A tracking method for an electric horizontal telescope bracket for autonomously tracking celestial bodies

Abstract

The present invention relates to a tracking method for an electric horizontal telescope bracket for autonomously tracking celestial bodies, and the specific steps include: S1, calculating the hour angle declination coordinates (HA0, Dec) of the celestial body target, thereby transmitting the data of the hour angle declination coordinates to a computer data calculation module; S2, after receiving the data of the hour angle declination coordinates in step S2, the computer data calculation module sends a recording of the time C0 at that time to a timing unit, records the current time C1 according to the time increment, and continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial body target; S3, calculating the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket; S4, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) according to the real-time changes. The present invention has the following advantages: improving the accuracy of tracking the target, while ensuring real-time tracking, reducing the working frequency of the computer servo module and reducing the working energy consumption.

Description

Technical field:

[0001] The invention belongs to the field of astronomy, and in particular relates to a tracking method of an electric horizontal telescope bracket for autonomously tracking celestial bodies. Background technology:

[0002] A telescope is a visual optical instrument used to observe distant objects. It can magnify the small angle of distant objects by a certain factor, making them have a larger angle in the image space, making objects that are originally impossible to see or distinguish with the naked eye become clear and distinguishable. Therefore, the telescope is an indispensable tool for astronomical and ground observation.

[0003] At present, when the bracket of the electric horizontal telescope tracks the celestial body target, it usually adopts two modes: centralized control mode and distributed control mode. The telescope control system of the centralized control mode adopts the same computer. Since the servo drive module, computer data calculation module, pointing model unit, etc. are stored and processed by the same computer, it can obtain continuous and real-time changing (Az, Alt) data, and realize precise and stable tracking of the target celestial body. The centralized control mode is suitable for advanced and professional telescope systems, and the cost is generally high.

[0004] The distributed control method usually includes two modules. One module is a servo control system with a servo control computer as the core. As an independent module, it is physically integrated with the telescope bracket and is dedicated to controlling the movement of the telescope turntable. Usually, the control computer of this module has weak performance and low storage capacity, which is not suitable for managing huge celestial database data. The other module is a high-level computing system with a second main computer as the core. It usually has strong computing power and high storage capacity. The two modules are generally connected by wire or wireless to exchange data to control the movement of the telescope system (pointing to the selected celestial target and continuous tracking). Tracking the target), the specific working method is: A. Module 2 calculates the real-time coordinates of the two axes of the telescope (Az, Alt), and continuously sends the real-time (Az, Alt) data to module 1; B. The module controls the two axes of the telescope turntable to move to the specified position (Az, Alt) based on the continuous (Az, Alt) data received, so that the telescope points to the selected celestial target and keeps tracking the target; C. Module 2 calculates the coordinates of the two axes of the telescope at the future time t2 (Az2, Alt2), and calculates the rotation speed of the two axes of the telescope based on the current time t1 and the actual coordinates of the two axes of the telescope (Az1, Alt1): Vaz1 = (Az2-Az1) / (t2-t1); Valt1 = (Alt2-Alt1) / (t2-t1), module 2 sends the (Vaz1, Valt1) data to module 1, and the latter controls the two axes of the telescope to move at the specified speed, and continuously and cyclically runs to achieve tracking of celestial targets. Therefore, in order to achieve continuous tracking of celestial targets, module two needs to run and operate continuously to complete the calculation of the target's real-time position or speed, and always maintain the communication connection between module one and module two. The connection between module one and module two is at a lower speed. The (Az1, Alt2) data or (V1, V2) data provided by module two to module one is generally discontinuous, which will lead to reduced accuracy in tracking the target. Distributed control methods are usually used in amateur and economical telescope systems. In some cases, the physical implementation of module two can be a smart phone. At this time, since the mobile phone needs to continuously calculate the real-time position or speed of the target and continuously communicate with module one, it will lead to higher power consumption, affect battery life, and also bring inconvenience in use. Summary of the invention:

[0005] The purpose of the present invention is to overcome the above shortcomings and provide a tracking method for an electric horizontal telescope bracket that autonomously tracks celestial bodies, thereby improving the accuracy of tracking targets, reducing the operating frequency of a computer servo module and reducing working energy consumption while ensuring real-time tracking.

