A fully automatic space target optoelectronic observation station center control method and system

Abstract

The present invention discloses a central control method and system for a fully automatic space target photoelectric observation station. The method comprises: planning observation tasks and generating a task list according to the task target sky area and task time in the observation instruction; confirming whether the station environmental conditions support the station to perform the observation task; selecting the observation task that is ranked first in the time sequence of the observation task list, taking the cloud amount image of the target sky area by a cloud image camera, giving the cloud amount information of the sky area, and deciding whether to perform the observation task of reading the sky area. If the cloud amount situation cannot meet the observation conditions, the task is adjusted to the end of the observation task list, and the next target sky area is judged; for the observation tasks whose target sky area meets the observation conditions, the execution mechanism is controlled to cooperate with each other to perform observation, and the original image of the target sky area is taken and stored. The present invention can avoid taking images of clouds blocking the field of view, prolong the effective observation time of the photoelectric observation station, and improve the observation efficiency of the photoelectric observation station.

Description

Technical Field

[0001] The present invention relates to the field of optical observation of space targets, and in particular to a full-automatic space target optoelectronic observation station center control method and system. Background Art

[0002] Optoelectronic observation is a means of monitoring space targets by passively receiving visible light energy from the target to obtain high-precision angle measurement information of the target and determine the orbit of the space target. It has better concealment than radar bands.

[0003] Since optoelectronic observation stations utilize energy in the visible light band, the observation attendance rate is easily affected by factors such as meteorological conditions and optical conditions around the station. The station site needs to be far away from cities and other areas with severe light pollution. Professional personnel are needed to plan tasks based on real-time weather conditions around the station and operate turntables, domes, cameras and other actuators to complete observation tasks.

[0004] The existing technology lacks a central control method for optoelectronic observation stations that can plan observation tasks according to the mission sky area, combine environmental factors such as real-time weather conditions and optical conditions around the station, avoid sky areas with unsuitable observation conditions, and automatically control the station's actuators to complete the observation task. Summary of the invention

[0005] The purpose of the present invention is to provide a fully automatic space target optoelectronic observation station central control method and system, which can effectively avoid taking images with clouds blocking the field of view, extend the effective observation time of the optoelectronic observation station, and improve the observation efficiency of the optoelectronic observation station.

[0006] In order to achieve the above objectives, the present invention is implemented by the following technical solutions:

[0007] A fully automatic space target optoelectronic observation station center control method comprises the following steps:

[0008] S1, according to the mission requirements of the mission target sky area and mission time, combined with the geographical location of the station and the field of view of the telescope, the mission plan is carried out, the mission time nodes and the telescope should be pointed in time sequence are given, and the task list is generated;

[0009] S2, obtain the station's surrounding environment information to confirm whether the station's environmental conditions support the station's observation mission;

[0010] S3, selecting the observation task that is ranked first in the time sequence of the observation task list, taking a cloud image of the target sky area with a cloud camera, giving the cloud information of the sky area, and deciding whether to execute the observation task of the sky area. If the cloud cover does not meet the observation conditions, the task is adjusted to the end of the observation task list, and the next target sky area is judged;

[0011] S4, for the observation task where the target sky area meets the observation conditions, control the actuators to cooperate with each other to perform observation, take the original image of the target sky area and store it;

[0012] S5, repeat steps S3 to S4 until all observation tasks are completed.

[0013] Furthermore, the step S1 further comprises:

[0014] S11, grid the entire sky area according to the type of the station turntable fork arm and the telescope field of view to ensure that there are no gaps in the telescope field of view in adjacent sky areas;

[0015] S12, selecting the direction of the telescope whose field of view covers the target sky area, to ensure that the telescope covers the target sky area;

[0016] S13, dividing the start and end time nodes of each task according to the number of tasks and the total task time;

[0017] S14, judging whether each field of view is affected by moonlight according to the station position, the observation task time information and the solar system ephemeris, and adjusting the order of the observation tasks affected by moonlight;

[0018] S15, generating an observation task list according to the time series;

[0019] S16, writing the direction of the station when observing the target sky area into the database.

