CN113720352B - Star map simulation method with Mongolian gas difference effect - Google Patents
Star map simulation method with Mongolian gas difference effect Download PDFInfo
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- CN113720352B CN113720352B CN202111008553.8A CN202111008553A CN113720352B CN 113720352 B CN113720352 B CN 113720352B CN 202111008553 A CN202111008553 A CN 202111008553A CN 113720352 B CN113720352 B CN 113720352B
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- 238000004088 simulation Methods 0.000 title claims abstract description 15
- 230000000694 effects Effects 0.000 title claims abstract description 14
- 238000000034 method Methods 0.000 title claims abstract description 8
- 239000013598 vector Substances 0.000 claims abstract description 29
- 238000003384 imaging method Methods 0.000 claims abstract description 11
- 238000013507 mapping Methods 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 239000006185 dispersion Substances 0.000 claims abstract description 4
- 238000012216 screening Methods 0.000 claims abstract description 4
- 238000012360 testing method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Manufacturing & Machinery (AREA)
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Abstract
The invention provides a star map simulation method with a Mongolian gas difference effect, which comprises the following implementation steps: and screening out fixed stars to be mapped according to the optical axis direction of the star sensor, wherein a unit vector of the star to be mapped under an inertial system is used as a reference star light vector, and the reference star light vector is converted into a local geographic coordinate system or a transmitting coordinate system or a celestial horizon coordinate system by combining information such as set observation time, position, gesture and the like to obtain the true zenith distance of the star light. And calculating the Mongolian difference according to a model taking the zenith distance as an argument, overlapping the Mongolian difference with a reference star light vector in a azimuth plane to obtain an observed star light vector, mapping the observed star light vector to an imaging plane, and generating a simulated star map with the Mongolian difference effect through Gaussian gray dispersion.
Description
Field of the art
The invention relates to a star map simulation method with a Mongolian gas difference effect, belongs to the field of image analysis, and is a simulation technology suitable for experimental test of an applied star sensor in the atmosphere.
(II) background art
The star sensor is used as a high-precision attitude measurement sensor and is widely applied to the fields of aerospace, aviation, navigation and the like. Because the earth's atmosphere density distribution is uneven, the atmosphere is denser at lower altitudes, starlight can bend towards the direction of the earth center when passing through the atmosphere, and the starlight vision direction entering the star sensor is different from the true direction, and the direction difference is called as the Mongolian difference. The larger the zenith distance of the observation star is, the larger the Mongolian difference is. When the star sensor works in the atmosphere, the star imaging coordinates are offset due to the Mongolian air difference, so that the star map matching success rate and the posture determining precision of the star sensor are reduced.
The star map simulation is a simulation technology oriented to the star sensor test, and the star map simulation with the star sensor is required to be generated by the test of the Mongolian air difference compensation capability of the star sensor in the atmosphere. At present, no related literature report of scientific star map simulation with a Mongolian gas difference effect exists.
(III) summary of the invention
The invention aims to provide a star map simulation method with a Mongolian gas difference effect.
The invention aims at realizing the following technical scheme:
and screening out fixed stars to be mapped according to the optical axis direction of the star sensor, wherein a unit vector of the star to be mapped under an inertial system is used as a reference star light vector, and the reference star light vector is converted into a local geographic coordinate system or a transmitting coordinate system or a celestial horizon coordinate system by combining information such as set observation time, position, gesture and the like to obtain the true zenith distance of the star light. And calculating the Mongolian difference according to a model taking the zenith distance as an argument, overlapping the Mongolian difference with a reference star light vector in a azimuth plane to obtain an observed star light vector, mapping the observed star light vector to an imaging plane, and generating a simulated star map with the Mongolian difference effect through Gaussian gray dispersion.
(IV) description of the drawings
FIG. 1 is a flow chart of a star map simulation method with a Mongolian gas difference effect.
Fig. 2 is a schematic diagram of the principle of the Mongolian differential mapping.
(fifth) detailed description of the invention
For a better understanding of the present invention, embodiments of the present invention will be further described below with reference to the examples of the accompanying drawings.
