CN116027461A - Center control method and system for full-automatic space target photoelectric observation station - Google Patents
Center control method and system for full-automatic space target photoelectric observation station Download PDFInfo
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- CN116027461A CN116027461A CN202211664727.0A CN202211664727A CN116027461A CN 116027461 A CN116027461 A CN 116027461A CN 202211664727 A CN202211664727 A CN 202211664727A CN 116027461 A CN116027461 A CN 116027461A
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Abstract
The invention discloses a center control method and a system of a full-automatic space target photoelectric observation station, wherein the method comprises the following steps: planning an observation task according to a task target sky area and task time in the observation instruction, and generating a task list; confirming whether the environmental condition of the station supports the station to execute the observation task; selecting an observation task with a time sequence of the observation task list arranged at the forefront, shooting a cloud image of the target sky area by a cloud image camera, giving cloud information of the sky area, deciding whether to execute the observation task of reading the sky area, and if the cloud condition can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area; and controlling the execution mechanism to mutually cooperate to observe the observation task of the target sky area meeting the observation condition, and shooting and storing the original image of the target sky area. The invention can avoid shooting images with cloud layers shielding the field of view, prolong the effective observation time of the photoelectric observation station and improve the observation efficiency of the photoelectric observation station.
Description
Technical Field
The invention relates to the field of optical observation of space targets, in particular to a method and a system for controlling the center of a full-automatic space target photoelectric observation station.
Background
The photoelectric observation is a space target monitoring means for passively receiving the energy of a visible light wave band of a target so as to acquire high-precision angle measurement information of the target and determine the running track of the space target, and has better concealment compared with a radar wave band.
Because the photoelectric observation station utilizes the energy of the visible light wave band, the observation attendance is easily influenced by factors such as weather conditions, optical conditions and the like around the station, the station site selection is required to be far away from areas with serious light pollution such as cities and the like, and professional personnel are required to carry out task planning according to the real-time weather conditions around the station, and the execution mechanisms such as a turntable, a dome and a camera are operated to complete the observation task.
In the prior art, a photoelectric observation station center control method capable of planning an observation task according to a task sky area, combining environmental factors such as real-time weather conditions, optical conditions and the like around a station, avoiding a sky area with unsuitable observation conditions and fully automatically supporting a station execution mechanism to complete the observation task is lacking.
Disclosure of Invention
The invention aims to provide a full-automatic space target photoelectric observation station center control method and system, which can effectively avoid shooting images with clouds shielding the field of view, prolong the effective observation time of the photoelectric observation station and improve the observation efficiency of the photoelectric observation station.
In order to achieve the above object, the present invention is realized by the following technical scheme:
a full-automatic space target photoelectric observation station center control method comprises the following steps:
s1, task planning is carried out according to a task target sky area and task time of task requirements and by combining the geographical position of a station and the view field factors of a telescope, task time nodes and telescope points which are arranged according to time sequence are given, and a task list is generated;
s2, the acquired surrounding environment information of the station confirms whether the environmental conditions of the station support the station to execute the observation task;
s3, selecting an observation task list time sequence, arranging the observation task list time sequence at the forefront, shooting a cloud amount image of the target sky area by a cloud image camera, giving out cloud amount information of the sky area, deciding whether to execute the observation task of reading the sky area, and if the cloud amount condition can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
s4, controlling the execution mechanism to mutually cooperate to observe the observation task of the target sky area meeting the observation condition, and shooting and storing an original image of the target sky area;
s5, repeating the steps S3 to S4 until all the observation tasks are completed.
Further, the step S1 further includes:
s11, meshing the whole sky area according to the type of the fork arm of the station turntable and the view field of the telescope, and guaranteeing that the view field of the telescope has no leakage in the adjacent sky area;
s12, selecting a telescope pointing direction of which the view field range relates to a target sky area, and guaranteeing the coverage of the telescope on the target sky area;
s13, dividing start-stop time nodes of each task according to the number of the tasks and the total time of the tasks;
s14, judging whether each view field is influenced by moon light according to the station position and the observation task time information and combining solar ephemeris, and adjusting the sequence of the observation tasks influenced by the moon light;
s15, generating an observation task list according to a time sequence;
s16, the orientation of the station in the observation target sky area is written into a database.