[0020] Furthermore, the step S2 further comprises:

[0021] S21, according to the observation task time sequence given by the task planning subsystem, when approaching the earliest observation task to be started, reading the data obtained by the meteorological instrument;

[0022] S22, judging whether the following conditions are met at the same time based on the data from the meteorological instrument: no rainfall, current wind speed is less than the safe wind speed, ambient temperature is higher than the dew point temperature, and sky background brightness meets the observation requirements;

[0023] S23, execute observation task initialization action.

[0024] Furthermore, the step S3 further comprises:

[0025] S31, reading the observation task information that is ranked first in the task list, including the start time of the observation task, the azimuth angle and altitude angle pointing to the target sky area, etc.;

[0026] S32, controlling the cloud image camera to capture a cloud image of the target sky area;

[0027] S33, according to the sky area covered by the field of view of the telescope, a corresponding area in the image taken by the cloud camera is selected, and the task decision subsystem determines whether there is cloud cover blocking the field of view in the area;

[0028] S34, if the cloud covers the field of view, the observation task is adjusted to the end of the task list, and all observation tasks are adjusted forward by one time node. If the task is moved to the end of the list more than 3 times, the observation task is cancelled.

[0029] Furthermore, the step S4 further comprises:

[0030] S41, the actuator control subsystem sends a command pointing to the target sky area to the turntable according to the agreed communication protocol;

[0031] S42, collecting turntable azimuth data at a certain frequency, and the actuator control subsystem sends it to the dome according to the agreed communication protocol to ensure that the direction of the dome skylight is aligned with the pointing direction of the telescope lens;

[0032] S43, after the telescope points to the target sky area, the actuator control subsystem controls the image acquisition software to capture the target sky area image according to the agreed communication protocol, and the captured image is saved to the hard disk. After the observation is completed, the status of the observation task is modified to "completed" and removed from the observation list.

[0033] A fully automatic space target optoelectronic observation station central control system, comprising:

[0034] The mission planning subsystem is used to plan the mission according to the mission target sky area and mission time required by the mission, combined with the geographical location of the station and the field of view of the telescope, and provide the mission time nodes and the telescope direction arranged in time sequence to generate a task list;

[0035] The environmental perception subsystem is used to obtain the station's surrounding environment information and confirm whether the station's environmental conditions support the station's observation mission;

[0036] The task decision subsystem is used to select the observation task that is ranked first in the time series of the observation task list, and use the cloud camera to take a cloud image of the target sky area, give the cloud information of the sky area, and decide whether to execute the observation task of the sky area. If the cloud cover cannot meet the observation conditions, the task will be adjusted to the end of the observation task list, and the next target sky area will be judged;

[0037] The actuator control subsystem is used to control the actuators to cooperate with each other to carry out observations, capture original images of the target sky area and store them.

[0038] Furthermore, the environmental sensing subsystem includes: one or more of a meteorological instrument, a raindrop sensor or a skylight instrument.

[0039] Furthermore, the actuator includes: one or more of a turntable, a dome or a camera.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] The unmanned optoelectronic monitoring stations for space targets are equipped with autonomous mission planning and environmental perception capabilities. The system can dynamically and adaptively adjust the task sequence according to environmental factors, and can automatically conduct effective observations of cloudless sky areas on cloudy observation nights, thereby improving the observation efficiency of unmanned optical fiber stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 The present invention is a flow chart of a fully automatic space target optoelectronic observation station center control method. DETAILED DESCRIPTION

[0043] The present invention will be further described below by describing a preferred specific embodiment in detail in conjunction with the accompanying drawings.

[0044] like Figure 1 As shown, a fully automatic space target optoelectronic observation station center control method includes the following steps:

[0045] S1, according to the mission requirements of the mission target sky area and mission time, combined with the geographical location of the station and the field of view of the telescope, the mission plan is carried out, the mission time nodes and the telescope should be pointed in time sequence are given, and the task list is generated;

[0046] S2, obtain the station's surrounding environment information to confirm whether the station's environmental conditions support the station's observation mission;

[0047] S3, selecting the observation task that is ranked first in the time sequence of the observation task list, taking a cloud image of the target sky area with a cloud camera, giving the cloud information of the sky area, and deciding whether to execute the observation task of the sky area. If the cloud cover does not meet the observation conditions, the task is adjusted to the end of the observation task list, and the next target sky area is judged;

[0048] S4, for the observation task where the target sky area meets the observation conditions, control the actuators to cooperate with each other to perform observation, take the original image of the target sky area and store it;

[0049] S5, repeat steps S3 to S4 until all observation tasks are completed.

