A flexible self-calibration method for an astronomical telescope fiber position measurement camera

Abstract

The application discloses a flexible self-calibration method of an astronomical telescope optical fiber position measurement camera, and is applied to the field of precise astronomical telescope instruments.In the application, a dynamic reference unit for camera calibration is first selected, the dynamic reference unit comprises a dynamic reference optical fiber, then the dynamic reference optical fiber is controlled to return to a motion zero point, and zero position coordinates of the dynamic reference optical fiber are measured and stored in an upper computer.According to the requirement of the camera calibration, a target number of the dynamic reference optical fibers are selected as calibration reference points after returning to zero on a focal plane to form a flexible self-calibration target.The distribution position and number of the calibration reference points can be flexibly changed according to the requirement of the camera calibration accuracy, can be well adapted to the change of a camera calibration environment, can not occupy installation hole positions of observation optical fibers, and can realize the improvement of the calibration accuracy of the camera while not affecting the observation efficiency of the telescope.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of precise astronomical telescope instrument technology, and particularly relates to a flexible self-calibration method and device for an astronomical telescope optical fiber position measurement camera, an electronic device and a storage medium. BACKGROUND

[0002] In a multi-target optical fiber spectrum telescope, an optical fiber positioning system can arrange observation optical fibers to a specified position on a focal plane, and then the optical fibers send starlight from a remote celestial body into a spectrometer for spectral analysis. In order to make the observation optical fibers receive as much starlight energy as possible, the optical fiber positioning system must ensure that the observation optical fibers can be accurately positioned to the specified position on the focal plane. Therefore, it is necessary to accurately measure the position of the optical fiber. Taking the LAMOST (Large Sky Area Multi-Object Fiber Spectroscopic Telescope) as an example, it is a new type of large-aperture telescope with a large field of view. The LAMOST adopts a parallel controllable optical fiber positioning technology, and 4000 optical fibers are arranged on a 1.75-meter-diameter focal plane panel in a 5-degree field of view to simultaneously obtain the spectra of 4000 celestial bodies. In order to ensure the high-precision positioning of the optical fibers, the optical fiber positioning system adopts a walking method of “primary positioning + multiple position compensation”, that is, after the optical fiber positioning unit completes the first blind movement of the optical fiber according to the position of the celestial body target, the camera measures the actual position reached by the optical fiber, and feeds back the position error to the upper computer as the number of steps of the compensation movement. Generally, after 2-3 times of position compensation movement, the positioning accuracy of the optical fiber can be ensured, and therefore the measurement accuracy of the position of the optical fiber will directly affect the positioning accuracy of the optical fiber.

[0003] The technical solution currently adopted by the LAMOST for measuring the position of the optical fiber mainly installs a specially designed reference optical fiber unit on the focal plane. A plurality of reference optical fibers are installed on the top of the reference optical fiber unit, and a target ball of a laser tracker can also be installed on the top of the reference optical fiber unit, and it is approximately considered that the position of the target ball coincides with the position of the optical fiber. The position coordinates of the target balls are measured by the laser tracker, the coordinates of the target balls are regarded as the theoretical positions of the reference optical fibers, and the reference optical fibers are used to calibrate the camera. Since the reference optical fiber unit needs to share the mounting hole of the focal plane panel with the observation optical fibers, in order to ensure the calibration accuracy of the camera to the position of the optical fiber, the number of the reference optical fiber units required is at least hundreds, which also means that the reference optical fiber units will greatly occupy the mounting holes of the observation optical fibers, which is equivalent to losing the same number of observation optical fibers as the reference optical fiber units, and greatly reduces the observation efficiency of the telescope. SUMMARY

[0004] Therefore, the embodiments of the present application provide a flexible self-calibration method and device for an astronomical telescope optical fiber position measurement camera, an electronic device and a storage medium, which aims to improve the calibration accuracy of the camera without affecting the observation efficiency of the telescope.

[0005] In a first aspect, the embodiments of the present application provide a flexible self-calibration method of an astronomical telescope fiber position measurement camera, applied to an astronomical telescope fiber position measurement camera, and the method comprises the following steps:

[0006] A dynamic reference unit is selected for camera calibration, and the dynamic reference unit comprises a dynamic reference fiber;

[0007] The dynamic reference fiber is subjected to zero position calibration, and the dynamic reference fiber after the zero position calibration is determined as a reference point;

[0008] A target number of reference points are selected as calibration feature points according to the calibration requirement;

[0009] A flexible self-calibration target is established by using the calibration feature points to perform the calibration operation.

