CN114719844A - Space projection-based all-celestial star map identification method, device and medium - Google Patents
Space projection-based all-celestial star map identification method, device and medium Download PDFInfo
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Abstract
The invention discloses a space projection-based all-celestial star map identification method, a device and a medium, wherein the method comprises the following steps: preprocessing the star map to determine a main star of the star map, and preprocessing the star table to generate a search table; acquiring candidate stars from the search table according to the main star and the search table of the star map; performing coordinate transformation on each star in the star map and the search table to obtain a polar coordinate of each star; and identifying fixed stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the sky area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
Description
Technical Field
The invention relates to the technical field of astronomical navigation, in particular to a space projection-based all-celestial star map identification method, a space projection-based all-celestial star map identification device and a computer-readable storage medium.
Background
Star map recognition is an important link for attitude sensors or astronomical navigation systems. The correctness of the identification directly determines whether the result is credible or not and also determines the success or failure of the subsequent control task. Taking a conventional high-precision star sensor as an example, after star point extraction and high-precision centering, star map identification is required to be performed so as to correspond a star coordinate under a celestial coordinate system with an imaging star point coordinate in the star sensor, thereby obtaining a conversion matrix from a star sensor coordinate system to the celestial coordinate system, namely attitude information. The evaluation of the star map recognition algorithm generally includes recognition accuracy, all celestial sphere recognition coverage, algorithm complexity, recognition speed, storage space size and the like.
The existing star pattern recognition algorithm comprises a typical trigonometry method and a typical grid method. The triangulation method mainly utilizes the principle that angular distances are unchanged, and compares the angular distances formed by three stars in a field of view in a star map with a star table for identification; the grid method belongs to a pattern recognition method, and is characterized in that star points are subjected to grid division and are compared with the existing star map grids, so that recognition is realized. However, both of the above have certain drawbacks at present. For example, the triangulation method has accurate identification results, but only can identify 6 stars at a time, and needs to identify for the second time, and meanwhile, the triangulation method depends on an angular distance information table, and the angular distance information table is larger as the number of stars increases, so that the difficulty exists in the searching process. In comparison, the grid method can identify all the stars at one time, but because the extracted feature patterns cannot reflect the inherent similarity degree, the identification accuracy is not good as that of the angular distance method, and the problem of false identification may occur. Especially, under the conditions that the imaging environment is complex, the number of stars in the field of view is small, and interfering stars exist, the adaptability of the current identification method is still to be improved.
On the basis of the method, new identification algorithms are continuously proposed, such as a neural network star map identification algorithm. The algorithm is based on three angular distance characteristics of triangles, neural network learning is carried out on the selected navigation triangle library, and the learned neural network structure is utilized to identify the star map. The method has the advantages of high recognition rate, high recognition speed, low data storage capacity, and good real-time and robustness. The method has the disadvantages of low learning speed, certain false recognition probability and higher requirement on hardware.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the first objective of the present invention is to provide a space projection-based all-celestial star map recognition method, which has high recognition accuracy, is applicable to complex imaging environments, can effectively reduce interference, and can arbitrarily change the density of navigation stars according to a sky area, thereby realizing more precise recognition of a certain day area, and further contributing to improving attitude accuracy.
A second object of the invention is to propose a computer-readable storage medium.
The third purpose of the invention is to provide an all-celestial star map recognition device based on space projection.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for identifying an all-celestial star map based on spatial projection, where the method includes: preprocessing the star map to determine a main star of the star map, and preprocessing the star table to generate a search table; acquiring candidate stars from the search table according to the main star and the search table of the star map; performing coordinate transformation on each star in the star map and the search table to obtain a polar coordinate of each star; and identifying fixed stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field range around the candidate star.
According to the all-celestial star map identification method based on the space projection, the star map is preprocessed to determine the main star of the star map, the star table is preprocessed to generate the search table, the candidate star is obtained from the search table according to the main star and the search table of the star map, the polar coordinate of each star is obtained by carrying out coordinate transformation on each star in the star map and the search table, and the fixed star in the star map is identified based on the polar coordinate of each star in the star map and the polar coordinate of each star in the corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
According to one embodiment of the invention, preprocessing the star map to determine the primary star of the star map comprises: acquiring the star point position and gray information of each star in the star map; and determining the main star of the star map according to the star point position and/or the gray level information.
According to one embodiment of the invention, preprocessing the star table to generate a search table comprises: taking each star in the star catalogue as a main star; acquiring star serial numbers in a field range around a main star; and generating a search table according to the star serial numbers, wherein each row of the search table comprises star serial numbers around the main star of the corresponding row in the star table.