[0050] Furthermore, the step S1 further comprises:

[0051] S11: Grid the entire sky area according to the type of the station turntable fork arm and the telescope field of view to ensure that there are no gaps in the telescope field of view in adjacent sky areas; specifically:

[0052] The number of observations required for the telescope to cover the rings at different altitude angles is

[0053]

[0054] Where φ is the altitude angle at which the telescope is pointing, and fov is the field of view angle of the telescope;

[0055] At the same altitude, to ensure that there is no gap between the fields of view, the telescope pointing azimuth angle is stepped at each time:

[0056]

[0057] Where i is the number of times the telescope steps fov° in the altitude angle direction.

[0058] S12, selecting the telescope direction whose field of view covers the target sky area to ensure the telescope covers the target sky area; specifically:

[0059] For each telescope field of view obtained by division, take the azimuth and elevation angles of its four corners, obtain the coverage of the field of view in the Earth-fixed coordinate system according to the coordinate system transformation matrix, and compare it with the target sky area, retain the observation field of view involving the target sky area, record the direction of the telescope in the observation field of view as the pointing information of the observation task in the task list, and assign a task number to the task.

[0060] S13, dividing the start and end time nodes of each task according to the number of tasks and the total task time;

[0061] S14, judging whether each field of view is affected by moonlight according to the station position, the observation task time information and the solar system ephemeris, and adjusting the order of the observation tasks affected by moonlight;

[0062] According to the solar system ephemeris, the position of the moon relative to the earth at each observation mission time is calculated and converted to the station center coordinate system. The conversion relationship is:

[0063] R sta =(EP)(ER)(NR)(PR)r-R0

[0064] Among them, r is the position of the moon in the J2000 mean equatorial coordinate system, which is multiplied by the precession, nutation, rotation, and polar motion coordinate transformation matrices in sequence. R0 is the position of the station in the earth fixed system, and the azimuth and elevation angles of the moon relative to the monitoring station are calculated. Calculate the distance to the edge of the telescope's field of view to verify whether it is less than the moonlight avoidance angle.

[0065] S15, generating an observation task list according to the time series;

[0066] S16, writing the direction of the station when observing the target sky area into the database.

[0067] Furthermore, the step S2 further comprises:

[0068] S21, according to the observation task time sequence given by the task planning subsystem, when approaching the earliest observation task to be started, reading the data obtained by the meteorological instrument;

[0069] S22, judging whether the following conditions are met at the same time based on the data from the meteorological instrument: no rainfall, current wind speed is less than the safe wind speed, ambient temperature is higher than the dew point temperature, and sky background brightness meets the observation requirements;

[0070] S23, when all the above conditions are met, the observation task initialization action is performed, and the initialization action includes: opening the dome skylight, opening the lens cover, turning on the dome follow-up, aligning the telescope with the dome skylight, and automatically focusing the telescope.

[0071] Calculate the condensation temperature in the current environment according to the dew point formula:

[0072]

[0073]

[0074] Where T is the current ambient temperature, RH is the current ambient relative humidity, a = 17.27, b = 237.7. The condensation temperature of the current environment is calculated. If the condensation temperature is lower than the current temperature, it means that opening the dome skylight in the current environment will cause condensation on the surface of the telescope. For the purpose of protecting the equipment, the dome skylight should be kept closed; if the condensation temperature is higher than the current temperature and other conditions also meet the corresponding constraints, the dome skylight can be opened and the station can perform observation tasks.

[0075] Furthermore, the step S3 further comprises:

[0076] S31, reading the observation task information that is ranked first in the task list, including the start time of the observation task, the azimuth angle and altitude angle pointing to the target sky area, etc.;

[0077] S32, controlling the cloud image camera to capture a cloud image of the target sky area;

[0078] S33, according to the sky area covered by the field of view of the telescope, a corresponding area in the image taken by the cloud camera is selected, and the task decision subsystem determines whether there is cloud cover blocking the field of view in the area;

[0079] According to the actual calibrated installation relationship of the cloud camera, determine the azimuth and elevation angle of each pixel of the cloud camera image corresponding to the sky area relative to the telescope station center coordinate system, select the image range corresponding to the mission target sky area, read the gray value of each pixel, compare it with the reference gray value, and determine pixel by pixel whether there is cloud cover in the area. When the cover range exceeds 50%, it is determined that the task cannot be executed at present. When the cover range does not exceed 50%, it is determined that the task can be executed;

[0080] S34, if the cloud covers the field of view, the observation task is adjusted to the end of the task list, and all observation tasks are adjusted forward by one time node. If the task is moved to the end of the list more than 3 times, the observation task is cancelled.