[0006] The purpose of the invention is achieved through the following technical solutions: a tracking method for an electric horizontal telescope bracket for autonomously tracking celestial bodies, the electric horizontal telescope bracket includes a computer data calculation module and a computer servo module, the computer data calculation module includes a target database unit, a time and geographical location unit and a pointing model unit, and the computer servo module has a timing unit, and the specific steps include:

[0007] S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module;

[0008] S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target at that moment according to the local longitude data L of the time geographic location unit and the real time, and then immediately transmits the data of the hour angle declination coordinates to the computer servo module;

[0009] S2, after receiving the data of the hour angle declination coordinates in step S1, the computer servo module records the time C0 of the timing unit at that time, and in subsequent operations, according to the current time C1 of the timing unit, continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target, where HA1 = HA0 + (C1-C0) × v, and v is the rotation speed of the earth;

[0010] S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec);

[0011] S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so as to enable the telescope to track the selected celestial target.

[0012] A further improvement of the present invention is that the specific steps of step S1 include:

[0013] L1. The computer data calculation module extracts the current Greenwich Mean Time and calculates the Greenwich Sidereal Time GMST. The calculation formula is as follows:

[0014] A=Y / 100 B=A / 4 C=2-A+BE=365.25×(Y+4716) F=30.6001×(M+1)

[0015] JD = C + D + E + F - 1524.5 + t / 86400

[0016] T = (JD – 2451545 ) / 36525

[0017] GMST=280.46061837 + 360.98564736629×(JD–2451545) + 0.000387933×T2–T3 / 38710000;

[0018] Among them, Y represents year, M represents month, D represents day, and t represents the number of seconds that have passed since zero o'clock;

[0019] L2, the computer data calculation module calculates the local sidereal time LST according to the local longitude data L, LST = GMST + L;

[0020] L3, the computer data calculation module calculates the hour angle declination coordinates (HA0, Dec) of the celestial target according to the right ascension and declination coordinates (RA, Dec) of the celestial target and the local longitude data L, HA0=LST-RA;

[0021] A further improvement of the present invention is that the specific steps of step S3 include:

[0022] L1. Convert the real-time declination coordinates (HA1, Dec) of the celestial target into the corresponding rectangular coordinates Vh (Xh, Yh, Zh), where Xh = cos (HA1) × cos (Dec), Yh = sin (HA1) × cos (Dec), Zh = sin (Dec);

[0023] L2, generate the rectangular coordinates Vm (Xm, Ym, Zm) of the two axes of the telescope, where Vm=Mh×Vh, Mh is a 3×3 matrix, which is obtained by the pointing model unit in the computer data calculation module through calibration operation after the telescope system is set up, and is transmitted to the computer servo module through step S0 as part of the pointing model data;

[0024] L3. Convert the rectangular coordinate Vm into the corresponding spherical coordinate (Azv, Altv), that is, Azv=atan2(Ym,Xm), Altv=asin(Zm);

[0025] L4. The spherical coordinates (Azv, Altv) are processed by the compensation function fv(Azv, Altv) to generate the final telescope two-axis coordinates (Az1, Alt1), that is: (Az1, Alt1) = fv(Azv, Altv).

[0026] A further improvement of the present invention is that the parameters of the compensation function are obtained by the pointing model unit in the computer data calculation module through a calibration operation after the telescope is set up, and are transmitted to the computer servo module through step S0 as part of the pointing model data.

[0027] A further improvement of the present invention is that the computer servo module is radially electrically connected to the mobile client through a communication line and exchanges data.

