Autonomous star tracking method and system based on star sensor and storage medium

A star sensor and autonomous star technology, applied in the field of astronomical navigation, can solve the problems that the star sensor cannot track the autonomous star, etc., and achieve the effect of easy implementation, solution success rate and efficiency reduction

CN114076596APending Publication Date: 2022-02-22CHANGCHUN INST OF OPTICS FINE MECHANICS & PHYSICS CHINESE ACAD OF SCI
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2022-02-22

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Abstract

The invention provides an autonomous star tracking method and system based on the star sensor. The angular velocity of the star sensor is calculated according to the motion model of the mass center of the star point under the high-dynamic condition and the pixel dragging of the star point in the image, the attitude of the star sensor is predicted on the basis, then a predicted mass center coordinate of the star point in the image is obtained, and the predicted mass center coordinate of the star point is matched with a real mass center coordinate, so that star tracking under the high-dynamic condition is realized. According to the autonomous star tracking method and system based on the star sensor, the star sensor can achieve autonomous star tracking under the high-dynamic condition, the advantage of autonomous navigation of the star sensor is brought into play, and the problem that the success rate and efficiency of satellite tracking are reduced under the high dynamic condition is solved, and the method is easy to implement.
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Description

technical field

[0001] The invention belongs to the technical field of celestial navigation, and in particular relates to an autonomous star tracking method, system and storage medium based on a star sensor. Background technique

[0002] The star sensor is an attitude measurement instrument that uses stars as the measurement object. It has the advantages of light weight, small size, low power consumption, high precision, strong anti-interference, and independent navigation without relying on other systems. It has been used in It has been widely used in space missions such as deep space exploration and astronomical navigation. The star sensor has two working modes: initial attitude acquisition and star tracking. In the initial attitude acquisition mode, the star sensor obtains the initial attitude through star point centroid positioning, full-sky star map recognition and attitude calculation. After obtaining the initial attitude, the star sensor enters the star tracking mod...

Examples

Embodiment 1

[0054] see figure 1 , a flow chart of the steps of the autonomous star tracking method based on the star sensor provided by the application, including the following steps:

[0055] Step S110: According to the parameters of the star sensor, a motion model of the center of mass of the star point in the image is established.

[0056] Specifically, in the step of establishing the motion model of the star point centroid in the image according to the parameters of the star sensor, the following steps are included:

[0057] Suppose at t 0 At time, the coordinates of the center of mass of the star point in the image are at t 0 At time +Δt, the coordinates of the center of mass of the star point in the image are Δt<<T, T is the exposure time of the star sensor), then the motion model of the center of mass of the star point can be approximately expressed as:

[0058]

[0059] Among them, f is the focal length of the star sensor, w=[w x w y w z ] T is the angular velocity...

Embodiment 2

[0087] see Figure 5 , is the system of the autonomous star tracking method based on the star sensor provided in Embodiment 2 of the present application, including: a model construction unit 110 , an angular velocity calculation unit 120 , an attitude calculation unit 130 , a centroid coordinate unit 140 and a tracking unit 150 . The specific implementation of each unit is described in detail below.

[0088] The model construction unit 110 is used to establish a motion model of the centroid of the star point in the image according to the parameters of the star sensor.

[0089] Specifically, assume that at t 0 At time, the coordinates of the center of mass of the star point in the image are at t 0 At time +Δt, the coordinates of the center of mass of the star point in the image are Δt<<T, T is the exposure time of the star sensor), then the motion model of the center of mass of the star point can be approximately expressed as:

[0090]

[0091] Among them, f is the fo...

Embodiment 3

[0119] see Figure 6 , is a schematic structural diagram of the storage medium provided by Embodiment 3 of the present invention.

[0120] In some of these embodiments, the storage medium 4 stores a program file 41 capable of implementing all the above-mentioned methods, wherein the program file 41 can be stored in the above-mentioned storage medium 4 in the form of a software product, including several instructions for making A computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) executes all or part of the steps of the methods in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes, Or terminal devices such as computers, servers, mobile phones, and tablets.