[0081] Furthermore, the step S4 further comprises:

[0082] S41, the actuator control subsystem sends a command pointing to the target sky area to the turntable according to the agreed communication protocol;

[0083] S42, collects the turntable azimuth data at a certain frequency (such as 1 Hz), and the actuator control subsystem sends it to the dome according to the agreed communication protocol to ensure that the direction of the dome skylight is aligned with the direction of the telescope lens to avoid the dome blocking the telescope's field of view; the central control system determines the movement state of the turntable through the information fed back by the turntable, and when the turntable reaches the target position, it sends a command to the turntable to maintain the direction.

[0084] S43, after the telescope points to the target sky area, the actuator control subsystem controls the image acquisition software to capture the target sky area image according to the agreed communication protocol, and the captured image is saved to the hard disk. After the observation is completed, the status of the observation task is modified to "completed" and removed from the observation list.

[0085] The actuator control subsystem controls the image acquisition software according to the agreed communication protocol, configures the camera's exposure time, gain, bias and other parameters, and sets the storage path for the captured images and other commands. At the same time, the latest pointing information of the turntable is sent to the image acquisition module so that the image acquisition module can write the turntable status information during observation into the header file of the captured image. After completing the parameter setting, the actuator control subsystem sends the "start taking pictures" command to the image acquisition module, and passes the number of shots and other information as parameters to the image acquisition module. After the image acquisition module completes taking pictures and stores the images according to the pre-set storage path, it feedbacks the status of this module, and the central control system modifies the status of the observation task to "observation completed".

[0086] A fully automatic space target optoelectronic observation station central control system, comprising:

[0087] The mission planning subsystem is used to plan the mission according to the mission target sky area and mission time required by the mission, combined with the geographical location of the station and the field of view of the telescope, and provide the mission time nodes and the telescope direction arranged in time sequence to generate a task list;

[0088] The environmental perception subsystem is used to obtain the station's surrounding environment information and confirm whether the station's environmental conditions support the station's observation mission;

[0089] The task decision subsystem is used to select the observation task that is ranked first in the time series of the observation task list, and use the cloud camera to take a cloud image of the target sky area, give the cloud information of the sky area, and decide whether to execute the observation task of the sky area. If the cloud cover cannot meet the observation conditions, the task will be adjusted to the end of the observation task list, and the next target sky area will be judged;

[0090] The actuator control subsystem is used to control the actuators to cooperate with each other to carry out observations, capture original images of the target sky area and store them.

[0091] In a specific embodiment, the environment sensing subsystem includes: one or more of a meteorological instrument, a raindrop sensor or a skylight instrument.

[0092] In a specific embodiment, the actuator includes: one or more of a turntable, a dome or a camera.

[0093] In summary, the present invention provides a fully automatic space target optoelectronic observation station central control method and system, which can effectively avoid taking images with clouds blocking the field of view, extend the effective observation time of the optoelectronic observation station, and improve the observation efficiency of the optoelectronic observation station.

[0094] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be appreciated that the above description should not be considered as a limitation of the present invention. After reading the above content, it will be apparent to those skilled in the art that various modifications and substitutions of the present invention will occur. Therefore, the protection scope of the present invention should be limited by the appended claims.