According to one embodiment of the invention, the obtaining of the candidate star from the search table according to the main star of the star map and the search table comprises: acquiring a first distance between a main star and other stars in a star map, and quantizing the first distance to form a first numeric string, wherein the first numeric string comprises star radius information in circular rings corresponding to different radii around the main star; acquiring a second distance between each main star in the search table and a star corresponding to the corresponding star serial number, and quantizing the second distance to form a second numeric string of each main star, wherein the second numeric string comprises star radius information in rings corresponding to different radiuses around the main star; and acquiring the candidate star from the search table based on the star radius information in the first digit string and the star radius information in the second digit string.
According to one embodiment of the invention, coordinate transformation is performed on each star in the star map to obtain the polar coordinates of each star, comprising: and converting the two-dimensional coordinates of each star in the star map from a Cartesian coordinate system to a polar coordinate system to obtain the polar coordinates of each star in the star map, and acquiring the polar radius and the polar angle of each star.
According to one embodiment of the present invention, coordinate transforming each star in the search table to obtain a polar coordinate of each star comprises: determining a fitting plane according to the three-dimensional coordinates of each star in the celestial body coordinate system in the search table, the focal length of the star map acquisition device and the pixel size, and constructing a transformation matrix from the fitting plane to the celestial body coordinate system; and converting the three-dimensional coordinates of each star in the search table into two-dimensional coordinates based on the transformation matrix, converting the two-dimensional coordinates into polar coordinates to obtain the polar coordinates of each star in the search table, and acquiring the polar radius and the polar angle of each star.
According to one embodiment of the invention, identifying the polar coordinates of each satellite within the corresponding field of view around the primary satellite of the star map based on the polar coordinates of each satellite within the field of view around the candidate satellite comprises: acquiring a first polar angle of each star in the star map; acquiring a second polar angle of each satellite in a corresponding view field range around the candidate satellite; obtaining a first angle difference between each first polar angle and a corresponding second polar angle; for each candidate star, obtaining a first difference value between the first angle differences; identifying stars within the star map based on the presence of a number of first differences being less than the difference threshold.
After identifying stars within the star map, according to one embodiment of the present invention, the method further comprises: acquiring a first angle difference of a fixed star, and performing first conversion from a celestial coordinate system to an imaging coordinate system according to the first angle difference of the fixed star; second converting from the imaging coordinate system to a rotating coordinate system; thirdly, converting the rotating coordinate system into a star sensor coordinate system; and acquiring an attitude matrix converted from the celestial coordinate system to the star sensor coordinate system according to the first conversion, the second conversion and the third conversion.
In order to achieve the above object, a second aspect of the present invention provides a computer readable storage medium, on which a space projection based all-celestial star map identification program is stored, where the space projection based all-celestial star map identification program is executed by a processor to implement the above space projection based all-celestial star map identification method.
According to the computer-readable storage medium of the embodiment of the invention, the star map is preprocessed to determine a main star of the star map, the star table is preprocessed to generate the search table, the candidate star is obtained from the search table according to the main star and the search table of the star map, the polar coordinate of each star is obtained by performing coordinate transformation on each star in the star map and the search table, and the fixed star in the star map is identified based on the polar coordinate of each star in the star map and the polar coordinate of each star in the corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
In order to achieve the above object, a third aspect of the present invention provides an all-celestial star map recognition device based on spatial projection, the device including: the preprocessing module is used for preprocessing the star map to determine a main star of the star map and preprocessing the star table to generate a search table; the first acquisition module is used for acquiring candidate stars from the search table according to the main star and the search table of the star map; the second acquisition module is used for carrying out coordinate transformation on each star in the star map and the search table so as to acquire the polar coordinate of each star; and the identification module is used for identifying the fixed stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field range around the candidate star.
