CN1958394A - Quick method for recognizing star map - Google Patents
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- CN1958394A CN1958394A CN 200610144323 CN200610144323A CN1958394A CN 1958394 A CN1958394 A CN 1958394A CN 200610144323 CN200610144323 CN 200610144323 CN 200610144323 A CN200610144323 A CN 200610144323A CN 1958394 A CN1958394 A CN 1958394A
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Abstract
A method for fast recognizing star map includes such steps as determining the characteristic triangle of each pilot star calculating the projection vector value of each characteristic triangle, storing the information and projection vector value of each characteristic triangle, determining the characteristic triangle of a star to be observed, calculating its projection vector value, and searching from the stored characteristic triangles to find out a match.
Description
Technical field
The present invention relates to the importance in star map recognition technology, relate in particular to a kind of quick method for recognising star map based on projection vector.
Background technology
As the spacecraft attitude measuring cell, star sensor plays a part more and more important, and importance in star map recognition is that star sensor is finished one of key link that spacecraft attitude measures.So-called importance in star map recognition is exactly to mate according to geometric properties by the star chart of observing star form in the star sensor visual field with by the star chart that nauticalstars in the navigational star table is formed, to determine the corresponding relation of observation star and nauticalstars.In the existing various star Pattern Recognition Algorithm, the triangle recognizer is the most general up to now a kind of method, and it obtains extensive studies and the application of many reality is arranged.The basic ideas of triangle recognizer are: as proper vector, the navigational triangle that nauticalstars can be constituted all stores, for search matched with the angular distance of three astrologies between mutually; If actual observation triangle and certain navigational triangle are in full accord, then importance in star map recognition success.
The triangle recognizer has different implementations on specific implementation, comprise following several:
First method according to forming leg-of-mutton observation star, extracts from navigational star table and observes identical nauticalstars such as star, and every corresponding one group of nauticalstars of observation star has three groups.In the coupling identifying, calculate the right angular distance of star between each group respectively, compare with the angular distance of observing star, up to finding out the triangle that three limits all equate respectively.Wherein, navigational star table is to be arranged from low to high by magnitude by the nauticalstars of the some of picking out to form, and every nauticalstars contains right ascension, two information of declination.
Suppose: A, B, C are for constituting leg-of-mutton three observation stars, because a day aerial fixed star is a nauticalstars, and the star of same magnitude is a lot, so can extract respectively from navigational star table and A, B, some nauticalstarss that the C magnitude is identical.That is to say that have some the nauticalstarss identical with the A magnitude, some the nauticalstarss identical with the B magnitude, some the nauticalstarss identical with the C magnitude in navigational star table respectively, like this, A, B, C be the corresponding one group of nauticalstars of difference just, totally three groups.When carrying out importance in star map recognition, select a star the nauticalstars from A, B, cooresponding respectively group of C respectively, selected three stars constitute triangle, are used for comparing with the triangle of actual observation.Concrete comparative approach is: calculate in the triangle that selected three stars constitute the angular moment between three limits, judge that whether every limit equates that with corresponding sides in the observation triangle that triangle of three equal correspondent equals in limit is exactly the triangle that mates with the observation triangle.In numerous triangles, final calculation result is to have only one group of star to satisfy condition.This method needs online in real time to calculate the angular distance of every group of nauticalstars, and calculated amount is bigger, is unfavorable for real-time update; And, under relatively poor situation, may all leg-of-mutton every limits that nauticalstars constitutes be compared one by one, if each triangle all carries out three comparisons, then can expend the plenty of time, reduce recognition speed and recognition efficiency greatly.
Second method is with the angle preliminary evaluation on leg-of-mutton two length of sides and these both sides and store, according to big young pathbreaker's triangle classification of angle.When carrying out importance in star map recognition, calculate the leg-of-mutton angle of actual observation earlier, and find cooresponding classification, and then further compare according to the corner dimension that is calculated.Here, described triangle is actual in celestial body to be a spherical triangle, and for spherical triangle, leg-of-mutton limit is meant centre of sphere angle, and angle is meant two angles between the limit.So, when spherical triangle projects on the plane when calculating limit and angle, ask the limit will use focal length, focus error is less; Ask angle only to use the asterism coordinate, the asterism error of coordinate is relatively large.Therefore, though this method can reduce leg-of-mutton quantity to be selected, because the parameter of using when calculating the limit with angle is different, the error of the two is also inequality, so identification the time need estimate observational error and different error thresholds is set, for storage and identification are made troubles.And because the triangle number that nauticalstars constitutes is huge, the navigational star table data volume of storage is big, and the speed of searching navigational star table can directly influence the recognition speed and the recognition efficiency of star chart.