Claims

1. A fully automatic space target optoelectronic observation station center control method, characterized in that: The steps include: S1, according to the mission requirements of the mission target sky area and mission time, combined with the geographical location of the station and the field of view of the telescope, the mission plan is carried out, the mission time nodes and the telescope should be pointed in time sequence are given, and the task list is generated; The step S1 further comprises: S11, grid the entire sky area according to the type of the station turntable fork arm and the telescope field of view to ensure that there are no gaps in the telescope field of view in adjacent sky areas; S12, selecting the direction of the telescope whose field of view covers the target sky area, to ensure that the telescope covers the target sky area; S13, dividing the start and end time nodes of each task according to the number of tasks and the total task time; S14, judging whether each field of view is affected by moonlight according to the station position, the observation task time information and the solar system ephemeris, and adjusting the order of the observation tasks affected by moonlight; S15, generating an observation task list according to the time series; S16, writing the direction of the station when observing the target sky area into the database; S2, obtain the station's surrounding environment information to confirm whether the station's environmental conditions support the station's observation mission; S3, selecting the observation task that is ranked first in the time sequence of the observation task list, taking a cloud image of the target sky area with a cloud camera, giving the cloud information of the sky area, and deciding whether to execute the observation task of the sky area. If the cloud cover does not meet the observation conditions, the task is adjusted to the end of the observation task list, and the next target sky area is judged; S4, for the observation task where the target sky area meets the observation conditions, control the actuators to cooperate with each other to perform observation, take the original image of the target sky area and store it; S5, repeat steps S3 to S4 until all observation tasks are completed.

2. The fully automatic space target optoelectronic observation station center control method according to claim 1, characterized in that: The step S2 further comprises: S21, according to the observation task time sequence given by the task planning subsystem, when approaching the earliest observation task to be started, reading the data obtained by the meteorological instrument; S22, judging whether the following conditions are met at the same time based on the data from the meteorological instrument: no rainfall, current wind speed is less than the safe wind speed, ambient temperature is higher than the dew point temperature, and sky background brightness meets the observation requirements; S23: If step S22 is satisfied, the observation task initialization action is performed.

3. The fully automatic space target optoelectronic observation station center control method according to claim 1, characterized in that: The step S3 further comprises: S31, reading the observation task information that is ranked first in the task list, including the start time of the observation task, the azimuth angle and the altitude angle pointing to the target sky area; S32, controlling the cloud image camera to capture a cloud image of the target sky area; S33, according to the sky area covered by the field of view of the telescope, a corresponding area in the image taken by the cloud camera is selected, and the task decision subsystem determines whether there is cloud cover blocking the field of view in the area; S34, if the cloud covers the field of view, the observation task is adjusted to the end of the task list, and all observation tasks are adjusted forward by one time node. If the task is moved to the end of the list more than 3 times, the observation task is cancelled.

4. The fully automatic space target optoelectronic observation station center control method according to claim 1, characterized in that: The step S4 further comprises: S41, the actuator control subsystem sends a command pointing to the target sky area to the turntable according to the agreed communication protocol; S42, collecting turntable azimuth data at a certain frequency, and the actuator control subsystem sends it to the dome according to the agreed communication protocol to ensure that the direction of the dome skylight is aligned with the pointing direction of the telescope lens; S43, after the telescope points to the target sky area, the actuator control subsystem controls the image acquisition software to capture the target sky area image according to the agreed communication protocol, and the captured image is saved to the hard disk. After the observation is completed, the status of the observation task is modified to "completed" and removed from the observation task list.

5. A fully automatic space target optoelectronic observation station central control system, used to execute the method according to any one of claims 1 to 4, characterized in that: include: The mission planning subsystem is used to plan the mission according to the mission target sky area and mission time required by the mission, combined with the geographical location of the station and the field of view of the telescope, and provide the mission time nodes and the telescope direction arranged in time sequence to generate a task list; The environmental perception subsystem is used to obtain the station's surrounding environment information and confirm whether the station's environmental conditions support the station's observation mission; The task decision subsystem is used to select the observation task that is ranked first in the time series of the observation task list, and use the cloud camera to take a cloud image of the target sky area, give the cloud information of the sky area, and decide whether to execute the observation task of the sky area. If the cloud cover cannot meet the observation conditions, the task will be adjusted to the end of the observation task list, and the next target sky area will be judged; The actuator control subsystem is used to control the actuators to cooperate with each other to carry out observations, capture original images of the target sky area and store them.

6. The fully automatic space target optoelectronic observation station central control system according to claim 5, characterized in that: The environmental sensing subsystem includes: one or more of a meteorological instrument, a raindrop sensor or a skylight instrument.

7. The fully automatic space target optoelectronic observation station central control system according to claim 5, characterized in that: The actuator includes: one or more of a turntable, a dome or a camera.

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