According to the space projection-based all-celestial star map recognition device, a preprocessing module is used for preprocessing a star map to determine a main star of the star map, a star table is preprocessed to generate a search table, a first acquisition module is used for acquiring a candidate star from the search table according to the main star and the search table of the star map, a second acquisition module is used for carrying out coordinate transformation on each star in the star map and the search table to acquire a polar coordinate of each star, and a recognition module is used for recognizing a fixed star in the star map based on the polar coordinate of each star in the star map and the polar coordinate of each star in a corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for space projection based identification of an all-celestial star map in accordance with one embodiment of the present invention;
FIG. 2 is a flow chart of obtaining candidate stars from the search table according to the primary star and the search table of the star map;
FIG. 3 is a schematic diagram of the division of the star points in the star map during preprocessing according to one embodiment of the present invention;
FIG. 4 is a schematic diagram of the position of each star in the star map in a polar coordinate system according to one embodiment of the present invention;
FIG. 5 is a schematic view of each star in the star chart being imaged at an image plane;
FIG. 6 is a schematic three-dimensional coordinate fitting plane of a point cluster according to one embodiment of the invention;
FIG. 7 is a schematic diagram of the position of each star in the polar coordinate system in the search table according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of the locations in polar coordinates of the identified stars in the third digit string and the fourth digit string, in accordance with one embodiment of the present invention;
FIG. 9 is a schematic view of the star point of FIG. 8 after angular compensation;
FIG. 10 is a schematic diagram of the asterisk in FIG. 9 after serial number marking;
FIG. 11 is a schematic diagram of the locations of the star points identified from the star map, according to one embodiment of the present invention;
FIG. 12 is a schematic view of the star point locations calculated from the star table corresponding to FIG. 11;
FIG. 13 is a flow chart of a method for space projection based identification of an all-celestial star map in accordance with another embodiment of the present invention;
fig. 14 is a block diagram of an apparatus for identifying an all-celestial star map based on spatial projection according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
The following describes a space projection-based all-celestial star map identification method, device and medium provided by an embodiment of the invention with reference to the accompanying drawings.
Fig. 1 is a flowchart of an all-celestial star map identification method based on spatial projection according to an embodiment of the present invention, and referring to fig. 1, the all-celestial star map identification method based on spatial projection may include the following steps:
step S101: preprocessing the star map to determine the primary star of the star map, and preprocessing the star table to generate a search table.
In one embodiment, preprocessing the star map to determine the dominant star of the star map comprises: acquiring the star point position and gray information of each star in the star map; and determining the main star of the star map according to the star point position and/or the gray level information.
In particular, the star point position may include a distance parameter, where the gray information may include a gray sum of the imaged star points, which may be obtained by adding gray values in the area of the imaged star points, which may be used to represent the energy size of the star. When preprocessing the star map, the main star of the star map can be determined according to the distance parameter, or according to the star-like parameter, or according to the distance parameter and the star-like parameter. In a specific example, the star map extraction results may be sorted according to parameters of stars and the like, a brightest star is selected, the accuracy is relatively high, and other stars may be replaced at a later stage, such as a star closest to the center. It should be noted that, when the method is implemented, relevant parameters of the star map to be identified may be stored, where the relevant parameters may include a focal length, a principal point, a pixel size, an image plane size, and a field of view, and in a specific example, the relevant parameters may be set as shown in table 1.
TABLE 1
In one embodiment, preprocessing the star table to generate a search table includes: taking each star in the star catalogue as a main star; acquiring star serial numbers in a field range around a main star; and generating a search table according to the star serial numbers, wherein each row of the search table comprises star serial numbers around the main star of the corresponding row in the star table.
Specifically, the star table may store the location parameter and star parameter of the star, and each row represents the serial number of the star around the main star of the corresponding row in the navigation directory, which may be specifically referred to table 2.
TABLE 2
In preprocessing the star catalogue, each star in the star catalogue can be regarded as a main star, and stars in the field range around the main star are selected. Then, for the stars except the main star in the star table, the serial numbers of the projected star numbers and the distances dsi from the main star are calculated to form a search table to be stored. Wherein each row in the search table represents the serial number of the star around the main star in the corresponding row in the navigation directory. It should be noted that, when the star table is not changed and the field of view is not changed, the search table may be solidified. In a specific example, the search table may be as shown with reference to table 3.
TABLE 3
It should be noted that, in a specific example, the preprocessing step may be performed in an off-line state in a previous period, and the result of the preprocessing, such as the search table and the star table including the position parameter of the star and the parameters of the star, may also be stored in the off-line state in the previous period, so that when the candidate star is obtained in a subsequent period, the comparison and identification can be directly performed.
Step S102: and acquiring candidate stars from the search table according to the main star and the search table of the star map.
In one embodiment, fig. 2 is a flowchart of obtaining candidate stars from the search table according to the main star and the search table of the star map, and referring to fig. 2, obtaining candidate stars from the search table according to the main star and the search table of the star map may include the following steps:
step S1021: a first distance between a main star and other stars in the star map is obtained, and the first distance is quantized to form a first numeric string, wherein the first numeric string comprises star radius information in circular rings corresponding to different radii around the main star.
