Space target attitude inversion method and device based on non-rotational image

Abstract

The present invention provides a method and device for inverting the attitude of a space target based on a non-rotational image, wherein the method includes: selecting no less than a set number of non-rotational images as images to be analyzed based on the non-rotational images observed by a ground telescope; determining the observation viewing angle of each image to be analyzed in the orbital coordinate system; generating an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the attitude angle set; determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed; determining the inversion attitude angle of the space target based on the determined matching image template; and performing attitude inversion of the space target according to the determined inversion attitude angle. This scheme can derive the inversion attitude angle based on the non-rotational image, and then correctly invert the attitude of the space target.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of attitude inversion, and in particular to a method and device for space target attitude inversion based on non-rotational images. Background Art

[0002] Since the image plane of the telescope rotates during observation, when the telescope points to different azimuth and altitude angles, the projection of the imaging CCD (charge-coupled device) target surface on the telescope entrance pupil (i.e., the telescope primary mirror) rotates with the change of azimuth and altitude angles, that is, there is image rotation on the image side. In order to determine the size and direction of the image rotation on the image side of the telescope, the telescope needs to be calibrated. According to the calibration results of the telescope, the image can be derotated, so that the image rotation on the image side caused by the telescope optical system can be eliminated, thereby obtaining an image restored to the telescope field of view coordinate system.

[0003] However, in some cases, the observation images obtained by the telescope do not contain derotation information, and the attitude results obtained when the non-derotation images are used for space target attitude inversion are wrong. Therefore, it is urgent to provide a space target attitude inversion method based on non-derotation images. Summary of the invention

[0004] The embodiment of the present invention provides a method and device for inverting the attitude of a space target based on a non-rotational image, which can correctly invert the attitude of a space target based on the non-rotational image.

[0005] In a first aspect, an embodiment of the present invention provides a method for inverting a space target posture based on a non-rotational image, comprising:

[0006] Based on the non-de-rotation images obtained by ground-based telescope observation, no less than a set number of non-de-rotation images are selected as images to be analyzed;

[0007] Determine the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes the observation viewing azimuth angle and the observation viewing pitch angle;

[0008] According to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set, an image template under each observation viewing angle is generated;

[0009] According to the skeleton features of the space target in each image to be analyzed, an image template matching the corresponding image to be analyzed is determined from the image templates under the corresponding observation viewing angle;

[0010] Determine an inverted attitude angle of the space target based on the determined matching image template;

[0011] Performing space target attitude inversion according to the determined inversion attitude angle.

[0012] Preferably, determining the observation viewing angle of each image to be analyzed in the orbital coordinate system includes:

[0013] Calculating the observation viewing angle of the ground telescope when the ground telescope obtains a non-derotation image at each observation time according to the orbital elements and the longitude and latitude corresponding to the ground telescope;

[0014] Determine the observation time corresponding to each image to be analyzed and determine the corresponding observation viewing angle.

[0015] Preferably, the observation viewing angle between any two images to be analyzed is not less than a set angle.

[0016] Preferably,

[0017] The step of generating an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the pre-generated posture angle set comprises:

[0018] For each image to be analyzed, the following steps are performed: at the observation viewing angle corresponding to the image to be analyzed, each posture angle in the posture angle set is traversed to generate an image template corresponding to each posture angle, and the generated image template is determined as the image template at the observation viewing angle corresponding to the image to be analyzed, and the image template matching the corresponding image to be analyzed is determined from the image templates at the corresponding observation viewing angle;

[0019] The method of determining the inversion attitude angle of the space target based on the determined matching image template includes:

[0020] The same attitude angle among the attitude angles corresponding to the determined matching image templates is determined as the inversion attitude angle; the same attitude angle corresponds to each image to be analyzed.