As seen, aerial any three stars of prior art culminant star can be formed a triangle, though traditional triangle recognizer simple in structure, be easy to realize that have many shortcomings: needed navigation data table is generally bigger, search time is long, and discrimination is not high.
Summary of the invention
In view of this, main purpose of the present invention is to provide a kind of quick method for recognising star map, when guaranteeing accuracy of identification, improves importance in star map recognition speed and efficient, and can reduce storage space.
For achieving the above object, technical scheme of the present invention is achieved in that
A kind of quick method for recognising star map comprises: determine the feature triangle of every nauticalstars, calculate the projection vector value of each feature triangle, store the information and the projection vector value of each feature triangle; When carrying out importance in star map recognition, this method also comprises:
A, determine the feature triangle of observation star, and calculate the projection vector value of definite feature triangle;
The projection vector value that B, basis calculate is found out the projection vector value characteristic of correspondence triangle that all satisfy error limit, as triangle to be selected from the feature triangle of storage;
C, difference comparative observation triangle and each triangle to be selected judge whether to exist and the triangle to be selected of observing Atria bar limit correspondent equal, if exist, and then importance in star map recognition success; Otherwise, the importance in star map recognition failure.
Wherein, the information of described storage feature triangle and projection vector value are: the asterisk of a star in the projection vector value calculated and the institute's character pair triangle is stored as the projection vector table, the length of side on three limits of the asterisk of leg-of-mutton three stars of constitutive characteristic and feature triangle is stored as the feature triangle storehouse, and the projection vector table is that index is associated with the feature triangle storehouse with the asterisk.
Described all the projection vector value characteristic of correspondence triangles that satisfy error limit of finding out of step B are specially: find out all projection vector values that satisfy error limit in the projection vector table of navigational route database, according to the incidence relation between projection vector table and the feature triangle storehouse, from all feature triangles of storage, extract the projection vector value characteristic of correspondence triangle of finding out.
The information of described storage feature triangle and projection vector value are: with projection vector value and the leg-of-mutton information of its characteristic of correspondence as a recording storage in navigational route database.
In the such scheme, described definite feature triangle is: as primary, by the brightness ordering, select two the brightest stars as adjacent star, with primary constitutive characteristic triangle on the star around the primary on nauticalstars or observation star.
This method further comprises: the direction of storage projection main shaft.Described calculating projection vector value is: obtain describing the three-dimensional vector of feature triangle according to the angular distance of feature triangle, according to the projection major axes orientation of storage, calculate the size of projection vector projection value on the projection main shaft.
This method further comprises: calculate the rough attitude of current time according to two stars having discerned; Generate the simulation star chart as the reference star chart according to the attitude of being calculated again; Then, will compare, judge the two similarity with reference to star chart and observation star chart, if in full accord, then importance in star map recognition success; Otherwise, determine another primary, re-construct feature triangle and mate.
Quick method for recognising star map provided by the present invention, the information of determining and storing every nauticalstars feature triangle, and calculate the projection vector value of this feature triangle, each projection vector value is stored with its characteristic of correspondence triangle information representing; When carrying out importance in star map recognition, determine observation star characteristic of correspondence triangle earlier, calculate the projection vector value of described feature triangle afterwards, from all feature triangles of storage, find out triangle to be selected according to the projection vector value again, compare coupling with the observation triangle.This method has following advantage and characteristics:
1) since the inventive method for every nauticalstars, only determine and store unique feature triangle information, so can significantly reduce employed storage space, reduce that hardware resource takies and to the requirement of hardware configuration.
2) because the cooresponding projection vector value of calculating observation triangle of the present invention, and can retrieve the feature triangle of coupling fast according to the projection vector value, be exactly specifically, three sides of a triangle are integrated into a parameter P, only need carry out a comparison operation when comparing each triangle, that is: will describe leg-of-mutton three-dimensional data projects on the one dimension straight line, relatively finish coupling by retrieval to one-dimensional data, so, fundamentally solved the too many problem of number of comparisons, calculated amount can be reduced to 1/3 of orthodox method, has accelerated the speed and the efficient of importance in star map recognition greatly, and realizes simple, convenient.
