A telescope guiding positioning correction method and device

Abstract

This invention provides a telescope guidance and positioning correction method and apparatus. The method includes: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, calculating the horizontal motor tilt angle and the vertical motor tilt angle; acquiring three-axis magnetic sensor data, and calculating the deflection angle of the telescope tube relative to the magnetic south pole in combination with the three-axis acceleration data; acquiring the current GPS coordinates and time information of the telescope's equatorial mount; controlling the telescope motor to rotate to the corresponding deflection angle according to the deflection angle of a first bright celestial object relative to the telescope tube's orientation, thereby guiding the telescope to point at the first bright celestial object; the user fine-tunes the motor to ensure the telescope accurately locks onto the coordinates of the first bright celestial object; repeating the previous step to control the telescope motor to rotate and lock onto the coordinates of a second and third bright celestial object, thereby correcting the telescope's equatorial mount coordinates. This invention, based on acceleration, magnetic field sensors, and GPS combined with three-stage correction guidance, provides faster, more convenient, and more accurate telescope positioning.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and more specifically, to a telescope guidance, positioning, and correction method and apparatus. Background Technology

[0002] The telescope's horizontal and vertical motion angle compensation method based on accelerometer sensors greatly improves the convenience of telescope use. However, to achieve the telescope's automatic star-finding function, the equatorial mount needs to calibrate its own coordinate system. During the calibration process, the user rotates the equatorial mount via remote control, aiming the telescope at three bright celestial objects that are not aligned in a straight line in three separate attempts. Due to the high precision of the equatorial mount, its rotation speed is relatively slow, generally not exceeding 3° per second. Therefore, the time required for the user to manually guide the equatorial mount's rotation via remote control is relatively long, affecting the user experience. In addition, during the aiming at bright celestial objects, the user needs to turn their head for a long time to observe the finder scope to check whether the rotation is in place, further reducing the user experience. Summary of the Invention

[0003] The purpose of this invention is to provide a method for guiding and aligning a telescope, which solves the problem in the prior art where users manually guide the equatorial mount to rotate and align it via a remote control, thus reducing the user experience.

[0004] In a first aspect, embodiments of the present invention provide a method for telescope-guided positioning and correction, comprising the following steps:

[0005] S101: Continuously acquire the three-axis acceleration of the telescope in a static and stable state, and calculate the tilt angles in the horizontal and vertical motor directions;

[0006] S102: Acquire triaxial magnetic sensor data and calculate the deflection angle of the lens barrel relative to the magnetic south pole by combining triaxial acceleration data;

[0007] S103: Obtain the current GPS coordinates and time information of the telescope's equatorial mount;

[0008] S104: Based on the deflection angle of the first bright celestial body relative to the telescope tube orientation, control the telescope motor to rotate to the corresponding deflection angle to guide the telescope to point at the first bright celestial body. The user can then fine-tune the telescope tube to lock the coordinates of the first bright celestial body.

[0009] S105: Repeat S104 to lock the coordinates of the second and third bright objects to correct the telescope equatorial mount coordinates.

[0010] Optionally, the telescope guidance and positioning correction method, before S101: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, and calculating the tilt angles in the horizontal and vertical motor directions, further includes:

[0011] The motor returns to its original position based on the information from the optocoupler and continuously acquires data from the acceleration sensor to determine whether the device is in a static and stable state.

[0012] Optionally, the telescope guidance and positioning correction method, in S101: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, and calculating the tilt angles in the horizontal and vertical motor directions, further includes:

[0013] Data from the triaxial accelerometer is obtained through multiple samplings. The horizontal and vertical coordinates are determined based on the sampled data. The average deviation angle in the horizontal motor direction is calculated as the tilt angle in the horizontal motor direction, and the average deviation angle in the vertical direction is calculated as the tilt angle in the vertical motor direction.

[0014] Optionally, the telescope-guided positioning and correction method, in S104, where the user fine-tunes the telescope tube to lock the coordinates of the first bright celestial object, also includes:

[0015] Users can fine-tune the motor to drive the telescope tube to rotate, so that the telescope is precisely aimed at the first bright celestial object, and thus lock the coordinates of the first bright celestial object.

[0016] Optionally, the telescope-guided positioning and calibration method further includes: initiating the telescope-guided positioning and calibration of the telescope equatorial mount coordinates after the detection device is started and / or a microcontroller instruction is received.