[0021] Preferably,

[0022] The method generates an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set, determines an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed, and determines the inversion attitude angle of the space target based on the determined matching image template, including:

[0023] S1: Select an image to be analyzed from the set number of images to be analyzed, and traverse each posture angle in the posture angle set at the observation viewing angle corresponding to the currently selected image to be analyzed, generate an image template corresponding to each posture angle, determine the generated image template as the image template at the observation viewing angle corresponding to the currently selected image to be analyzed, and execute the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching first image template;

[0024] S2: reselecting an image to be analyzed from the unselected images to be analyzed, and generating a second image template corresponding to the posture angle of each first image template at the observation viewing angle corresponding to the reselected image to be analyzed, determining the generated second image template as the image template at the observation viewing angle corresponding to the reselected image to be analyzed, and performing the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching third image template;

[0025] S3: Determine all the obtained third image templates as the first image templates, and repeat step S2 until the set conditions are met, and determine the attitude angle corresponding to the currently obtained third image template as the inversion attitude angle.

[0026] Preferably,

[0027] The setting condition is: if the space target is a symmetrical target, the third image template currently obtained is two; if the space target is an asymmetrical target, the third image template currently obtained is one;

[0028] and / or,

[0029] The setting condition is that there is no unselected image to be analyzed.

[0030] Preferably, the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle includes:

[0031] For each image template under the corresponding observation viewing angle, the following are performed: determining the skeleton features of the space target in the image template; calculating the similarity between the skeleton features of the space target in the image template and the skeleton features of the space target in the corresponding image to be analyzed, and determining whether the image template is an image template that matches the corresponding image to be analyzed based on the similarity.

[0032] In a second aspect, an embodiment of the present invention further provides a space target attitude inversion device based on non-derotation images, comprising:

[0033] A selection unit, configured to select no less than a set number of non-racemized images as images to be analyzed based on the non-racemized images observed by a ground telescope;

[0034] An observation viewing angle determination unit is used to determine the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes an observation viewing azimuth angle and an observation viewing pitch angle;

[0035] The inversion attitude angle determination unit is used to generate an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set; determine an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed; and determine the inversion attitude angle of the space target based on the determined matching image template;

[0036] An inversion unit is used to perform space target attitude inversion according to the determined inversion attitude angle.

[0037] In a third aspect, an embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0038] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, enables the computer to execute the method described in any embodiment of this specification.

[0039] The embodiment of the present invention provides a method and device for inverting the attitude of a space target based on a non-rotational image. Since the image to be analyzed is obtained by observing using a ground-based telescope, the observation viewing angle of the image to be analyzed can be determined. For different attitude angles, image templates corresponding to the observation viewing angle can be generated. The image template is the attitude of the space target at the corresponding observation viewing angle and attitude angle. By analyzing the skeleton features of the space target in the image to be analyzed and the image template, matching image templates can be screened out, and the image templates screened out using no less than a set number of images to be analyzed are further screened, so that the inversion attitude angle can be obtained based on the non-rotational image, and the attitude of the space target can be correctly inverted. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a flow chart of a method for inverting a space target posture based on a non-rotational image provided by an embodiment of the present invention;

[0042] Figure 2 is a schematic diagram of a body coordinate system provided by an embodiment of the present invention;

[0043] Figure 3 is a schematic diagram of skeleton features provided by an embodiment of the present invention;

[0044] Figure 4 is a posture relationship diagram of a space target in an orbital coordinate system provided by an embodiment of the present invention;

[0045] Figure 5 is a hardware architecture diagram of a computing device provided by an embodiment of the present invention;

[0046] Figure 6 It is a structural diagram of a space target attitude inversion device based on non-rotational images provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] The specific implementation of the above concept is described below.

[0049] Please refer to Figure 1 The embodiment of the present invention provides a method for inverting the attitude of a space target based on a non-rotational image, the method comprising:

[0050] Step 100, based on the non-de-rotation images observed by the ground telescope, selecting no less than a set number of non-de-rotation images as images to be analyzed;

[0051] Step 102, determining the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes the observation viewing azimuth angle and the observation viewing pitch angle;

[0052] Step 104, generating an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set;

[0053] Step 106, according to the skeleton features of the space target in each image to be analyzed, determine the image templates matching the corresponding image to be analyzed from the image templates under the corresponding observation viewing angles;

[0054] Step 108, determining the inversion attitude angle of the space target based on the determined matching image template;

[0055] Step 110: Performing space target attitude inversion according to the determined inversion attitude angle.