3) the inventive method is when storage feature triangle information and cooresponding projection vector value thereof, can adopt different storage modes, such as: the asterisk of projection vector value and primary is stored as a projection vector value table, three length of sides of the asterisk of leg-of-mutton three stars of constitutive characteristic and feature triangle are stored as the feature triangle storehouse, and two parts are associated together by the asterisk of primary; Perhaps, directly with three all information storage of the length of side of the asterisk of projection vector value, leg-of-mutton three stars of constitutive characteristic and feature triangle in a navigational route database, implementation is more flexible, various.
4) the present invention is after the star chart initial matching, can calculate the rough attitude of current time according to the star of having discerned, generation is with reference to star chart, and will compare with reference to star chart and observation star chart, whether definite identification is successful, thereby further verify the accuracy of identification, so, can improve the Attitude Calculation precision, the more observation of identification star.
Description of drawings
Fig. 1 is the scheme drawing of feature triangle;
Fig. 2 is the composition structural representation of navigational route database of the present invention;
Fig. 3 is the schematic flow sheet of the inventive method.
The specific embodiment
Basic thought of the present invention is: the feature triangle of determining every nauticalstars, store the information of every cooresponding unique feature triangle of nauticalstars, the leg-of-mutton projection vector value of calculated characteristics is stored the projection vector value that calculates with feature triangle information; When carrying out importance in star map recognition, determine observation star characteristic of correspondence triangle earlier, calculate the projection vector value of described feature triangle afterwards, from all feature triangles of storage, find out triangle to be selected according to the projection vector value again, compare coupling with the observation triangle, if on the coupling then importance in star map recognition success.
Here, described feature triangle is meant: for every nauticalstars, the triangle that is made of two the brightest stars around this nauticalstars and its is exactly the unique feature triangle of this nauticalstars.Wherein, this nauticalstars is called primary, and other two stars are called adjacent star, and the angle between two limits that link to each other with primary is θ, as shown in Figure 1.In two limits that link to each other with primary, be anticlockwise direction if rotate to long limit from minor face, θ just is defined as; If rotating to long limit from minor face is clockwise direction, θ is defined as negative.Among Fig. 1, adjacent star 1 arrives the distance of primary less than the distance of adjacent star 2 to primary, and θ just is defined as.
Described projection vector value is also referred to as the P vector value, the length of side that is meant the constitutive characteristic three sides of a triangle can be formed a three-dimensional vector, regard three-dimensional vector as in the three dimensional space a point, the value of calculating this spot projection is exactly the P vector value, and the P vector value is corresponding one by one with feature triangle.And, when θ is timing, three coordinates of this three-dimensional vector all get on the occasion of; When θ was negative, three coordinates of this three-dimensional vector were all got negative value.
Among the present invention, the cooresponding three-dimensional vector of all feature triangles forms a point set, to straight line, if the subpoint position disperses, does not have overlappingly these spot projections, then can find unique feature triangle according to the position of subpoint.Wherein, the straight line that projects to is called the projection main shaft, and on the projection main shaft, subpoint can be separately best.Described projection main shaft has directivity, and the direction of projection main shaft is unique.No matter navigational triangle is still observed triangle, and the three-dimensional vector that their three limits constitute all is projected on the same projection main shaft, and therefore, the direction of projection main shaft is well-determined.
Usually, the direction of projection main shaft can be expressed as formula (1), and corresponding, the projection vector value is the coordinate P of subpoint
iCan be expressed as formula (2):
Ω＝(ω
1?ω
2?ω
3)
T (1)
P
i＝Ω
Tx
i (2)
Wherein, ω
1, ω
2, ω
3Represent the coordinate of three-dimensional vector on x, y, three coordinate axlees of z respectively, x
iBe the original point coordinate of three-dimensional vector, x
i=(x
I1x
I2x
I3)
T, be a set that number of spots is known.
When the direction of projection main shaft is Ω, the coordinate of original point is x
iThe time, the average of each subpoint and variance are respectively by formula (3) and formula (4) expression:
Wherein, c is a constant, and N is the quantity of a centrostigma.