[0017] Secondly, embodiments of the present invention also provide a telescope guidance and positioning correction device, which is applied to the telescope guidance and positioning correction method as described in the first aspect; the device includes an accelerometer, a magnetic sensor, a GPS module, and a microcontroller, specifically:

[0018] The accelerometer is used to continuously acquire the three-axis acceleration of the telescope in a static and stable state, and to calculate the tilt angles in the horizontal and vertical motor directions.

[0019] The magnetic sensor acquires triaxial magnetic sensor data, and the triaxial acceleration data is combined to calculate the deflection angle of the mirror tube relative to the magnetic south pole;

[0020] The GPS module is used to obtain the current GPS coordinates and time information of the telescope's equatorial mount.

[0021] The microcontroller controls the telescope motor to rotate to the corresponding deflection angle based on the deflection angle of the first bright celestial body relative to the telescope tube, so as to guide the telescope to point at the first bright celestial body. The user fine-tunes the telescope tube to lock the coordinates of the first bright celestial body, the second bright celestial body, and the third bright celestial body, so as to correct the telescope equatorial mount coordinates.

[0022] Optionally, the acceleration sensor of the telescope-guided positioning and correction device also includes a self-stabilization judgment module:

[0023] After the horizontal and vertical motors return to their positions based on the optocoupler information, the self-stabilization judgment module continuously acquires the acceleration sensor data to determine that the current device is in a static and stable state.

[0024] Optionally, the accelerometer of the telescope-guided positioning and correction device also includes a self-averaging calculation module for acquiring triaxial accelerometer data through multiple samplings, determining the horizontal and vertical coordinates based on the sampled data, calculating the average deviation angle in the horizontal motor direction as the horizontal motor direction tilt angle, and calculating the average deviation angle in the vertical direction as the vertical motor direction tilt angle.

[0025] Optionally, the microcontroller of the accelerometer sensor in the telescope-guided positioning correction device is also used for:

[0026] The telescope receives user commands to control its barrel, enabling it to precisely aim at the first bright celestial object and lock onto its coordinates.

[0027] Optionally, the accelerometer of the telescope-guided positioning and correction device also includes a self-calibration module:

[0028] The self-calibration module is used to initiate the telescope guidance and positioning to calibrate the telescope's equatorial coordinates after the device is turned on or receives a user microcontroller command.

[0029] The beneficial effects of this invention are:

[0030] This invention provides a telescope guidance and positioning correction method, specifically including: S101: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, and calculating the horizontal motor tilt angle and the vertical motor tilt angle; S102: acquiring three-axis magnetic sensor data, and calculating the deflection angle of the telescope tube relative to the magnetic south pole in combination with the three-axis acceleration data; S103: acquiring the current GPS coordinates and time information of the telescope equatorial mount; S104: controlling the telescope motor to rotate to the corresponding deflection angle according to the deflection angle of the first bright celestial body relative to the telescope tube orientation, so as to guide the telescope to point at the first bright celestial body, and the user fine-tunes the telescope tube to lock the coordinates of the first bright celestial body; S105: repeating S104 to lock the coordinates of the second bright celestial body and the third bright celestial body, so as to correct the coordinates of the telescope equatorial mount. This fully automated telescope guidance, positioning, and calibration method, based on accelerometers, magnetic field sensors, and GPS, calculates the telescope tube's deflection angle relative to the geomagnetic south pole during the device's self-test. Using this angle, the equatorial mount's own position feedback signal, the initial horizontal x and y angular deviations detected by the accelerometer, and the coordinate and time information obtained from the GPS module, combined with celestial data, the relative angles between the three brightest celestial objects in the current sky and the telescope tube can be calculated. Based on these relative angles, the equatorial mount controls the motor to automatically turn towards the bright celestial objects, completing a coarse positioning. After the telescope tube roughly points to the bright objects, the user can fine-tune the telescope's direction within a short time to achieve precise alignment, thus making the telescope calibration process more convenient and user-friendly. After calibration, the user can input the name of the bright celestial object to enable the telescope to automatically point at it. Attached Figure Description

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A schematic flowchart of the telescope-guided positioning and correction method provided in an embodiment of the present invention is shown;

[0033] Figure 2 A schematic diagram of the structure of the telescope guidance, positioning, and correction device provided in an embodiment of the present invention is shown;

[0034] Figure 3 A schematic diagram of the structure of the accelerometer provided in an embodiment of the present invention is shown;

[0035] Figure 4 This diagram illustrates yet another flow chart of the method provided in an embodiment of the present invention. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0038] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the descriptions of "first," "second," "third," etc., are merely for the convenience of describing different embodiments of the present invention and do not indicate or imply their relative importance.