[0056] In the embodiment of the present invention, since the image to be analyzed is obtained by observing using a ground-based telescope, the observation viewing angle of the image to be analyzed can be determined, and image templates corresponding to the observation viewing angle can be generated for different attitude angles. The image template is the attitude of the space target at the corresponding observation viewing angle and attitude angle. By analyzing the skeleton features of the space target in the image to be analyzed and the image template, matching image templates can be screened out, and the image templates screened out using no less than a set number of images to be analyzed are further screened, so that the inversion attitude angle can be obtained based on the non-derotated image, and the attitude of the space target can be correctly inverted.

[0057] Described below Figure 1 How the various steps are performed.

[0058] First, step 100 "selecting no less than a set number of non-rotational images as images to be analyzed based on the non-rotational images obtained by ground-based telescope observations" and step 102 "determining the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes the observation viewing azimuth angle and the observation viewing pitch angle" are explained at the same time.

[0059] When a ground-based telescope observes a space target for a period of time, it can obtain images at each observation moment in the period of time. The images obtained at this time are non-racemized images.

[0060] In the embodiment of the present invention, in order to obtain the inversion attitude angle using the non-de-derotation image, it is necessary to screen multiple images to be analyzed, so the number of non-de-derotation images selected as the images to be analyzed needs to meet certain conditions. Considering that only selecting a non-de-derotation image will definitely not result in the inversion attitude angle, there is a possibility that two or three images can be used to obtain the inversion attitude angle, and the more the number of selected images, the more accurate the result of determining the inversion attitude angle, so the number of selected non-de-derotation images is not less than a set number, for example, the set number is 5.

[0061] In one embodiment of the present invention, when selecting a non-rotational image as an image to be analyzed, the observation viewing angles of the non-rotational image are as different as possible to ensure that the determined inversion attitude angle is more accurate. Preferably, the non-rotational image selected as the image to be analyzed can meet the following conditions: the observation viewing angle between any two images to be analyzed is not less than a set angle. For example, the set angle is 10°. When there are differences in the observation viewing angles of the non-rotational images, when subsequently screening for matching image templates, the difference in angles makes it easier to screen out image templates that meet the requirements of all images to be analyzed.

[0062] In order to determine the observation viewing angle of each image to be analyzed in the orbital coordinate system, the following scheme needs to be performed in advance:

[0063] First, define the orbital coordinate system

[0064] The orbital coordinate system is a coordinate system dedicated to the orbit determination of artificial satellites. The orbital coordinate system takes the satellite (i.e., the space target in this embodiment) as the coordinate origin. o The Z axis points to the direction of the speed of the space target. o The Y axis is the line connecting the center of the space target to the center of the earth. o Axis is X o Axis and Z o The direction of the cross product of the axes.

[0065] Second, build a digital model of space targets

[0066] In this embodiment, when constructing the digital model of the space target, matching can be performed based on the skeleton features of the space target, so the digital model of the space target can be constructed using the skeleton information of the target body and the main components. It should be noted that the digital model of the space target can be constructed using any construction method in the prior art, and this embodiment does not limit this.

[0067] Third, define the coordinate system of the space target

[0068] Since the definition of the body coordinate system has no effect on the final inversion result, the body coordinate system of the space target can be defined according to custom. In this embodiment, the body coordinate system of the space target is defined as follows:b The axis is along the sailboard direction of the space target, Z b The axis is along the main direction of the space object, X b Axis is Y b Axis and Z b The cross product direction of the axis, please refer to Figure 2 .

[0069] Fourth, define the attitude angle of the space target

[0070] The attitude angle is used to characterize the angle relationship between the body coordinate system and the orbital coordinate system. In this embodiment, the attitude angle of the space target can be defined as follows:

[0071] Roll φ: counterclockwise rotation around the x-axis

[0072] Azimuth ψ: counterclockwise rotation around the z-axis

[0073] Pitch θ: counterclockwise rotation around the y-axis

[0074] Rotation order: body coordinate system (OX b Y b Z b )—> around y—> new z—> new x—> orbital coordinate system (OX o Y o Z o )

[0075] It should be noted that the rotation order defines the attitude angle from the body coordinate system to the orbital coordinate system. Therefore, the rotation order has no effect on the final inversion result.