Since when subpoint separates preferably, P
iThe variance maximum, the projection main shaft obtained was only and met the demands this moment, and the key parameter of projection main shaft is a direction, therefore, can be by increasing constraint condition Ω
TΩ=1 makes problem reduction and does not influence result of calculation.So, find the solution the projection major axes orientation and just be converted into the optimization problem shown in the formula (5).
Wherein, Z is a symmetric matrix
With formula (3), (4) substitution respectively, can obtain the direction Ω of projection main shaft according to formula (5), and then calculate coordinate x by formula (2)
iProjection vector value P
i
Among the present invention, storing in all navigation the leg-of-mutton information of characteristic of correspondence actual is exactly to form a feature triangle storehouse, and Fig. 2 is the navigational route database among the present invention, and the table on right side is exactly the feature triangle storehouse among Fig. 2.As shown in Figure 2, store the summit and the length of side information of each feature triangle in the feature triangle storehouse.Referring to Fig. 2, so-called vertex information just is meant the asterisk of leg-of-mutton three stars of constitutive characteristic, can represent with i, j, k, and i, j, k are respectively primary and the index of adjacent star in navigational star table.Because feature triangle is the spherical triangle on the celestial sphere, therefore can adopt the angular distance between two stars of length of side definition, angular distance between three stars can be expressed as minor face (short_edge), long limit (1ong_edge), the 3rd limit (third_edge) respectively, wherein, relative short limit, long relatively limit in two limits that short_edge, long_edge refer to respectively with primary links to each other, third_edge refers in the feature triangle limit between two adjacent stars.
Among Fig. 2, the table in left side is the P vector table, stores the asterisk of primary in cooresponding P vector value of each feature triangle and the pairing feature triangle of P vector value in the P vector table, certainly, also can be the asterisk of certain adjacent star.The P vector table is associated as the information of index with the feature triangle storehouse with asterisk, and incidence relation marks with arrow.In the P vector table, the P vector value is according to from small to large serial arrangement, certainly, also can be as required by from big to small serial arrangement.In addition, the direction of the projection main shaft of trying to achieve according to formula (1) also can be stored in the P vector table.The common formation in P vector table and feature triangle storehouse navigational route database of the present invention so, can manage by separated into two parts convenient storage and retrieval.
In practical operation, the P vector table can not separated separately yet, can with the P vector value directly with the leg-of-mutton information of its characteristic of correspondence as a recording storage in navigational route database, can save index information storage partly like this.But in this case, the P vector value is not arranged in order, is not very convenient at searching according to P vector value size order.
As shown in Figure 3, quick method for recognising star map of the present invention specifically may further comprise the steps:
Step 31: determine the feature triangle of every nauticalstars, calculate the P vector value of each feature triangle;
Wherein, the value of each P vector just equals Ω
Tx
iThe method of determining feature triangle is: the nauticalstars of selecting close center, visual field is as primary; Star around this primary is sorted by brightness, respectively the angular distance between calculating and the primary; Promptly select two wherein the brightest stars within the specific limits as adjacent star according to distance restraint, two adjacent stars and primary are the constitutive characteristic triangle together.
Step 32: store each feature triangle information and with the cooresponding P vector value of feature triangle;
Here, storage can have different modes, such as: the information of each feature triangle and P vector value cooresponding with it as a recording storage, are constituted navigational route database; Perhaps, feature triangle information and P vector value are stored respectively, constitute navigational route database jointly, and set up the incidence relation between each feature triangle information and the P vector value.Below so that feature triangle information and P vector value are stored as example respectively.
Be exactly specifically, all P vector value are stored in the P vector table in order, the P vector table is an index with the asterisk of certain star in institute's character pair triangle, sets up incidence relation with feature triangle information.Such as: among Fig. 2, P vector value-9.784504 characteristic of correspondence triangle information representing is: leg-of-mutton three stars of constitutive characteristic are No. 4235 star, No. 4231 star, No. 4228 star, and three length of sides are respectively 1.998139,3.804716,4.896636.
Step 33: when carrying out importance in star map recognition, determine the feature triangle of observation star, and calculate the P vector value of this feature triangle;
Wherein, concrete feature triangle determines that method is consistent with step 31; P vector value method of calculating is specifically: (a, b c), according to the projection major axes orientation of storing in the P vector table, calculate this projection of P vector on the projection main shaft, i.e. size of P vector value to obtain describing the three-dimensional vector of feature triangle according to the angular distance of feature triangle; And, when calculating the P vector value, to determine the symbol of P vector value.Here, the direction of projection main shaft calculates when the structure navigational route database, and has been stored in the navigational route database, in the P vector table.