The star sensor can observe the star in the atmosphere in any gesture, and can generate starlight and mask air difference. As shown in FIG. 2, O s X s Y s Z s For the star sensor coordinate system, OXY is the star sensor imaging array plane, O point is the imaging principal point, and f is the focal length of the star sensor optical lens. Q (Q) s The direction vector of the optical axis of the star sensor is zeta the zenith direction vector, S the true direction of the star light (namely the reference star light vector), the broken line is the refraction path of the true star light passing through the atmosphere and bending to the earth center, and the tangential direction S a S and S are the starlight vision direction (i.e. observing starlight vector) a The included angle R between the two is the Mongolian difference. A is S a B is the projection point of ζ and C is the projection point of S. Due to S and S a The two vectors are coplanar to the azimuth plane, and A, B, C are collinear at three points in the imaging plane. The Monte gas difference causes the imaging coordinates of the starlight to deviate, and the deviation is particularly shown in that the imaging point A of the observed starlight deviates from the projection point C of the reference starlight. Therefore, star map simulation with the Mongolian gas difference effect is realized, and the deviation needs to be accurately simulated.
And screening out a star set to be mapped from the star library according to the optical axis direction and the field of view of the star sensor. The right ascension and declination of the star are marked as alpha and delta, and then the reference star light vector under the inertia system is expressed as:
obtaining a conversion matrix from inertial system to geographic system from set observation time, position and attitude informationThe starlight vector under the geographic system is:
in the azimuth plane, the position of the lens is in the azimuth plane,it can also be expressed in terms of azimuth angle a and elevation angle h:
a and h are calculated by combining the formulas (2) and (3), and the true zenith Z of the star can be obtained from h r ：
Z r ＝90°-h (4)
According to Z r And combining the correction of air temperature and air pressure to obtain the starlight Mongolian difference R for the quotation Mongolian difference model. Due to the Mongolian gas difference, the starlight is only highThe degree affects, and the star altitude becomes:
h a ＝h+R (5)
the vector coordinates of the starlight with the Monte-gas effect under the geographic system are:
to be used forAnd converting the star vector as an observation star vector into a star sensor coordinate system, and mapping the star vector to an imaging plane through an optical system ideal model to obtain a mapping point coordinate. After the mapping point coordinates of all the stars to be mapped are obtained, effective star image points which are truly mapped to an imaging plane are screened out, pixel gray assignment is carried out through Gaussian gray dispersion, a simulation image of each star image point is obtained, and star map simulation with a Mongolian effect can be realized after various noises are overlapped.
Claims (1)
1. A star map simulation method with a Mongolian gas difference effect, the method comprising:
screening out a star to be mapped according to the optical axis direction of the star sensor, wherein a unit vector of the star to be mapped under an inertial system is used as a reference star light vector, and the reference star light vector is converted into a local geographic coordinate system or a transmitting coordinate system or a celestial horizon coordinate system by combining set observation time, position and gesture information to obtain the true zenith distance of the star light; and calculating the Mongolian difference according to a model taking the zenith distance as an argument, overlapping the Mongolian difference with a reference star light vector in a azimuth plane to obtain an observed star light vector, mapping the observed star light vector to an imaging plane, and generating a simulated star map with the Mongolian difference effect through Gaussian gray dispersion.
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| CN114526726A (en) * | 2022-02-09 | 2022-05-24 | 中国人民解放军火箭军研究院科技创新研究中心 | Star refraction navigation star-viewing scheme optimization design method based on observability analysis |
Citations (4)
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|---|---|---|---|---|
| CN1912547A (en) * | 2006-08-23 | 2007-02-14 | 北京航空航天大学 | High precision low cost starlight simulator |
| CN103968835A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Simulating method of refraction star |
| CN105004353A (en) * | 2015-06-17 | 2015-10-28 | 北京控制工程研究所 | Dynamic star map simulation method for star sensor |
| KR101620951B1 (en) * | 2015-01-22 | 2016-05-17 | 건국대학교 산학협력단 | Method for generating simulated satellite image and system thereof |
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- 2021-08-31 CN CN202111008553.8A patent/CN113720352B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1912547A (en) * | 2006-08-23 | 2007-02-14 | 北京航空航天大学 | High precision low cost starlight simulator |
| CN103968835A (en) * | 2014-05-14 | 2014-08-06 | 哈尔滨工程大学 | Simulating method of refraction star |
| KR101620951B1 (en) * | 2015-01-22 | 2016-05-17 | 건국대학교 산학협력단 | Method for generating simulated satellite image and system thereof |
| CN105004353A (en) * | 2015-06-17 | 2015-10-28 | 北京控制工程研究所 | Dynamic star map simulation method for star sensor |
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| One method on refraction star-map simulation;Song Zhenfei et al.;《AOPC 2019: OPTICAL SENSING AND IMAGING TECHNOLOGY》;第11338卷;1-9 * |
| Simulating method study on stray light noise out of sunlight baffle of star tracker;Wang Haiyong et al.;《AOPC 2015: IMAGE PROCESSING AND ANALYSIS》;第9675卷;1-7 * |
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