[0076] Fifth, define the observation angle in the orbital coordinate system

[0077] The observation viewing angle includes the observation viewing azimuth angle and the observation viewing pitch angle.

[0078] Observation viewing direction azimuth: projected into the xoy plane, the angle with the positive x-axis, x turns to y to be positive;

[0079] Observation viewing pitch angle: projected into the xoy plane, the angle with the xoy plane, the positive direction of the z-axis is negative.

[0080] After the above five parts are executed, in one embodiment of the present invention, the observation viewing angle of each image to be analyzed in the orbital coordinate system can be determined in the following manner, specifically including: calculating the observation viewing angle when the ground telescope observes the non-derotation image at each observation time according to the orbital root number (TLE) and the longitude and latitude (longitude, latitude and altitude) corresponding to the ground telescope; determining the observation time corresponding to each image to be analyzed, and determining the corresponding observation viewing angle.

[0081] The observation viewing angle corresponding to each observation time of the ground telescope is determined as the observation viewing angle corresponding to the non-derotation image obtained at the corresponding observation time, so that a parameter of the image to be analyzed can be determined, and then the observation viewing angle can be used to generate an image template.

[0082] Then, step 104 "generating an image template at each observation viewing angle according to each observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set", step 106 "determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed" and step 108 "determining the inverted attitude angle of the space target based on the determined matching image template" are explained at the same time.

[0083] The attitude angle set includes multiple attitude angle (φ, ψ, θ) combinations, wherein the smaller the difference between adjacent attitude angles in the attitude angle set, the higher the accuracy of the inverted attitude angle finally determined. For example, the angle difference is 1°.

[0084] In the embodiment of the present invention, the method of determining the inversion attitude angle by using step 104, step 106 and step 108 may include at least the following two methods:

[0085] Method A: a set number of images to be analyzed are used to determine the corresponding matching image templates separately, and the intersection is taken to obtain the final matching image template;

[0086] Method B: a set number of images to be analyzed are screened one by one to obtain the final matching image template.

[0087] The attitude angle corresponding to the final matched image template obtained in the above two methods is the inversion attitude angle. The above two methods are respectively described below.

[0088] First, method A will be described.

[0089] In method A, step 104 may include: for each image to be analyzed, executing: at the observation viewing angle corresponding to the image to be analyzed, traversing each posture angle in the posture angle set, generating an image template corresponding to each posture angle, and determining the generated image template as the image template at the observation viewing angle corresponding to the image to be analyzed, and executing the method of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle.

[0090] For example, in step 100, five non-derotated images are selected as images to be analyzed, such as numbered as images 1 to 5. Taking image 1 as an example, if the attitude angle set includes N attitude angles, then under the observation viewing angle of image 1, image templates corresponding to the N attitude angles can be obtained, and step 106 is performed using the N image templates to obtain image templates matching image 1 (assuming there are N1 (N1<N)). Similarly, for images 2 to 5, corresponding matching image templates are obtained, namely N2, N3, N4, and N5.

[0091] Then in step 108, determining the inverted attitude angle of the space target based on the determined matching image template may include: determining the same attitude angle among the attitude angles corresponding to the determined matching image template as the inverted attitude angle; the same attitude angle corresponds to each image to be analyzed.

[0092] Continuing with the above example, since each image template corresponds to a posture angle, if there are one or two posture angles, such as posture angle P, and posture angle P exists in the posture angles corresponding to the image templates of images 1 to 5, then posture angle P is the inverted posture angle.

[0093] This embodiment uses method A to obtain an accurate inversion attitude angle.

[0094] Next, method B will be described.

[0095] In mode B, steps 104 to 108 may include the following steps S1 to S3:

[0096] S1: Select an image to be analyzed from the set number of images to be analyzed, and traverse each posture angle in the posture angle set at the observation viewing angle corresponding to the currently selected image to be analyzed, generate an image template corresponding to each posture angle, determine the generated image template as the image template at the observation viewing angle corresponding to the currently selected image to be analyzed, and execute the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching first image template;

[0097] S2: reselecting an image to be analyzed from the unselected images to be analyzed, and generating a second image template corresponding to the posture angle of each first image template at the observation viewing angle corresponding to the reselected image to be analyzed, determining the generated second image template as the image template at the observation viewing angle corresponding to the reselected image to be analyzed, and performing the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching third image template;

[0098] S3: Determine all the obtained third image templates as the first image templates, and repeat step S2 until the set conditions are met, and determine the attitude angle corresponding to the currently obtained third image template as the inversion attitude angle.