Step 34: according to the P vector value that calculates, in the P of navigational route database vector table, find out and satisfy error limit [P-ε, P+ ε] all P vector value, from all feature triangles of storage, extract the P vector value characteristic of correspondence triangle of finding out according to incidence relation, as triangle to be selected.
Wherein, ε is an error threshold, and ε normally is provided with according to observation triangle length of side measured error.
Step 35～39: difference comparative observation triangle and each three sides of a triangle to be selected, for each triangle to be selected, judge whether the observation triangle can match, promptly whether there is triangle to be selected with observation Atria bar limit correspondent equal, if, then the summit of the two is corresponding one by one, and the observation triangle is successfully discerned; Otherwise, judge whether to also have triangle to be selected not compare, if having, then will observe triangle and next triangle to be selected relatively; If no, promptly all not unique coupling, then the observation triangle can not be successfully discerned in explanation.
Here, the observation triangle is exactly the feature triangle of observation star.
Usually, above-mentioned matching process can only identify three observation stars, because the star that is comprised in the width of cloth observation star chart much larger than three, therefore, in order to improve the Attitude Calculation precision, needs the more observation of identification star, so can further introduce proof procedure.During checking, calculate the rough attitude of current time according to two stars having discerned earlier, comprise information such as direction, longitude and latitude; Generate width of cloth simulation star chart as the reference star chart according to the attitude of being calculated again; Then, will compare, judge the two similarity with reference to star chart and observation star chart, if in full accord, then importance in star map recognition success; Otherwise the navigational triangle that does not promptly satisfy condition exists, and then needs to determine an other primary, re-constructs feature triangle and mates.Here, navigational triangle refers to the feature triangle that nauticalstars constitutes.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (8)
1, a kind of quick method for recognising star map is characterized in that, this method comprises: determine the feature triangle of every nauticalstars, calculate the projection vector value of each feature triangle, store the information and the projection vector value of each feature triangle; When carrying out importance in star map recognition, this method also comprises:
A, determine the feature triangle of observation star, and calculate the projection vector value of definite feature triangle;
The projection vector value that B, basis calculate is found out the projection vector value characteristic of correspondence triangle that all satisfy error limit, as triangle to be selected from the feature triangle of storage;
C, difference comparative observation triangle and each triangle to be selected judge whether to exist and the triangle to be selected of observing Atria bar limit correspondent equal, if exist, and then importance in star map recognition success; Otherwise, the importance in star map recognition failure.
2, according to the described method of claim 1, it is characterized in that, the information of described storage feature triangle and projection vector value are: the asterisk of a star in the projection vector value calculated and the institute's character pair triangle is stored as the projection vector table, the length of side on three limits of the asterisk of leg-of-mutton three stars of constitutive characteristic and feature triangle is stored as the feature triangle storehouse, and the projection vector table is that index is associated with the feature triangle storehouse with the asterisk.
3, according to the described method of claim 2, it is characterized in that, described all the projection vector value characteristic of correspondence triangles that satisfy error limit of finding out of step B are specially: find out all projection vector values that satisfy error limit in the projection vector table of navigational route database, according to the incidence relation between projection vector table and the feature triangle storehouse, from all feature triangles of storage, extract the projection vector value characteristic of correspondence triangle of finding out.
According to the described method of claim 1, it is characterized in that 4, the information of described storage feature triangle and projection vector value are: with projection vector value and the leg-of-mutton information of its characteristic of correspondence as a recording storage in navigational route database.
5, according to each described method of claim 1 to 4, it is characterized in that described definite feature triangle is: with nauticalstars or observation star as primary, with the star around the primary by the brightness ordering, select two the brightest stars as adjacent star, with primary constitutive characteristic triangle.
According to the described method of claim 5, it is characterized in that 6, this method further comprises: the direction of storage projection main shaft.
7, according to the described method of claim 6, it is characterized in that, described calculating projection vector value is: obtain describing the three-dimensional vector of feature triangle according to the angular distance of feature triangle, according to the projection major axes orientation of storage, calculate the size of projection vector projection value on the projection main shaft.