Specifically, fig. 3 is a schematic diagram of dividing the star points in the star map during preprocessing according to an embodiment of the present invention, and reference is made to fig. 3:
TABLE 4
For the star map, a first distance from each star point 302 except for the main star to the center on the image plane is calculated by taking the main star 301 as the center, the first distance is quantized in a certain scale, and then stored as shown in table 4, so as to form a first digital string BP. The first digit string BP is a star point position quantization digit string extracted from the star map, wherein the radius value of a star point meeting a certain radius condition in the star map is stored. In the first digit string BP, the star points are arranged from small to large according to the radius.
Step S1022: and acquiring a second distance between each main star in the search table and the star corresponding to the corresponding star serial number, and quantizing the second distance to form a second numeric string of each main star, wherein the second numeric string comprises star radius information in circles corresponding to different radiuses around the main star.
That is, taking each star in the search table as the main star, similarly to step S1021, taking the main star as the center, obtaining the second distance between each main star in the search table and the star corresponding to the serial number of the corresponding star, and then quantizing the second distance in the same proportion to form the second numeric string BS of each main star. The second digit string BS is a star table that calculates a star point location quantization digit string in which star radius information in circles corresponding to different radii around the main star in the search table is stored. It can be understood that the search table can be stored in advance under the condition that the parameters such as the star table, the star sensor field of view and the like are not changed.
Step S1023: and acquiring the candidate star from the search table based on the star radius information in the first digit string and the star radius information in the second digit string.
Specifically, the similarity between the first digit string BP and the second digit string BS formed by different main stars is obtained and sorted, the position where the radius information with the highest similarity is located (i.e., the star sequence number) is found with reference to table 5, and the sorted star with the highest similarity is used as a candidate star, so that the initial identification is completed, and the sequence number of the candidate star is obtained (in a specific example, 1 to 20 candidate stars may exist). Step S102 may be regarded as an initial identification step for confirming candidate stars, and since only the radius information of the star points is involved in the initial identification step and no specific location information is required, the processing flow is not complicated. And the initial identification step can greatly reduce the calculation amount of subsequent identification processing.
TABLE 5
Step S103: and performing coordinate transformation on each star in the star map and the search table to acquire the polar coordinates of each star.
It should be noted that, in a specific implementation, coordinate transformation may be performed on each satellite in the search table in an off-line state at an earlier stage, and the polar coordinates of each satellite in the search table after the coordinate transformation are stored, so that after a candidate satellite is obtained online, the polar coordinates of the relevant satellite in the search table may be directly called out for comparison and identification.
In one embodiment, coordinate transforming each star in the star map to obtain polar coordinates of each star comprises: and converting the two-dimensional coordinates of each star in the star map from a Cartesian coordinate system to a polar coordinate system to obtain the polar coordinates of each star in the star map, and acquiring the polar radius and the polar angle of each star.
That is, when acquiring the polar coordinates of each star in the star map, the two-dimensional coordinates of each star in the star map may be converted from a cartesian coordinate system to a polar coordinate system, as shown with reference to fig. 4, fig. 4 shows the position of each star in the polar coordinate system in the star map, from which the polar coordinates of each star in the star map may be acquired, and the polar radius and the polar angle of each star in the star map may be acquired, and then each star in the star map may be sorted by the polar angle.
In one embodiment, coordinate transforming each star in the search table to obtain polar coordinates of each star comprises: determining a fitting plane according to the three-dimensional coordinates of each star in the celestial body coordinate system, the focal length of the star map acquisition device and the pixel size in the search table, and constructing a transformation matrix from the fitting plane to the celestial body coordinate system; and converting the three-dimensional coordinates of each star in the search table into two-dimensional coordinates based on the transformation matrix, converting the two-dimensional coordinates into polar coordinates to obtain the polar coordinates of each star in the search table, and acquiring the polar radius and the polar angle of each star.
That is, referring to fig. 5, when performing coordinate transformation on each star in the search table, it may be simulated that each star is imaged on the image plane, and assuming that the main star 401 is imaged at the center of the image plane 402, the coordinates of other stars 403 in the search table may be calculated by the formula OcWi-OWi-OOc. Thus, the three-dimensional coordinates (point clusters) of each star in the search table with respect to the center point of the celestial coordinate system can be obtained.
More specifically, when converting the three-dimensional coordinates into a polar coordinate system, each candidate star needs to be used as a main star, and the following processing is respectively performed:
(1) the three-dimensional coordinates of the cluster of points are called for fitting a plane, which is shown in fig. 6, and a plane equation is determined.