[0099] Continuing with the example in method A, first, N image templates are generated for image 1, and by executing step 106 on the N image templates to match the skeleton features of image 1, N1 image templates matching image 1 can be obtained; continuing with image 2, under the observation viewing angle of image 2, the posture angles corresponding to the above N1 image templates are traversed to generate N1 image templates corresponding to image 2, and by executing step 106 on the N1 image templates to match the skeleton features of image 2, N6 image templates matching image 2 (N6<N1) can be obtained, ..., until the set conditions are met.

[0100] Since the number of image templates obtained by screening can be reduced with each additional image to be analyzed, the setting conditions may include one or two of the following: first, if the space target is a symmetrical target, the number of third image templates currently obtained is two; if the space target is an asymmetrical target, the number of third image templates currently obtained is one; second, there are no unselected images to be analyzed.

[0101] When the above conditions are met, it indicates that the final matching image template has been screened and the attitude angle corresponding to the image template is the inversion attitude angle.

[0102] This embodiment utilizes the method B, and does not need to generate N image templates for each image to be analyzed. Instead, the number of image templates can be reduced for each additional image to be analyzed, which not only reduces the workload but also increases the speed.

[0103] Regardless of the above-mentioned method A or the above-mentioned method B, determining the image template that matches the corresponding image to be analyzed from the image template under the corresponding observation viewing angle in step 106 can include: for each image template under the corresponding observation viewing angle, executing: determining the skeleton features of the space target in the image template; calculating the similarity between the skeleton features of the space target in the image template and the skeleton features of the space target in the corresponding image to be analyzed, and determining whether the image template is an image template that matches the corresponding image to be analyzed based on the similarity.

[0104] The skeleton features of the space target of the image to be analyzed and the image template can be determined by the constructed digital model of the space target. When calculating the similarity between the two, the skeleton angle can be used to determine it. Please refer to Figure 3is a schematic diagram of skeleton features, and P is a schematic skeleton angle. For example, the skeleton angle of the space target in the image to be analyzed is P1, and the skeleton angle of the space target in the image template is P2. The smaller the difference between the two skeleton angles, the greater the similarity. By setting an angle threshold, the image template whose difference between the two skeleton angles is less than the angle threshold is determined as the image template corresponding to the image to be analyzed.

[0105] Through experiments, two image templates were screened out. Since the spatial target being processed is in a symmetrical state, when more details of small parts cannot be obtained, the two inversion attitude angles (φ, ψ, θ) are finally determined by template matching, which are (0, 0, -90) and (180, 0, 90).

[0106] Finally, for step 110, the space target attitude inversion is performed according to the determined inversion attitude angle.

[0107] After determining the inversion attitude angle between the orbital coordinate system and the body coordinate system, the attitude of the space target in space can be inverted. The attitude relationship of the space target in the orbital coordinate system is as follows: Figure 4 shown.

[0108] like Figure 5 , Figure 6 As shown, an embodiment of the present invention provides a space target attitude inversion device based on non-derotation images. The device embodiment can be implemented by software, or by hardware or a combination of software and hardware. From the hardware level, Figure 5 As shown, it is a hardware architecture diagram of a computing device where a space target posture inversion device based on non-derotation image provided by an embodiment of the present invention is located, except Figure 5 In addition to the processor, memory, network interface, and non-volatile memory shown in the figure, the computing device in which the device is located in the embodiment may also generally include other hardware, such as a forwarding chip responsible for processing messages, etc. Taking software implementation as an example, Figure 6 As shown, as a device in a logical sense, the CPU of the computing device in which it is located reads the corresponding computer program in the non-volatile memory into the memory and runs it. This embodiment provides a space target posture inversion device based on non-rotational images, including:

[0109] A selection unit 601 is used to select no less than a set number of non-de ...