[0028] A tracking method for an electric horizontal telescope bracket for autonomously tracking celestial bodies, wherein the electric horizontal telescope bracket comprises a computer data calculation module and a computer servo module, wherein the computer data calculation module comprises a target database unit, a time and geographic location unit and a pointing model unit, wherein the computer servo module has a timing unit, and the time of the timing unit is synchronized with the time of the time and geographic location unit in the computer data calculation module, and the specific steps include:

[0029] S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module;

[0030] S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target according to the local longitude data L and time C0 of the time geographic location unit, and then transmits the hour angle declination coordinate data and C0 to the computer servo module;

[0031] S2, after receiving the data of the hour angle declination coordinates and C0 in step S1, the computer servo module continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target according to the current moment C1 of the internal timing unit of the computer servo module, where HA1 = HA0 + (C1-C0) × v, where v is the rotation speed of the earth;

[0032] S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec);

[0033] S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so that the telescope can track the selected celestial target.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] In the present invention, the computer data calculation module transmits the pointing model data and the real-time coordinates of the selected target at a specific moment to the computer servo module. After receiving the hour angle and declination coordinates, the computer servo module continuously calculates the real-time hour angle and declination coordinates of the selected celestial target and the real-time two-axis coordinates of the telescope bracket according to the time increment. The computer servo module autonomously controls the telescope bracket to track the selected target, and the continuous intervention of the computer data calculation module is no longer required. The computer data calculation module is not relied on, and the working frequency of the computer data calculation module is reduced while ensuring real-time tracking, reducing the working energy consumption and improving the automatic tracking accuracy. Specific implementation method:

[0036] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0037] In the description of the present invention, it is necessary to understand that terms indicating orientation or positional relationships, such as orientation or positional relationships based on the drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the structure or unit referred to must have a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0038] In the present invention, unless otherwise clearly stipulated and limited, terms such as "connected", "provided with", "having" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be said to be a mechanical connection, or it can be directly connected, or it can be connected through an intermediate medium. For those skilled in the art, the basic meaning of the above terms in the present invention can be understood according to the specific circumstances.

[0039] An implementation of a tracking method for an electric horizontal telescope bracket for autonomously tracking a celestial body according to the present invention, the electric horizontal telescope bracket comprises a computer data calculation module and a computer servo module, the computer data calculation module comprises a target database unit, a time and geographical location unit and a pointing model unit, the computer servo module has a timing unit, and the specific steps include:

[0040] S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module;

[0041] S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target at that moment according to the local longitude data L of the time geographic location unit and the real time, and then immediately transmits the data of the hour angle declination coordinates to the computer servo module;

[0042] S2, after receiving the data of the hour angle declination coordinates in step S1, the computer servo module records the time C0 of the timing unit at that time, and in subsequent operations, according to the current time C1 of the timing unit, continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target, where HA1 = HA0 + (C1-C0) × v, and v is the rotation speed of the earth;

[0043] S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec);

[0044] S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so as to enable the telescope to track the selected celestial target.

[0045] Furthermore, the specific steps of step S1 include:

[0046] L1. The computer data calculation module extracts the current Greenwich Mean Time and calculates the Greenwich Sidereal Time GMST. The calculation formula is as follows:

[0047] A=Y / 100 B=A / 4 C=2-A+BE=365.25×(Y+4716) F=30.6001×(M+1)

[0048] JD = C + D + E + F - 1524.5 + t / 86400

[0049] T = (JD – 2451545 ) / 36525

[0050] GMST=280.46061837 + 360.98564736629×(JD–2451545) + 0.000387933×T2–T3 / 38710000;

[0051] Among them, Y represents year, M represents month, D represents day, and t represents the number of seconds that have passed since zero o'clock;

[0052] L2, the computer data calculation module calculates the local sidereal time LST according to the local longitude data L, LST = GMST + L;

[0053] L3, the computer data calculation module calculates the hour angle declination coordinates (HA0, Dec) of the celestial target according to the right ascension and declination coordinates (RA, Dec) of the celestial target and the local longitude data L, HA0=LST-RA;

[0054] Furthermore, the specific steps of step S3 include:

[0055] L1. Convert the real-time declination coordinates (HA1, Dec) of the celestial target into the corresponding rectangular coordinates Vh (Xh, Yh, Zh), where Xh = cos (HA1) × cos (Dec), Yh = sin (HA1) × cos (Dec), Zh = sin (Dec);