Further, the step S2 further includes:
s21, reading data acquired by a meteorological instrument when the observation task is close to the earliest starting observation task according to an observation task time sequence given by a task planning subsystem;
s22, judging whether the data of the weather instrument meet the following conditions: no rainfall, the current wind speed is smaller than the safe wind speed, the ambient temperature is higher than the dew point temperature, and the ambient brightness meets the observation requirement condition;
s23, executing an observation task initialization action.
Further, the step S3 further includes:
s31, reading the information of the observation task with the time sequence arranged at the forefront in the task list, wherein the information comprises the starting time of the observation task, the azimuth angle, the altitude angle and the like of the target sky area;
s32, controlling a cloud picture camera to shoot a target sky area cloud picture;
s33, selecting a region corresponding to the image shot by the cloud image camera according to the sky area covered by the telescope vision field, and judging whether a cloud layer shields the vision field in the region by the task decision subsystem;
and S34, if the cloud layer blocks the view, adjusting the observation task to the end of the task list, and adjusting all the observation tasks forward by one time node, and if the task moves to the end of the list for more than 3 times, canceling the observation task.
Further, the step S4 further includes:
s41, the actuating mechanism control subsystem sends an instruction pointing to a target sky area to the turntable according to a contracted communication protocol;
s42, collecting azimuth data of the turntable at a certain frequency, and sending the azimuth data to the dome by the actuating mechanism control subsystem according to a contracted communication protocol so as to ensure the alignment of the dome skylight direction and the pointing direction of the telescope lens;
s43, after the telescope points to the target sky area, the execution mechanism control subsystem controls the image acquisition software to shoot the image of the target sky area according to the agreed communication protocol, the shot image is stored in the hard disk, the state of the observation task is modified to be 'completed' after the observation is completed, and the state is removed from the observation list.
A full-automatic spatial target photoelectric observation station central control system, comprising:
the task planning subsystem is used for planning tasks according to task target sky areas and task time of task demands and combining the geographical positions of the stations and the field factors of the telescope to give task time nodes and telescope points according to time sequence arrangement so as to generate a task list;
the environment sensing subsystem is used for acquiring surrounding environment information of the station and confirming whether the environmental condition of the station supports the station to execute the observation task;
the task decision subsystem is used for selecting an observation task with a time sequence of an observation task list arranged at the forefront, shooting a cloud image of the target sky area by a cloud image camera, giving out cloud information of the sky area, deciding whether to execute the observation task of the sky area, and if the cloud situation can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
and the execution mechanism control subsystem is used for controlling the execution mechanisms to mutually cooperate for observation, shooting an original image of the target sky area and storing the original image.
Further, the environment-aware subsystem includes: one or more of a weather instrument, a raindrop sensor and a astronomical instrument.
Further, the executing mechanism comprises: one or more of a turntable, a dome or a camera.
Compared with the prior art, the invention has the following advantages:
the system can adaptively and dynamically adjust a task sequence according to environmental factors, can automatically and effectively observe an cloudless sky area at cloudy observation night, and improves the observation efficiency of the unattended photoelectric station.
Drawings
FIG. 1 is a flowchart of a method for controlling the center of a fully automatic space target photoelectric observation station according to the present invention.
Detailed Description
The invention will be further described by the following detailed description of a preferred embodiment, taken in conjunction with the accompanying drawings.
As shown in fig. 1, a method for controlling the center of a fully-automatic space target photoelectric observation station includes the following steps:
s1, task planning is carried out according to a task target sky area and task time of task requirements and by combining the geographical position of a station and the view field factors of a telescope, task time nodes and telescope points which are arranged according to time sequence are given, and a task list is generated;
s2, the acquired surrounding environment information of the station confirms whether the environmental conditions of the station support the station to execute the observation task;
s3, selecting an observation task list time sequence, arranging the observation task list time sequence at the forefront, shooting a cloud amount image of the target sky area by a cloud image camera, giving out cloud amount information of the sky area, deciding whether to execute the observation task of reading the sky area, and if the cloud amount condition can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
s4, controlling the execution mechanism to mutually cooperate to observe the observation task of the target sky area meeting the observation condition, and shooting and storing an original image of the target sky area;
s5, repeating the steps S3 to S4 until all the observation tasks are completed.