[0110] An observation viewing angle determination unit 602 is used to determine the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes an observation viewing azimuth angle and an observation viewing pitch angle;

[0111] The inversion attitude angle determination unit 603 is used to generate an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set; determine an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed; and determine the inversion attitude angle of the space target based on the determined matching image template;

[0112] The inversion unit 604 is used to perform space target attitude inversion according to the determined inversion attitude angle.

[0113] In one embodiment of the present invention, the observation viewing angle determination unit 602 is specifically used to calculate the observation viewing angle when the ground telescope observes the non-derotation image at each observation time according to the orbital elements and the longitude and latitude corresponding to the ground telescope; determine the observation time corresponding to each image to be analyzed, and determine the corresponding observation viewing angle.

[0114] In one embodiment of the present invention, the observation viewing angle between any two images to be analyzed is not less than a set angle.

[0115] In one embodiment of the present invention, when the inversion attitude angle determination unit 603 generates an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set, it specifically includes: for each image to be analyzed, executing: at the observation viewing angle corresponding to the image to be analyzed, traversing each attitude angle in the attitude angle set, generating an image template corresponding to each attitude angle, and determining the generated image template as the image template at the observation viewing angle corresponding to the image to be analyzed, and executing the determination of the image template matching the corresponding image to be analyzed from the image template at the corresponding observation viewing angle;

[0116] When the inversion attitude angle determination unit 603 determines the inversion attitude angle of the space target based on the determined matching image template, it specifically includes: determining the same attitude angle among the attitude angles corresponding to the determined matching image template as the inversion attitude angle; the same attitude angle corresponds to each image to be analyzed.

[0117] In one embodiment of the present invention, the inversion attitude angle determination unit 603 specifically includes:

[0118] S1: Select an image to be analyzed from the set number of images to be analyzed, and traverse each posture angle in the posture angle set at the observation viewing angle corresponding to the currently selected image to be analyzed, generate an image template corresponding to each posture angle, determine the generated image template as the image template at the observation viewing angle corresponding to the currently selected image to be analyzed, and execute the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching first image template;

[0119] S2: reselecting an image to be analyzed from the unselected images to be analyzed, and generating a second image template corresponding to the posture angle of each first image template at the observation viewing angle corresponding to the reselected image to be analyzed, determining the generated second image template as the image template at the observation viewing angle corresponding to the reselected image to be analyzed, and performing the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching third image template;

[0120] S3: Determine all the obtained third image templates as the first image templates, and repeat step S2 until the set conditions are met, and determine the attitude angle corresponding to the currently obtained third image template as the inversion attitude angle.

[0121] In one embodiment of the present invention, the setting condition is: if the space target is a symmetrical target, the third image template currently obtained is two; if the space target is an asymmetrical target, the third image template currently obtained is one;

[0122] and / or,

[0123] The setting condition is that there is no unselected image to be analyzed.

[0124] In one embodiment of the present invention, when the inversion attitude angle determination unit 603 determines the image template that matches the corresponding image to be analyzed from the image template under the corresponding observation viewing angle, it specifically includes: for each image template under the corresponding observation viewing angle, executing: determining the skeleton features of the space target in the image template; based on the skeleton features of the space target in the image template and the skeleton features of the space target in the corresponding image to be analyzed, calculating the similarity between the two, and determining whether the image template is an image template that matches the corresponding image to be analyzed based on the similarity.

[0125] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on a space target attitude inversion device based on a non-derotation image. In other embodiments of the present invention, a space target attitude inversion device based on a non-derotation image may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0126] The information interaction, execution process and other contents between the modules in the above-mentioned device are based on the same concept as the embodiment of the method of the present invention. For the specific contents, please refer to the description in the embodiment of the method of the present invention, and no further description is given here.

[0127] An embodiment of the present invention further provides a computing device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, a method for inverting a spatial target posture based on a non-rotational image in any embodiment of the present invention is implemented.

[0128] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the processor executes a spatial target attitude inversion method based on a non-rotational image in any embodiment of the present invention.

[0129] Specifically, a system or device equipped with a storage medium can be provided, on which software program code that implements the functions of any of the above-mentioned embodiments is stored, and a computer (or CPU or MPU) of the system or device can be enabled to read and execute the program code stored in the storage medium.