[0039] This invention provides a telescope guidance and positioning correction method, which is applied to the telescope guidance and positioning correction device described in the following embodiments.

[0040] Figure 1 A schematic flowchart of the telescope-guided positioning and correction method provided in an embodiment of the present invention is shown.

[0041] like Figure 2 As shown, the telescope-guided positioning and correction method may include:

[0042] S101: Continuously acquire the three-axis acceleration of the telescope in a static and stable state, and calculate the tilt angles in the horizontal and vertical motor directions;

[0043] S102: Acquire triaxial magnetic sensor data and calculate the deflection angle of the lens barrel relative to the magnetic south pole by combining triaxial acceleration data;

[0044] S103: Obtain the current GPS coordinates and time information of the telescope's equatorial mount;

[0045] S104: Based on the deflection angle of the first bright celestial body relative to the telescope tube orientation, control the telescope motor to rotate to the corresponding deflection angle to guide the telescope to point at the first bright celestial body. The user can then fine-tune the telescope tube to lock the coordinates of the first bright celestial body.

[0046] S105: Repeat S104 to lock the coordinates of the second and third bright objects to correct the telescope equatorial mount coordinates.

[0047] Optionally, before S101: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, and calculating the tilt angles in the horizontal and vertical motor directions, the following may also be included:

[0048] The motor returns to its original position based on the information from the optocoupler and continuously acquires data from the acceleration sensor to determine whether the device is in a static and stable state.

[0049] Optionally, in S101: continuously acquiring the three-axis acceleration of the telescope in a static and stable state, and calculating the tilt angles in the horizontal and vertical motor directions, may further include:

[0050] Data from the triaxial accelerometer is obtained through multiple samplings. The horizontal and vertical coordinates are determined based on the sampled data. The average deviation angle in the horizontal motor direction is calculated as the tilt angle in the horizontal motor direction, and the average deviation angle in the vertical direction is calculated as the tilt angle in the vertical motor direction.

[0051] Optionally, in S104, the user fine-tunes the telescope tube to lock the coordinates of the first bright celestial object, and may also include:

[0052] Users can fine-tune the motor to drive the telescope tube to rotate, so that the telescope is precisely aimed at the first bright celestial object, and thus lock the coordinates of the first bright celestial object.

[0053] Optionally, when the detected device starts up and / or receives a microcontroller instruction, the telescope guidance and positioning is initiated to correct the telescope equatorial coordinates.

[0054] This invention also provides a telescope guidance and positioning correction device, which is applied to the telescope guidance and positioning correction method described in the foregoing embodiments.

[0055] Figure 2 A schematic diagram of the structure of the telescope guidance, positioning, and correction device provided in an embodiment of the present invention is shown.

[0056] like Figure 2 As shown, the telescope guidance and positioning correction device may include: an accelerometer, a magnetic sensor, a GPS module, and a microcontroller.

[0057] The accelerometer is used to continuously acquire the three-axis acceleration of the telescope in a static and stable state, and to calculate the tilt angles in the horizontal and vertical motor directions.

[0058] The magnetic sensor acquires triaxial magnetic sensor data, and the triaxial acceleration data is combined to calculate the deflection angle of the mirror tube relative to the magnetic south pole;

[0059] The GPS module is used to obtain the current GPS coordinates and time information of the telescope's equatorial mount.

[0060] The microcontroller is connected to the accelerometer, the magnetic sensor, and the GPS module respectively. It is used to control the telescope motor to rotate to the corresponding deflection angle according to the deflection angle of the first bright celestial object relative to the telescope tube, so as to guide the telescope to point at the first bright celestial object. The user can fine-tune the telescope tube to lock the coordinates of the first bright celestial object, the second bright celestial object, and the third bright celestial object, so as to correct the telescope equatorial mount coordinates.

[0061] Optionally, the acceleration sensor of the device may also include a self-stabilization judgment module:

[0062] After the horizontal and vertical motors return to their positions based on the optocoupler information, the self-stabilization judgment module continuously acquires the acceleration sensor data to determine that the current device is in a static and stable state.

