monitoring method based on a full-automatic telescope system in a visible light wave band 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 an observation area of the space debris to be monitored;
controlling the mobile platform subsystem to carry the telescope subsystem to move to the observation area;
controlling a large-view-field telescope unit in a telescope subsystem to collect an astronomical image pointing to an sky area to obtain a first astronomical image; controlling a small-field telescope unit in a telescope subsystem to collect an astronomical image pointing to an sky area 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 which are sent by the telescope subsystem;
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.
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