[0130] In this case, the program code itself read from the storage medium can realize the function of any one of the above-mentioned embodiments, and thus the program code and the storage medium storing the program code constitute a part of the present invention.

[0131] The storage medium embodiments for providing the program code include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD+RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code can be downloaded from a server computer by a communication network.

[0132] In addition, it should be clear that the functions of any of the above embodiments can be implemented not only by executing the program code read by the computer, but also by enabling an operating system operating on the computer to complete part or all of the actual operations based on instructions from the program code.

[0133] In addition, it can be understood that the program code read from the storage medium is written to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion module connected to the computer, and then based on the instructions of the program code, a CPU installed on the expansion board or expansion module is enabled to perform part or all of the actual operations, thereby realizing the functions of any of the above-mentioned embodiments.

[0134] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical factors in the process, method, article or device including the elements.

[0135] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for inverting the attitude of a space target based on a non-rotational image, characterized in that: include: Based on the non-de-rotation images obtained by ground-based telescope observation, no less than a set number of non-de-rotation images are selected as images to be analyzed; Determine the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes the observation viewing azimuth angle and the observation viewing pitch angle; According to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set, an image template under each observation viewing angle is generated; According to the skeleton features of the space target in each image to be analyzed, an image template matching the corresponding image to be analyzed is determined from the image templates under the corresponding observation viewing angle; Determine an inverted attitude angle of the space target based on the determined matching image template; Performing space target attitude inversion according to the determined inversion attitude angle; The method of generating an image template at each observation viewing angle according to each observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set comprises: for each image to be analyzed, executing: at the observation viewing angle corresponding to the image to be analyzed, traversing each attitude angle in the attitude angle set, generating an image template corresponding to each attitude angle, and determining the generated image template as the image template at the observation viewing angle corresponding to the image to be analyzed, and executing the method of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle; The inverted attitude angle of the space target is determined based on the determined matching image template, including: determining the same attitude angle among the attitude angles corresponding to the determined matching image template as the inverted attitude angle; the same attitude angle corresponds to each image to be analyzed.

2. The method according to claim 1, characterized in that Determining the observation viewing angle of each image to be analyzed in the orbital coordinate system includes: Calculating the observation viewing angle of the ground telescope when the ground telescope obtains a non-derotation image at each observation time according to the orbital elements and the longitude and latitude corresponding to the ground telescope; Determine the observation time corresponding to each image to be analyzed and determine the corresponding observation viewing angle.

3. The method according to claim 2, characterized in that The observation viewing angle between any two images to be analyzed is not less than the set angle.

4. The method according to claim 1, characterized in that: The method generates an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set, determines an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle according to the skeleton features of the space target in each image to be analyzed, and determines the inversion attitude angle of the space target based on the determined matching image template, including: S1: Select an image to be analyzed from the set number of images to be analyzed, and traverse each posture angle in the posture angle set at the observation viewing angle corresponding to the currently selected image to be analyzed, generate an image template corresponding to each posture angle, determine the generated image template as the image template at the observation viewing angle corresponding to the currently selected image to be analyzed, and execute the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching first image template; S2: reselecting an image to be analyzed from the unselected images to be analyzed, and generating a second image template corresponding to the posture angle of each first image template at the observation viewing angle corresponding to the reselected image to be analyzed, determining the generated second image template as the image template at the observation viewing angle corresponding to the reselected image to be analyzed, and performing the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching third image template; S3: Determine all the obtained third image templates as the first image templates, and repeat step S2 until the set conditions are met, and determine the attitude angle corresponding to the currently obtained third image template as the inversion attitude angle.

5. The method according to claim 4, characterized in that The setting condition is: if the space target is a symmetrical target, the third image template currently obtained is two; if the space target is an asymmetrical target, the third image template currently obtained is one; and / or, The setting condition is that there is no unselected image to be analyzed.

6. The method according to claim 1 or 4, characterized in that: The step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle includes: For each image template under the corresponding observation viewing angle, the following are performed: determining the skeleton features of the space target in the image template; calculating the similarity between the skeleton features of the space target in the image template and the skeleton features of the space target in the corresponding image to be analyzed, and determining whether the image template is an image template that matches the corresponding image to be analyzed based on the similarity.