(2) And taking the connecting line of the main star and other stars in the search table as an x axis, taking a coordinate axis which is positioned in the image plane and forms 90 degrees with the x axis as a y axis, and taking a coordinate axis which complies with the right-hand spiral rule with the x axis and the y axis as a z axis, so that the vector of the three axes in the celestial coordinate system can be obtained.
(3) By using the concept of the attitude matrix, a transformation matrix RM from the celestial coordinate system to the imaging coordinate system is obtained.
(4) With the transformation matrix RM, the three-dimensional coordinates of the point clusters can be transformed into two-dimensional coordinates on a plane, and further transformed into polar coordinates, as shown in fig. 7, where fig. 7 shows the position of each star in the search table in the polar coordinate system.
Step S104: and identifying fixed stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field range around the candidate star.
It should be noted that, in implementation, the field range of the star map (for example, 17 °) may be determined first, and then the field range around the candidate star is determined according to the field range of the star map, where the field range around the candidate star corresponds to the field range of the star map. In specific implementation, one of a plurality of candidate stars (usually no more than 20 stars) may be selected in one comparison cycle, then the polar coordinates of each star in the star map are compared with the polar coordinates of each star in the corresponding field range around the candidate star, if the comparison is successful, the star in the star map may be identified, and the process is ended; and if the comparison is unsuccessful, entering the next comparison cycle, namely selecting another candidate star from the candidate stars, and comparing the polar coordinates of each star in the star map with the polar coordinates of each star in the corresponding field range around the candidate star. Under the normal condition, the number of the candidate stars is not more than 20, that is, the number of the comparison circulation is not more than 20 at most, so that the method not only has high identification precision, but also can greatly reduce the identification number, effectively reduce the interference and be applicable to complex imaging environments.
In one embodiment, based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field of view around the candidate star, the method comprises: acquiring a first polar angle of each star in the star map; acquiring a second polar angle of each satellite in a corresponding view field range around the candidate satellite; obtaining a first angle difference between each first polar angle and a corresponding second polar angle; for each candidate star, acquiring a first difference value between the first angle differences; identifying stars within the star map based on the presence of a number of first differences less than a difference threshold.
Specifically, referring to table 6, the polar coordinates (including the first radius and the first polar angle) of each satellite in the star map are acquired to form the third digit string MP, then the corresponding field of view around the candidate satellite is acquired, and for each candidate satellite, the polar coordinates (including the second radius and the second polar angle) of each satellite in the corresponding field of view around the candidate satellite is acquired to form the fourth digit string MS. The third digit string MP and the fourth digit string MS are aligned in corresponding rows, and the alignment process may be performed based on the radius information, specifically, the radius information in a certain range is placed in the same row, so as to further determine whether the angles are close. And then subtracting the corresponding second polar angle from each first polar angle to obtain a first angle difference, and obtaining a first difference value between the first angle differences for each candidate star. If the first difference value of a plurality of stars is smaller than the difference threshold value (such as 0.3 °), the stars are identified as real stars, the corresponding flag bit can be drawn to be 1, and the star serial numbers corresponding to the real stars can be obtained through the fourth digit string MS, so that all stars in the star map are identified.
TABLE 6
In a specific example, referring to fig. 8, a third digital string MP star point 501 with a flag bit of 1 and a fourth digital string MS star point 502 with a flag bit of 1 can be plotted in a polar coordinate system. Further, since there is the first angle difference, the original point may be rotated around the center by the compensation angle for further angle compensation. After the angle compensation processing, referring to fig. 9, the star point positions extracted from the star map are consistent with the result of the star table calculation, and the identification information of the star points can be obtained, and the star serial numbers are marked at the corresponding positions, as shown in fig. 10.
It should be noted that not all extracted star points can be identified, which may be due to noise being identified or stars in the star map not being in the star table. For example, if the calculated star point energy is insufficient, part of the positions calculated by the star table may not be extracted on the image plane.
It should be noted that only if the true identification is successful, a series of identified star points are obtained, otherwise, the number of the identified star points is less than 2.
According to the all-celestial star map identification method based on the space projection, the star map is preprocessed to determine the main star of the star map, the star table is preprocessed to generate the search table, the candidate star is obtained from the search table according to the main star and the search table of the star map, the polar coordinate of each star is obtained by performing coordinate transformation on each star in the star map and the search table, and the fixed star in the star map is identified based on the polar coordinate of each star in the star map and the polar coordinate of each star in the corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
In one embodiment, after identifying stars within the star map, the method further comprises: acquiring a first angle difference of a fixed star, and performing first conversion from a celestial coordinate system to an imaging coordinate system according to the first angle difference of the fixed star; second converting from the imaging coordinate system to a rotational coordinate system; thirdly, converting the rotating coordinate system into a star sensor coordinate system; and acquiring an attitude matrix converted from the celestial coordinate system to the star sensor coordinate system according to the first conversion, the second conversion and the third conversion.