[0056] L2, generate the rectangular coordinates Vm (Xm, Ym, Zm) of the two axes of the telescope, where Vm=Mh×Vh, Mh is a 3×3 matrix, which is obtained by the pointing model unit in the computer data calculation module through calibration operation after the telescope system is set up, and is transmitted to the computer servo module through step S0 as part of the pointing model data;

[0057] L3. Convert the rectangular coordinate Vm into the corresponding spherical coordinate (Azv, Altv), that is, Azv=atan2(Ym,Xm), Altv=asin(Zm);

[0058] L4. The spherical coordinates (Azv, Altv) are processed by the compensation function fv(Azv, Altv) to generate the final telescope two-axis coordinates (Az1, Alt1), that is: (Az1, Alt1) = fv(Azv, Altv). Here, the parameters of the compensation function are obtained by the pointing model unit in the computer data calculation module through the calibration operation after the telescope is set up, and are transmitted to the computer servo module through step S0 as part of the pointing model data.

[0059] Furthermore, the computer servo module is radially electrically connected to the mobile client through a communication line to exchange data.

[0060] In the present invention, the computer data calculation module transmits the pointing model data and the real-time coordinates of the selected target at a specific moment to the computer servo module. After receiving the hour angle and declination coordinates, the computer servo module continuously calculates the real-time hour angle and declination coordinates of the selected celestial target and the real-time two-axis coordinates of the telescope bracket according to the time increment. The computer servo module autonomously controls the telescope bracket to track the selected target, and the continuous intervention of the computer data calculation module is no longer required. The computer data calculation module is not relied on, and the working frequency of the computer data calculation module is reduced while ensuring real-time tracking, reducing the working energy consumption and improving the automatic tracking accuracy.

[0061] Another embodiment of the tracking method of an electric horizontal telescope bracket for autonomously tracking celestial bodies of the present invention, the electric horizontal telescope bracket includes a computer data calculation module and a computer servo module, the computer data calculation module includes a target database unit, a time and geographical location unit and a pointing model unit, the computer servo module has a timing unit, and the time of the timing unit is synchronized with the time of the time and geographical location unit in the computer data calculation module, and the specific steps include:

[0062] S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module;

[0063] S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target according to the local longitude data L and time C0 of the time geographic location unit, and then transmits the hour angle declination coordinate data and C0 to the computer servo module;

[0064] S2, after receiving the data of the hour angle declination coordinates and C0 in step S1, the computer servo module continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target according to the current moment C1 of the internal timing unit of the computer servo module, where HA1 = HA0 + (C1-C0) × v, where v is the rotation speed of the earth;

[0065] S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec);

[0066] S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so that the telescope can track the selected celestial target.

[0067] The contents not fully disclosed in the present invention are common knowledge known to those skilled in the art. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A tracking method for an electric horizontal telescope bracket for autonomously tracking a celestial body, characterized in that: The electric horizontal telescope bracket includes a computer data calculation module and a computer servo module. The computer data calculation module includes a target database unit, a time and geographical location unit, and a pointing model unit. The computer servo module has a timing unit. The specific steps include: S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module; S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target at that moment according to the local longitude data L of the time geographic location unit and the real time, and then immediately transmits the data of the hour angle declination coordinates to the computer servo module; S2, after receiving the data of the hour angle declination coordinates in step S1, the computer servo module records the time C0 of the timing unit at that time, and in subsequent operations, according to the current time C1 of the timing unit, continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target, where HA1 = HA0 + (C1-C0) × v, and v is the rotation speed of the earth; S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec); S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so as to enable the telescope to track the selected celestial target.