Further, the step S1 further includes:
s11, meshing the whole sky area according to the type of the fork arm of the station turntable and the view field of the telescope, and guaranteeing that the view field of the telescope has no leakage in the adjacent sky area; the method comprises the following steps:
the observation times required by covering the annular bands with different height angles of the telescope are as follows
Wherein phi is the altitude angle at which the telescope points, fov is the telescope field angle;
on the same altitude angle, in order to ensure no leakage between fields of view, the telescope orientation azimuth angle is that:
where i is the number of times the telescope is stepped fov ° in the elevation direction.
S12, selecting a telescope pointing direction of which the view field range relates to a target sky area, and guaranteeing the coverage of the telescope on the target sky area; the method comprises the following steps:
and for each telescope view field obtained by dividing, taking azimuth angles and pitch angles of four corners of the telescope view field, obtaining coverage of the view field in a ground-fixed coordinate system according to a coordinate system conversion matrix, comparing the coverage with a target sky, reserving an observation view field related to the target sky, recording the direction of the telescope of the observation view field, taking the direction of the telescope as the direction information of an observation task in a task list, and allocating a task number for the task.
S13, dividing start-stop time nodes of each task according to the number of the tasks and the total time of the tasks;
s14, judging whether each view field is influenced by moon light according to the station position and the observation task time information and combining solar ephemeris, and adjusting the sequence of the observation tasks influenced by the moon light;
according to the solar ephemeris, the position of the moon relative to the earth at each observation task moment is calculated, and is converted into a station center coordinate system of a station, wherein the conversion relation is as follows:
R sta ＝(EP)(ER)(NR)(PR)r-R 0
wherein R is the position of the moon in the J2000 plain equatorial coordinate system, and is multiplied by a coordinate conversion matrix of time difference, nutation, autorotation and polar movement in sequence, R 0 To measure the position of the station in the ground system, the azimuth angle and pitch angle of the moon relative to the monitoring station are calculated. And calculating the distance to the edge of the view field of the telescope, and verifying whether the distance is smaller than the moonlight evasion angle.
S15, generating an observation task list according to a time sequence;
s16, the orientation of the station in the observation target sky area is written into a database.
Further, the step S2 further includes:
s21, reading data acquired by a meteorological instrument when the observation task is close to the earliest starting observation task according to an observation task time sequence given by a task planning subsystem;
s22, judging whether the data of the weather instrument meet the following conditions: no rainfall, the current wind speed is smaller than the safe wind speed, the ambient temperature is higher than the dew point temperature, and the ambient brightness meets the observation requirement condition;
s23, executing an observation task initialization action when the conditions are met, wherein the initialization action comprises the following steps: opening the dome skylight, opening the lens cover, opening the dome follower, aligning the telescope with the dome skylight, and auto-focusing the telescope.
The dew point temperature in the current environment is calculated according to a dew point formula:
where T is the current ambient temperature, RH is the current ambient relative humidity, a=17.27, b=237.7. Calculating to obtain the condensation temperature of the current environment, if the condensation temperature is lower than the current temperature, the fact that the dome skylight is opened under the current environment to cause condensation on the surface of the telescope is indicated, and the dome skylight is kept in a closed state for the purpose of protecting equipment; if the condensation temperature is higher than the current temperature, other conditions also meet corresponding constraints, the dome skylight may be opened and the station may perform the observation task.
Further, the step S3 further includes:
s31, reading the information of the observation task with the time sequence arranged at the forefront in the task list, wherein the information comprises the starting time of the observation task, the azimuth angle, the altitude angle and the like of the target sky area;
s32, controlling a cloud picture camera to shoot a target sky area cloud picture;
s33, selecting a region corresponding to the image shot by the cloud image camera according to the sky area covered by the telescope vision field, and judging whether a cloud layer shields the vision field in the region by the task decision subsystem;
according to the actual calibrated installation relation of the cloud image camera, determining the azimuth angle and the pitch angle of each pixel of the image shot by the cloud image camera relative to a telescope station center coordinate system, selecting an image range corresponding to a task target sky area, reading the gray value of each pixel, comparing the gray value with a reference gray value, and judging whether the area has a shielding condition of a cloud layer on the field of view sky area or not by pixel points. When the shielding range is over 50%, judging that the task cannot be executed currently, and when the shielding range is not over 50%, judging that the task can be executed;
and S34, if the cloud layer blocks the view, adjusting the observation task to the end of the task list, and adjusting all the observation tasks forward by one time node, and if the task moves to the end of the list for more than 3 times, canceling the observation task.