That is, for the identified star, a first angle difference is obtained, and according to the first angle, the star coordinate system is first converted to an imaging coordinate system RM from an celestial coordinate system, then is second converted to a rotating coordinate system RZ around the Z axis, and is third converted to a star sensor coordinate system RS, and then a posture matrix gRT converted from the celestial coordinate system to the star sensor coordinate system can be obtained by multiplying the conversion matrix, that is, gRT ═ RS ═ RZ · RM, and then the following quaternion qRT can be obtained, and posture information is output:
qRT(1,4)＝0.5*(sqrt(gRT(1,1)+gRT(2,2)+gRT(3,3)+1))；
qRT(1,1)＝(gRT(2,3)-gRT(3,2))/4/qRT(1,4)；
qRT(1,2)＝(gRT(3,1)-gRT(1,3))/4/qRT(1,4)；
qRT(1,3)＝(gRT(1,2)-gRT(2,1))/4/qRT(1,4)。
further, regression verification may be performed on the recognition result, where the recognition result is the star point position recognized in the star map, as shown in fig. 11. When the recognition result is subjected to regression verification, the recognition result is substituted into the attitude matrix gRT to obtain the positions of all stars which should exist in the field of view calculated by using the star catalogue, and the star serial numbers are plotted and marked as shown in fig. 12. Comparing fig. 11 and 12, it can be seen that the star identified this time is a true star, and the calculated attitude matrix gRT is a reliable attitude result.
The invention will be further explained and illustrated by means of a specific example. Fig. 13 is a flowchart of the method for identifying an all-celestial star map based on spatial projection according to the embodiment, and referring to fig. 13, the method for identifying an all-celestial star map based on spatial projection may include the following steps:
step S601: and determining star table information of the fixed star, establishing a search table, quantizing the distance between star points in the search table to form a second numeric string BS, and storing.
Step S602: and fitting a projection plane to the star points in the search table, converting the projection plane into a celestial coordinate system, converting the three-dimensional coordinate into a polar coordinate, and storing.
Step S603: shooting a star map through a star sensor, extracting star points from the star map, sequencing the star points, selecting a main star, and quantifying the distances between other stars and the main star by taking the main star as a center to form a first digit string BP.
Step S604: and acquiring the candidate main star based on the first digit string BP and the second digit string BS.
Step S605: and converting the two-dimensional coordinates of the star points extracted from the star map into polar coordinates.
Step S606: and identifying fixed stars based on the polar coordinates of each star in the star map and each star in the corresponding field range around the candidate star.
Step S607: and (4) synchronous recognition and attitude calculation.
In summary, according to the method for identifying an all-celestial star map based on spatial projection of the embodiment of the present invention, a star map is preprocessed to determine a main star of the star map, a star table is preprocessed to generate a search table, candidate stars are obtained from the search table according to the main star and the search table of the star map, a polar coordinate of each star is obtained by performing coordinate transformation on each star in the star map and the search table, and a fixed star in the star map is identified based on the polar coordinate of each star in the star map and the polar coordinate of each star in a corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the sky area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
In one embodiment, a computer-readable storage medium is provided, on which a space projection-based all-celestial star map identification program is stored, and when executed by a processor, the space projection-based all-celestial star map identification program implements the above-mentioned space projection-based all-celestial star map identification method.
According to the computer-readable storage medium of the embodiment of the invention, the star map is preprocessed to determine a main star of the star map, the star table is preprocessed to generate the search table, the candidate star is obtained from the search table according to the main star and the search table of the star map, the polar coordinate of each star is obtained by performing coordinate transformation on each star in the star map and the search table, and the fixed star in the star map is identified based on the polar coordinate of each star in the star map and the polar coordinate of each star in the corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
It should be noted that the specific values mentioned above are only for illustrating the implementation of the invention in detail and should not be construed as limiting the invention. In other examples or embodiments or examples, other values may be selected in accordance with the present invention and are not specifically limited herein.
Fig. 14 is a block diagram of an apparatus for identifying an all-celestial star map based on spatial projection according to an embodiment of the present invention. Referring to fig. 14, the apparatus 700 for recognizing an all-celestial star map based on spatial projection includes: a preprocessing module 701, a first obtaining module 702, a second obtaining module 703 and a recognition module 704.