2. The tracking method of the electric horizontal telescope bracket for autonomously tracking celestial bodies according to claim 1, characterized in that: The specific steps of step S1 include: L1. The computer data calculation module extracts the current Greenwich Mean Time and calculates the Greenwich Sidereal Time GMST. The calculation formula is as follows: A=Y / 100 B=A / 4 C=2-A+BE=365.25×(Y+4716) F=30.6001×(M+1) JD = C + D + E + F - 1524.5 + t / 86400 T = (JD – 2451545 ) / 36525 GMST=280.46061837 + 360.98564736629×(JD–2451545) + 0.000387933×T2–T3 / 38710000; Among them, Y represents year, M represents month, D represents day, and t represents the number of seconds that have passed since zero o'clock; L2, the computer data calculation module calculates the local sidereal time LST according to the local longitude data L, LST = GMST + L; L3. The computer data calculation module calculates the hour angle declination coordinates (HA0, Dec) of the celestial target based on the right ascension and declination coordinates (RA, Dec) of the celestial target and the local longitude data L, HA0=LST-RA.

3. The tracking method of the electric horizontal telescope bracket for autonomously tracking celestial bodies according to claim 2, characterized in that: The specific steps of step S3 include: L1. Convert the real-time declination coordinates (HA1, Dec) of the celestial target into the corresponding rectangular coordinates Vh (Xh, Yh, Zh), where Xh = cos (HA1) × cos (Dec), Yh = sin (HA1) × cos (Dec), Zh = sin (Dec); L2, generate the rectangular coordinates Vm (Xm, Ym, Zm) of the two axes of the telescope, where Vm=Mh×Vh, Mh is a 3×3 matrix, which is obtained by the pointing model unit in the computer data calculation module through calibration operation after the telescope system is set up, and is transmitted to the computer servo module through step S0 as part of the pointing model data; L3. Convert the rectangular coordinate Vm into the corresponding spherical coordinate (Azv, Altv), that is, Azv=atan2(Ym,Xm), Altv=asin(Zm); L4. The spherical coordinates (Azv, Altv) are processed by the compensation function fv(Azv, Altv) to generate the final telescope two-axis coordinates (Az1, Alt1), that is: (Az1, Alt1) = fv(Azv, Altv).

4. The tracking method of the electric horizontal telescope bracket for autonomously tracking celestial bodies according to claim 3, characterized in that: The parameters of the compensation function are obtained by the pointing model unit in the computer data calculation module through a calibration operation after the telescope is set up, and are transmitted to the computer servo module through step S0 as part of the pointing model data.

5. The tracking method of the electric horizontal telescope bracket for autonomously tracking celestial bodies according to claim 4, characterized in that: The computer servo module is electrically connected radially with the mobile client via a communication line to exchange data.

6. A tracking method for an electric horizontal telescope bracket for autonomously tracking celestial bodies, characterized in that: The electric horizontal telescope bracket includes a computer data calculation module and a computer servo module. The computer data calculation module includes a target database unit, a time and geographic location unit and a pointing model unit. The computer servo module has a timing unit, and the time of the timing unit is synchronized with the time of the time and geographic location unit in the computer data calculation module. The specific steps include: S0, the computer data calculation module transmits the telescope pointing model data obtained in the pointing model unit to the computer servo module; S1, the computer data calculation module extracts the right ascension and declination coordinates (RA, Dec) of the celestial target from the target database unit, and calculates the hour angle declination coordinates (HA0, Dec) of the celestial target according to the local longitude data L and time C0 of the time geographic location unit, and then transmits the hour angle declination coordinate data and C0 to the computer servo module; S2, after receiving the data of the hour angle declination coordinates and C0 in step S1, the computer servo module continuously calculates the real-time hour angle declination coordinates (HA1, Dec) of the selected celestial target according to the current moment C1 of the internal timing unit of the computer servo module, where HA1 = HA0 + (C1-C0) × v, where v is the rotation speed of the earth; S3, the computer servo module calculates the real-time two-axis coordinates (Az1, Alt1) of the telescope bracket according to the pointing model data obtained in step S0 and the real-time hour angle declination coordinates (HA1, Dec); S4. The computer servo module controls the telescope bracket to continuously position to the real-time two-axis coordinates (Az1, Alt1) according to the real-time changing real-time two-axis coordinates, so that the telescope can track the selected celestial target.