Further, the step S4 further includes:
s41, the actuating mechanism control subsystem sends an instruction pointing to a target sky area to the turntable according to a contracted communication protocol;
s42, collecting azimuth data of the turntable at a certain frequency (such as 1 hz), and sending the azimuth data to the dome by the actuating mechanism control subsystem according to a contracted communication protocol so as to ensure that the direction of a dome skylight is aligned with the direction of a telescope lens, and avoiding the dome from shielding the view of the telescope; the central control system judges the movement state of the turntable through the information fed back by the turntable, and sends a command for maintaining the pointing direction to the turntable after the turntable reaches the target position.
S43, after the telescope points to the target sky area, the execution mechanism control subsystem controls the image acquisition software to shoot the image of the target sky area according to the agreed communication protocol, the shot image is stored in the hard disk, the state of the observation task is modified to be 'completed' after the observation is completed, and the state is removed from the observation list.
The execution mechanism control subsystem controls the image acquisition software according to the agreed communication protocol, configures parameters such as exposure time, gain, bias and the like of the camera, and sets commands such as a storage path of a shot image. And meanwhile, the latest pointing information of the turntable is sent to the image acquisition module, so that the image acquisition module writes the state information of the turntable in the process of observation into a header file of the shot picture. After parameter setting is completed, the execution mechanism control subsystem sends a shooting start instruction to the image acquisition module, and meanwhile, information such as the number of shooting sheets is used as parameters to be transmitted to the image acquisition module. And after the image acquisition module finishes photographing and stores the image according to a preset storage path, feeding back the state of the module, and modifying the state of the observation task into 'completed observation' by the central control system.
A full-automatic spatial target photoelectric observation station central control system, comprising:
the task planning subsystem is used for planning tasks according to task target sky areas and task time of task demands and combining the geographical positions of the stations and the field factors of the telescope to give task time nodes and telescope points according to time sequence arrangement so as to generate a task list;
the environment sensing subsystem is used for acquiring surrounding environment information of the station and confirming whether the environmental condition of the station supports the station to execute the observation task;
the task decision subsystem is used for selecting an observation task with a time sequence of an observation task list arranged at the forefront, shooting a cloud image of the target sky area by a cloud image camera, giving out cloud information of the sky area, deciding whether to execute the observation task of the sky area, and if the cloud situation can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
and the execution mechanism control subsystem is used for controlling the execution mechanisms to mutually cooperate for observation, shooting an original image of the target sky area and storing the original image.
In a specific embodiment, the environment-aware subsystem includes: one or more of a weather instrument, a raindrop sensor and a astronomical instrument.
In a specific embodiment, the actuator includes: one or more of a turntable, a dome or a camera.
In summary, the method and the system for controlling the center of the full-automatic space target photoelectric observation station can effectively avoid shooting images with clouds shielding the field of view, prolong the effective observation time of the photoelectric observation station and improve the observation efficiency of the photoelectric observation station.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (8)
1. A center control method of a full-automatic space target photoelectric observation station is characterized by comprising the following steps:
s1, task planning is carried out according to a task target sky area and task time of task requirements and by combining the geographical position of a station and the view field factors of a telescope, task time nodes and telescope points which are arranged according to time sequence are given, and a task list is generated;
s2, the acquired surrounding environment information of the station confirms whether the environmental conditions of the station support the station to execute the observation task;
s3, selecting an observation task list time sequence, arranging the observation task list time sequence at the forefront, shooting a cloud amount image of the target sky area by a cloud image camera, giving out cloud amount information of the sky area, deciding whether to execute the observation task of reading the sky area, and if the cloud amount condition can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
s4, controlling the execution mechanism to mutually cooperate to observe the observation task of the target sky area meeting the observation condition, and shooting and storing an original image of the target sky area;
s5, repeating the steps S3 to S4 until all the observation tasks are completed.