7. A space target attitude inversion device based on non-derotation images, characterized in that: include: A selection unit, configured to select no less than a set number of non-racemized images as images to be analyzed based on the non-racemized images observed by a ground telescope; An observation viewing angle determination unit is used to determine the observation viewing angle of each image to be analyzed in the orbital coordinate system; the observation viewing angle includes an observation viewing azimuth angle and an observation viewing pitch angle; An inversion attitude angle determination unit is used to generate an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and a pre-generated attitude angle set; According to the skeleton features of the space target in each image to be analyzed, an image template matching the corresponding image to be analyzed is determined from the image templates under the corresponding observation viewing angle; and an inversion attitude angle of the space target is determined based on the determined matching image template; An inversion unit, used for performing space target attitude inversion according to the determined inversion attitude angle; When the inversion attitude angle determination unit generates an image template at each observation viewing angle according to the observation viewing angle corresponding to each image to be analyzed and the pre-generated attitude angle set, the inversion attitude angle determination unit specifically includes: for each image to be analyzed, the following steps are performed: at the observation viewing angle corresponding to the image to be analyzed, each attitude angle in the attitude angle set is traversed to generate an image template corresponding to each attitude angle, and the generated image template is determined as the image template at the observation viewing angle corresponding to the image to be analyzed, and the image template matching the corresponding image to be analyzed is determined from the image template at the corresponding observation viewing angle; When the inverse attitude angle determination unit determines the inverse attitude angle of the space target based on the determined matching image template, it specifically includes: determining the same attitude angle among the attitude angles corresponding to the determined matching image template as the inverse attitude angle; the same attitude angle corresponds to each image to be analyzed.

8. The device according to claim 7, characterized in that The observation viewing angle determination unit is specifically used to calculate the observation viewing angle when the ground telescope observes the non-derotation image at each observation time according to the orbital elements and the longitude and latitude corresponding to the ground telescope; determine the observation time corresponding to each image to be analyzed, and determine the corresponding observation viewing angle.

9. The device according to claim 8, characterized in that The observation viewing angle between any two images to be analyzed is not less than the set angle.

10. The device according to claim 7, characterized in that The inversion attitude angle determination unit is specifically used to perform the following operations: S1: Select an image to be analyzed from the set number of images to be analyzed, and traverse each posture angle in the posture angle set at the observation viewing angle corresponding to the currently selected image to be analyzed, generate an image template corresponding to each posture angle, determine the generated image template as the image template at the observation viewing angle corresponding to the currently selected image to be analyzed, and execute the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching first image template; S2: reselecting an image to be analyzed from the unselected images to be analyzed, and generating a second image template corresponding to the posture angle of each first image template at the observation viewing angle corresponding to the reselected image to be analyzed, determining the generated second image template as the image template at the observation viewing angle corresponding to the reselected image to be analyzed, and performing the step of determining an image template matching the corresponding image to be analyzed from the image templates at the corresponding observation viewing angle to obtain a matching third image template; S3: Determine all the obtained third image templates as the first image templates, and repeat step S2 until the set conditions are met, and determine the attitude angle corresponding to the currently obtained third image template as the inversion attitude angle.

11. The device according to claim 10, characterized in that The setting condition is: if the space target is a symmetrical target, the third image template currently obtained is two; if the space target is an asymmetrical target, the third image template currently obtained is one; and / or, The setting condition is that there is no unselected image to be analyzed.

12. The device according to claim 7 or 10, characterized in that When the inversion attitude angle determination unit determines the image template that matches the corresponding image to be analyzed from the image template under the corresponding observation viewing angle, it specifically includes: for each image template under the corresponding observation viewing angle, executing: determining the skeleton features of the space target in the image template; according to the skeleton features of the space target in the image template and the skeleton features of the space target in the corresponding image to be analyzed, calculating the similarity between the two, and determining whether the image template is an image template that matches the corresponding image to be analyzed according to the similarity.

13. A computing device, comprising a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

14. A computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute the method according to any one of claims 1 to 6.

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