[0063] Optionally, the acceleration sensor of the device may also include a self-averaging calculation module for:

[0064] The self-averaging calculation module is used to acquire triaxial accelerometer data through multiple samplings. Based on the sampled data, the horizontal and vertical coordinates are determined. The average deviation angle in the horizontal motor direction is calculated as the tilt angle in the horizontal motor direction, and the average deviation angle in the vertical direction is calculated as the tilt angle in the vertical motor direction.

[0065] Alternatively, the microcontroller of this device can also be used for:

[0066] The telescope receives user commands to control its barrel, enabling it to precisely aim at the first bright celestial object and lock onto its coordinates.

[0067] Optionally, the device may also include a self-calibration module:

[0068] The self-calibration module is used to initiate the telescope guidance and positioning to calibrate the telescope's equatorial coordinates after the device is turned on or receives a user microcontroller command.

[0069] Figure 3 A schematic diagram of the structure of the acceleration sensor provided in an embodiment of the present invention is shown;

[0070] like Figure 3 As shown, the acceleration sensor of this device may also include a self-stabilizing module and a self-averaging calculation module.

[0071] Specifically, after the horizontal and vertical motors return to their positions based on the optocoupler information, the self-stabilization judgment module continuously acquires the acceleration sensor data to determine that the current device is in a static and stable state.

[0072] The self-averaging calculation module is used to acquire triaxial accelerometer data through multiple samplings. Based on the sampled data, the horizontal and vertical coordinates are determined. The average deviation angle in the horizontal motor direction is calculated as the tilt angle in the horizontal motor direction, and the average deviation angle in the vertical direction is calculated as the tilt angle in the vertical motor direction.

[0073] Figure 4 Another flowchart of the method provided in an embodiment of the present invention is shown;

[0074] like Figure 4 As shown, when using a telescope for guided positioning and calibration, users can also follow these steps:

[0075] When the telescope's equatorial mount system is powered on, the motors return to their positions based on the optical coupler information. The horizontal motor is parallel to the accelerometer in the x-direction, and the vertical motor is parallel to the accelerometer in the y-direction.

[0076] The microcontroller is configured, acquires data from the accelerometer, and determines whether the current device is in a stationary and stable state. It proceeds to the next step only after detecting that the device is in a stationary and stable state.

[0077] Continuously acquire three-axis acceleration data in a static steady state 100 times, remove the 10 sets of data with the maximum and minimum values ​​for each axis, calculate the average value for each axis based on the remaining 80 sets of data, and calculate the tilt angles in the horizontal x and vertical y directions.

[0078] By acquiring data from the triaxial magnetic sensor and combining it with the tilt angles in the horizontal x and vertical y directions calculated in the previous step, the deflection angle θ of the lens barrel relative to the magnetic south pole can be calculated.

[0079] Based on the input data from the telescope's equatorial mount GPS module, analyze the current GPS coordinates and time information;

[0080] The microcontroller program calculates the angles α1 and β1 of the first bright celestial object in the sky relative to the telescope tube at this moment;

[0081] The microcontroller controls the telescope to roughly point at the first bright celestial object based on α1 and β1.

[0082] The user operates the remote control to fine-tune the telescope tube, so that the telescope is precisely aimed at the first bright celestial object, and confirms that the aiming of the first bright celestial object is complete.

[0083] The program calculates the angles α2 and β2 of the second brightest object in the sky relative to the telescope tube at this moment;

[0084] The microcontroller controls the telescope to roughly point towards the second brightest object based on α2 and β2.

[0085] The user operates the remote control to fine-tune the telescope tube, so that the telescope is precisely aligned with the second bright celestial object, and confirms that the alignment of the second bright celestial object is complete.

[0086] The program calculates the angles α3 and β3 of the second brightest object in the sky relative to the telescope tube at this moment;

[0087] The microcontroller controls the telescope to roughly point towards the third bright object based on α3 and β3.

[0088] The user operates the remote control to fine-tune the telescope tube, so that the telescope is precisely aligned with the third bright object, and confirms that the alignment of the third bright object is complete.

[0089] Complete the calibration of the telescope's equatorial mount coordinate system.