The preprocessing module 701 is used for preprocessing the star atlas to determine a main star of the star atlas and preprocessing the star catalogue to generate a search catalogue; the first obtaining module 702 is configured to obtain candidate stars from the search table according to the main star and the search table of the star map; the second obtaining module 703 is configured to perform coordinate transformation on each star in the star map and the search table to obtain a polar coordinate of each star; the identifying module 704 is configured to identify stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field of view around the candidate star.
In one embodiment, the preprocessing module 701 is specifically configured to: acquiring the star point position and gray information of each star in the star map; and determining the main star of the star map according to the star point position and/or the gray level information.
In one embodiment, the preprocessing module 701 is specifically configured to: taking each star in the star catalogue as a main star; acquiring star serial numbers in a field range around a main star; and generating a search table according to the star serial numbers, wherein each row of the search table comprises star serial numbers around the main star of the corresponding row in the star table.
In an embodiment, the first obtaining module 702 is specifically configured to: acquiring a first distance between a main star and other stars in a star map, and quantizing the first distance to form a first numeric string, wherein the first numeric string comprises star radius information in circular rings corresponding to different radii around the main star; acquiring a second distance between each main star in the search table and a star corresponding to the serial number of the corresponding star, and quantizing the second distance to form a second numeric string of each main star, wherein the second numeric string comprises star radius information in circular rings corresponding to different radiuses around the main star; and acquiring the candidate star from the search table based on the star radius information in the first digit string and the star radius information in the second digit string.
In an embodiment, the second obtaining module 703 is specifically configured to: and converting the two-dimensional coordinates of each star in the star map from a Cartesian coordinate system to a polar coordinate system to obtain the polar coordinates of each star in the star map, and acquiring the polar radius and the polar angle of each star.
In an embodiment, the second obtaining module 703 is specifically configured to: determining a fitting plane according to the three-dimensional coordinates of each star in the celestial body coordinate system in the search table, the focal length of the star map acquisition device and the pixel size, and constructing a transformation matrix from the fitting plane to the celestial body coordinate system; and converting the three-dimensional coordinates of each satellite in the search table into two-dimensional coordinates based on the transformation matrix, converting the two-dimensional coordinates into polar coordinates to obtain the polar coordinates of each satellite in the search table, and acquiring the polar radius and the polar angle of each satellite.
In one embodiment, the identifying module 704 is specifically configured to: acquiring a first polar angle of each star in the star map; acquiring a second polar angle of each satellite in a corresponding view field range around the candidate satellite; obtaining a first angle difference between each first polar angle and a corresponding second polar angle; for each candidate star, obtaining a first difference value between the first angle differences; identifying stars within the star map based on the presence of a number of first differences being less than the difference threshold.
In one embodiment, the second obtaining module 703 is further configured to: acquiring a first angle difference of a fixed star, and performing first conversion from a celestial coordinate system to an imaging coordinate system according to the first angle difference of the fixed star; second converting from the imaging coordinate system to a rotational coordinate system; thirdly, converting the rotating coordinate system into a star sensor coordinate system; and acquiring an attitude matrix converted from the celestial coordinate system to the star sensor coordinate system according to the first conversion, the second conversion and the third conversion.
According to the space projection-based all-celestial star map recognition device, a preprocessing module is used for preprocessing a star map to determine a main star of the star map, a star table is preprocessed to generate a search table, a first acquisition module is used for acquiring a candidate star from the search table according to the main star and the search table of the star map, a second acquisition module is used for carrying out coordinate transformation on each star in the star map and the search table to acquire a polar coordinate of each star, and a recognition module is used for recognizing a fixed star in the star map based on the polar coordinate of each star in the star map and the polar coordinate of each star in a corresponding field range around the candidate star. Therefore, the method is high in recognition accuracy, applicable to complex imaging environments, capable of effectively reducing interference, and capable of changing the density of the navigation satellites randomly according to the day area, so that more precise recognition of a certain day area is achieved, and further the gesture accuracy is improved.
It should be noted that, for the description of the space projection based all-celestial star map recognition device in the present application, please refer to the description of the space projection based all-celestial star map recognition method in the present application, and the above explanation about the implementation and beneficial effects of the space projection based all-celestial star map recognition method also applies to the space projection based all-celestial star map recognition device of the present invention, and in order to avoid redundancy, the detailed description is not specifically provided herein.
It should be understood that although the various steps in the flowcharts of fig. 1, 2 and 13 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1, 2, and 13 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least some of the sub-steps or stages of other steps.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It should be noted that the logic and/or steps shown in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first", "second" and "first" 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" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. An all-celestial star map identification method based on spatial projection is characterized by comprising the following steps:
preprocessing a star map to determine a main star of the star map, and preprocessing a star table to generate a search table;
acquiring candidate stars from the search table according to the main star of the star map and the search table;
performing coordinate transformation on each star in the star map and the search table to obtain a polar coordinate of each star;
and identifying fixed stars in the star map based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field range around the candidate star.