According to the described method of claim 7, it is characterized in that 8, this method further comprises: calculate the rough attitude of current time according to two stars having discerned; Generate the simulation star chart as the reference star chart according to the attitude of being calculated again; Then, will compare, judge the two similarity with reference to star chart and observation star chart, if in full accord, then importance in star map recognition success; Otherwise, determine another primary, re-construct feature triangle and mate.
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102072730A (en) * | 2010-11-04 | 2011-05-25 | 北京航空航天大学 | Method for identifying triangular star map |
| RU2445641C2 (en) * | 2010-03-03 | 2012-03-20 | Антон Адольфович Липовка | Method of tying coordinates of celestial radio sources to lipovka-kostko-lipovka (lkl) optical astrometric coordinate system |
| CN104776845A (en) * | 2015-04-29 | 2015-07-15 | 西安电子科技大学 | Autonomous star recognition method based on combination mode |
| CN105928509A (en) * | 2016-06-22 | 2016-09-07 | 中国人民解放军63680部队 | Triangle recognizing method based on maximum interior angle hash function |
| CN106595702A (en) * | 2016-09-22 | 2017-04-26 | 中国人民解放军装备学院 | Astronomical-calibration-based spatial registration method for multiple sensors |
| CN107609547A (en) * | 2017-09-06 | 2018-01-19 | 其峰科技有限公司 | Celestial body method for quickly identifying, device and telescope |
| CN107816986A (en) * | 2017-09-05 | 2018-03-20 | 湖北航天技术研究院总体设计所 | A kind of star sensor whole day ball fast star identification method |
| CN112179335A (en) * | 2020-09-17 | 2021-01-05 | 北京航空航天大学 | Star map identification method based on simplest general subgraph |
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| CN102313549B (en) * | 2011-07-28 | 2013-07-24 | 北京航空航天大学 | Identification method for triangular star atlas based on characteristic of inertia ratio |
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| CN100342213C (en) * | 2004-12-28 | 2007-10-10 | 北京航空航天大学 | Method for recognising star map based on triangle character |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2445641C2 (en) * | 2010-03-03 | 2012-03-20 | Антон Адольфович Липовка | Method of tying coordinates of celestial radio sources to lipovka-kostko-lipovka (lkl) optical astrometric coordinate system |
| CN102072730A (en) * | 2010-11-04 | 2011-05-25 | 北京航空航天大学 | Method for identifying triangular star map |
| CN102072730B (en) * | 2010-11-04 | 2012-11-21 | 北京航空航天大学 | Method for identifying triangular star map |
| CN104776845B (en) * | 2015-04-29 | 2017-05-03 | 西安电子科技大学 | Autonomous star recognition method based on combination mode |
| CN104776845A (en) * | 2015-04-29 | 2015-07-15 | 西安电子科技大学 | Autonomous star recognition method based on combination mode |
| CN105928509A (en) * | 2016-06-22 | 2016-09-07 | 中国人民解放军63680部队 | Triangle recognizing method based on maximum interior angle hash function |
| CN105928509B (en) * | 2016-06-22 | 2018-10-30 | 中国人民解放军63680部队 | Triangle recognition methods based on maximum interior angle hash function |
| CN106595702A (en) * | 2016-09-22 | 2017-04-26 | 中国人民解放军装备学院 | Astronomical-calibration-based spatial registration method for multiple sensors |
| CN106595702B (en) * | 2016-09-22 | 2019-08-09 | 中国人民解放军装备学院 | A kind of multisensor spatial registration method based on astronomy calibration |
| CN107816986A (en) * | 2017-09-05 | 2018-03-20 | 湖北航天技术研究院总体设计所 | A kind of star sensor whole day ball fast star identification method |
| CN107816986B (en) * | 2017-09-05 | 2020-05-19 | 湖北航天技术研究院总体设计所 | Rapid star map identification method for all celestial sphere of star sensor |
| CN107609547A (en) * | 2017-09-06 | 2018-01-19 | 其峰科技有限公司 | Celestial body method for quickly identifying, device and telescope |
| CN107609547B (en) * | 2017-09-06 | 2021-02-19 | 其峰科技有限公司 | Method and device for quickly identifying stars and telescope |
| CN112179335A (en) * | 2020-09-17 | 2021-01-05 | 北京航空航天大学 | Star map identification method based on simplest general subgraph |
| CN112179335B (en) * | 2020-09-17 | 2022-06-24 | 北京航空航天大学 | Star map identification method based on simplest general subgraph |
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