2. The method for controlling the center of a fully-automatic space target photoelectric observation station according to claim 1, wherein the step S1 further comprises:
s11, meshing the whole sky area according to the type of the fork arm of the station turntable and the view field of the telescope, and guaranteeing that the view field of the telescope has no leakage in the adjacent sky area;
s12, selecting a telescope pointing direction of which the view field range relates to a target sky area, and guaranteeing the coverage of the telescope on the target sky area;
s13, dividing start-stop time nodes of each task according to the number of the tasks and the total time of the tasks;
s14, judging whether each view field is influenced by moon light according to the station position and the observation task time information and combining solar ephemeris, and adjusting the sequence of the observation tasks influenced by the moon light;
s15, generating an observation task list according to a time sequence;
s16, the orientation of the station in the observation target sky area is written into a database.
3. The method for controlling the center of a fully-automatic space target photoelectric observation station according to claim 1, wherein the step S2 further comprises:
s21, reading data acquired by a meteorological instrument when the observation task is close to the earliest starting observation task according to an observation task time sequence given by a task planning subsystem;
s22, judging whether the data of the weather instrument meet the following conditions: no rainfall, the current wind speed is smaller than the safe wind speed, the ambient temperature is higher than the dew point temperature, and the ambient brightness meets the observation requirement condition;
s23, executing an observation task initialization action.
4. The method for controlling the center of a fully-automatic space target photoelectric observation station according to claim 1, wherein the step S3 further comprises:
s31, reading the information of the observation task with the time sequence arranged at the forefront in the task list, wherein the information comprises the starting time of the observation task, the azimuth angle, the altitude angle and the like of the target sky area;
s32, controlling a cloud picture camera to shoot a target sky area cloud picture;
s33, selecting a region corresponding to the image shot by the cloud image camera according to the sky area covered by the telescope vision field, and judging whether a cloud layer shields the vision field in the region by the task decision subsystem;
and S34, if the cloud layer blocks the view, adjusting the observation task to the end of the task list, and adjusting all the observation tasks forward by one time node, and if the task moves to the end of the list for more than 3 times, canceling the observation task.
5. The method for controlling the center of a fully-automatic space target photoelectric observation station according to claim 1, wherein the step S4 further comprises:
s41, the actuating mechanism control subsystem sends an instruction pointing to a target sky area to the turntable according to a contracted communication protocol;
s42, collecting azimuth data of the turntable at a certain frequency, and sending the azimuth data to the dome by the actuating mechanism control subsystem according to a contracted communication protocol so as to ensure the alignment of the dome skylight direction and the pointing direction of the telescope lens;
s43, after the telescope points to the target sky area, the execution mechanism control subsystem controls the image acquisition software to shoot the image of the target sky area according to the agreed communication protocol, the shot image is stored in the hard disk, the state of the observation task is modified to be 'completed' after the observation is completed, and the state is removed from the observation list.
6. A full-automatic space target photoelectric observation station center control system, comprising:
the task planning subsystem is used for planning tasks according to task target sky areas and task time of task demands and combining the geographical positions of the stations and the field factors of the telescope to give task time nodes and telescope points according to time sequence arrangement so as to generate a task list;
the environment sensing subsystem is used for acquiring surrounding environment information of the station and confirming whether the environmental condition of the station supports the station to execute the observation task;
the task decision subsystem is used for selecting an observation task with a time sequence of an observation task list arranged at the forefront, shooting a cloud image of the target sky area by a cloud image camera, giving out cloud information of the sky area, deciding whether to execute the observation task of the sky area, and if the cloud situation can not meet the observation condition, adjusting the task to the tail end of the observation task list and judging the next target sky area;
and the execution mechanism control subsystem is used for controlling the execution mechanisms to mutually cooperate for observation, and shooting and storing original images of the target 5 target sky areas.
7. The fully automatic space target photo-electric observation station center control system of claim 6, wherein the environment awareness subsystem comprises: one or more of a weather instrument, a raindrop sensor and a astronomical instrument.
8. The center control system of the fully automatic space target photoelectric observation station according to claim 6, wherein the actuator comprises: one or more of a turntable, a dome or a camera.
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