2. The space projection-based all-celestial star map identification method of claim 1, wherein preprocessing a star map to determine a primary star of the star map comprises:
acquiring the star point position and gray information of each star in the star map;
and determining the main star of the star map according to the star point position and/or the gray level information.
3. The method for identifying an all-celestial star map based on spatial projection as claimed in claim 1, wherein preprocessing the star table to generate a search table comprises:
taking each star in the star catalogue as a main star;
acquiring star serial numbers in the field range around the main star;
and generating the search table according to the star serial numbers, wherein each row of the search table comprises star serial numbers around the main star of the corresponding row in the star table.
4. The method for identifying an all-celestial star map based on spatial projection as claimed in claim 1, wherein obtaining candidate stars from the search table according to the main star of the star map and the search table comprises:
acquiring first distances between a main star and other stars in the star map, and quantizing the first distances to form a first numeric string, wherein the first numeric string comprises star radius information in circular rings corresponding to different radii around the main star;
acquiring a second distance between each main star in the search table and a star corresponding to the corresponding star serial number, and quantizing the second distance to form a second numeric string of each main star, wherein the second numeric string comprises star radius information in circular rings corresponding to different radiuses around the main star;
and acquiring the candidate star from the search table based on the star radius information in the first digit string and the star radius information in the second digit string.
5. The space projection-based all-celestial star map recognition method of claim 1, wherein performing a coordinate transformation on each star in the star map to obtain a polar coordinate of each star comprises:
and converting the two-dimensional coordinates of each star in the star map from a Cartesian coordinate system to a polar coordinate system to obtain the polar coordinates of each star in the star map, and acquiring the polar radius and the polar angle of each star.
6. The method for identifying an all-celestial star map based on spatial projection of claim 1, wherein performing coordinate transformation on each star in the search table to obtain polar coordinates of each star comprises:
determining a fitting plane according to the three-dimensional coordinates of each star in the celestial body coordinate system, the focal length of the star map acquisition device and the pixel size in the search table, and constructing a transformation matrix from the fitting plane to the celestial body coordinate system;
and converting the three-dimensional coordinate of each satellite in the search table into a two-dimensional coordinate based on the transformation matrix, converting the two-dimensional coordinate into a polar coordinate to obtain the polar coordinate of each satellite in the search table, and acquiring the polar radius and the polar angle of each satellite in the search table.
7. The method for identifying an all-celestial star map based on spatial projection as claimed in claim 1, wherein based on the polar coordinates of each star in the star map and the polar coordinates of each star in the corresponding field of view around the candidate star, comprises:
acquiring a first polar angle of each star in the star map;
acquiring a second polar angle of each satellite in a corresponding field range around the candidate satellite;
obtaining a first angle difference between each first polar angle and a corresponding second polar angle;
for each candidate star, obtaining a first difference value between the first angle differences;
identifying stars within the star map based on there being a number of the first differences being less than a difference threshold.
8. The method for identifying an all-celestial star map based on spatial projection as claimed in claim 7, wherein after identifying stars within the star map, the method further comprises:
acquiring a first angle difference of the fixed star, and performing first conversion from a celestial coordinate system to an imaging coordinate system according to the first angle difference of the fixed star;
second converting from the imaging coordinate system to a rotational coordinate system;
thirdly, converting the rotating coordinate system into a star sensor coordinate system;
and acquiring an attitude matrix converted from the celestial coordinate system to the star sensor coordinate system according to the first conversion, the second conversion and the third conversion.
9. A computer-readable storage medium, on which a space projection-based all-celestial star map identification program is stored, which, when executed by a processor, implements a space projection-based all-celestial star map identification method according to any one of claims 1-8.
10. An all-celestial star map recognition device based on spatial projection, the device comprising:
the preprocessing module is used for preprocessing the star map to determine a main star of the star map and preprocessing the star table to generate a search table;
the first acquisition module is used for acquiring candidate stars from the search table according to the main star of the star map and the search table;
the second acquisition module is used for carrying out coordinate transformation on each star in the star map and the search table so as to acquire the polar coordinate of each star;
and the identification module is used for identifying the polar coordinates of each star in the corresponding field range around the main star of the star map based on the polar coordinates of each star in the field range around the candidate star so as to identify the fixed star in the star map.
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