[0090] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A telescope-guided positioning and correction method, characterized in that, Includes the following steps: S101: Continuously acquire the three-axis acceleration of the telescope in a static and stable state, and calculate the tilt angles in the horizontal and vertical motor directions; S102: Acquire triaxial magnetic sensor data, and calculate the deflection angle of the mirror tube relative to the magnetic south pole by combining the tilt angle of the horizontal motor direction and the tilt angle of the vertical motor direction; S103: Obtain the current GPS coordinates and time information of the telescope's equatorial mount; S104: Based on the deflection angle of the first bright celestial body relative to the telescope tube orientation, control the telescope motor to rotate to the corresponding deflection angle to guide the telescope to point at the first bright celestial body. The user can then fine-tune the telescope tube to lock the coordinates of the first bright celestial body. S105: Repeat S104 to lock the coordinates of the second and third bright objects to correct the telescope equatorial mount coordinates.

2. The telescope guidance, positioning, and correction method according to claim 1, characterized in that, S101: Before continuously acquiring the three-axis acceleration of the telescope in a static and stable state and calculating the tilt angles in the horizontal and vertical motor directions, it also includes: The motor returns to its original position based on the information from the optocoupler and continuously acquires data from the acceleration sensor to determine whether the device is in a static and stable state.

3. The telescope guidance, positioning, and correction method according to claim 1, characterized in that, S101: Continuously acquire the three-axis acceleration of the telescope in a static and stable state, calculate the tilt angle in the horizontal motor direction and the tilt angle in the vertical motor direction, and further includes: Data from the triaxial accelerometer is obtained through multiple samplings. The horizontal and vertical coordinates are determined based on the sampled data. The average deviation angle in the horizontal motor direction is calculated as the tilt angle in the horizontal motor direction, and the average deviation angle in the vertical direction is calculated as the tilt angle in the vertical motor direction.

4. The telescope guidance, positioning, and correction method according to claim 1, characterized in that, In step S104, the user fine-tunes the telescope tube to lock the coordinates of the first bright celestial object, and also includes: Users can fine-tune the motor to drive the telescope tube to rotate, so that the telescope is precisely aimed at the first bright celestial object, and thus lock the coordinates of the first bright celestial object.

5. The telescope guidance, positioning, and correction method according to any one of claims 1-4, characterized in that, When the device is detected to be running and / or a microcontroller instruction is received, the telescope is initiated to guide positioning and correct the telescope's equatorial coordinates.

6. A telescope guidance, positioning, and correction device, characterized in that, The device includes an accelerometer, a magnetic sensor, a GPS module, and a microcontroller. The accelerometer is used to continuously acquire the three-axis acceleration of the telescope in a static and stable state, and to calculate the tilt angles in the horizontal and vertical motor directions. The magnetic sensor acquires triaxial magnetic sensor data, and calculates the deflection angle of the mirror tube relative to the magnetic south pole by combining the tilt angle of the horizontal motor direction and the tilt angle of the vertical motor direction. The GPS module is used to obtain the current GPS coordinates and time information of the telescope's equatorial mount. The microcontroller is used to control the telescope motor to rotate to the corresponding deflection angle according to the deflection angle of the first bright celestial body relative to the telescope tube orientation, so as to guide the telescope to point at the first bright celestial body. The user fine-tunes the telescope tube to lock the coordinates of the first bright celestial body, the second bright celestial body, and the third bright celestial body, so as to correct the telescope equatorial mount coordinates.

7. The telescope guidance, positioning, and correction device according to claim 6, characterized in that, The acceleration sensor also includes a self-stabilization judgment module: After the horizontal and vertical motors return to their positions based on the optocoupler information, the self-stabilization judgment module continuously acquires the acceleration sensor data to determine that the current device is in a static and stable state.

8. The telescope guidance, positioning, and correction device according to claim 6, characterized in that, The accelerometer also includes a self-averaging calculation module for: The self-averaging calculation module is used to acquire triaxial accelerometer data through multiple samplings, determine the horizontal and vertical coordinates based on the sampled data, calculate the average deviation angle in the horizontal motor direction as the horizontal motor direction tilt angle, and calculate the average deviation angle in the vertical direction as the vertical motor direction tilt angle.

9. The telescope guidance, positioning, and correction device according to claim 6, characterized in that, The microcontroller is also used for: The telescope receives user commands to control its barrel, enabling it to precisely aim at the first bright celestial object and lock onto its coordinates.

10. The telescope guidance, positioning, and correction device according to any one of claims 6-9, characterized in that, The device also includes a self-calibration module: The self-calibration module is used to initiate the telescope guidance and positioning to calibrate the telescope's equatorial coordinates after the device is turned on or receives a user microcontroller command.

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