[0010] Optionally, the zero position calibration of the dynamic reference fiber and the determination of the dynamic reference fiber after the zero position calibration as a reference point comprise the following steps:

[0011] The dynamic reference fiber is controlled to return to a zero position point;

[0012] The coordinates of the zero position point are measured by a fiber position scanning measurement platform to perform the zero position calibration;

[0013] The dynamic reference fiber after the zero position calibration is determined as a reference point.

[0014] Optionally, after the dynamic reference fiber is controlled to return to the corresponding zero position point, the method further comprises the following steps:

[0015] The three-dimensional coordinates of the zero position point of the dynamic reference fiber are measured;

[0016] The three-dimensional coordinates of the zero position point are fitted to obtain a curved surface equation of a focal plane;

[0017] A focal plane world coordinate system is established based on the curved surface equation.

[0018] Optionally, the calibration operation by using the calibration feature points to establish a flexible self-calibration target comprises the following steps:

[0019] The extrinsic parameters of a camera are calculated based on the flexible self-calibration target;

[0020] The intrinsic parameters and the extrinsic parameters of the camera are calibrated, and the intrinsic parameters and the extrinsic parameters are parameters of the camera;

[0021] An observed fiber on a focal plane board is photographed by using the camera to obtain image coordinates of the observed fiber;

[0022] convert the image coordinates into the initial coordinates of the observation fiber in the focal plane world coordinate system based on the curved surface equation of the focal plane and the parameters of the camera;

[0023] processing the initial coordinates of the observation fiber to obtain the processed camera parameters and the initial coordinates of the observation fiber, and completing the calibration.

[0024] Optionally, the processing of the initial coordinates to obtain the processed camera parameters and the initial coordinates includes:

[0025] establishing a bundle adjustment model, inputting the camera intrinsic parameters, the extrinsic parameters, the coordinates of the dynamic reference fiber after the zero position calibration, and the initial coordinates of the observation fiber into the bundle adjustment model as adjustment parameters for processing to obtain the processed camera parameters and the initial coordinates.

[0026] Optionally, the conversion of the image coordinates into the initial coordinates of the observation fiber in the focal plane world coordinate system includes:

[0027] based on the intrinsic parameters of the camera, the extrinsic parameters, and the image coordinates of the observation fiber, establishing a projection collinear equation corresponding to the projection of the observation fiber from the focal plane to the camera image plane;

[0028] simultaneously solving the curved surface equation of the focal plane and the projection collinear equation to calculate the initial coordinates of the observation fiber in the focal plane world coordinate system.

[0029] Optionally, the method further includes:

[0030] measuring the two-dimensional coordinates of the zero position of the dynamic reference fiber and performing the zero position calibration;

[0031] determining the dynamic reference fiber after the zero position calibration as a two-dimensional reference point.

[0032] based on the two-dimensional reference points to form a two-dimensional calibration target;

[0033] using the two-dimensional calibration target and a polynomial calibration model to perform the calibration operation.

[0034] In a second aspect, the embodiments of the present application provide a flexible self-calibration device for an astronomical telescope fiber position measurement camera, which is applied to an astronomical telescope fiber position measurement camera, and the device includes a first selection module, a calibration module, a second selection module, and a calibration module.

[0035] The first selection module is configured to select a dynamic reference unit for calibration, and the dynamic reference unit includes a dynamic reference fiber.

[0036] The calibration module is configured to perform zero calibration on the dynamic reference fiber, and determine the dynamic reference fiber after the zero calibration as a reference point.

[0037] The second selecting module is configured to select a target number of the reference points as calibration feature points according to a calibration requirement.

[0038] The calibration module is configured to perform the calibration by using the calibration feature points to establish a flexible self-calibration target.

[0039] In a third aspect, an electronic device is provided, and the device comprises a processor, a memory, and a system bus.

[0040] The processor and the memory are connected through the system bus.

[0041] The memory is configured to store one or more programs, and the one or more programs comprise instructions which, when executed by the processor, cause the processor to perform the method of the first aspect.

[0042] In a fourth aspect, a computer storage medium is provided, and the computer storage medium stores codes, and when the codes are executed, a device running the codes implements the method of any one of the first aspect.

[0043] The application provides a flexible self-calibration method and device of an astronomical telescope fiber position measurement camera, an electronic device and a storage medium, and the method is applied to the astronomical telescope fiber position measurement camera. When the method is executed, first, a dynamic reference unit for calibration is selected, the dynamic reference unit includes a dynamic reference fiber, then zero position calibration is performed on the dynamic reference fiber, the dynamic reference fiber after the zero position calibration is determined as a reference point, and a target number of reference points are selected as feature points according to the calibration requirement. Finally, the calibration target is established by using the feature points to perform the calibration operation. In this way, some fiber positioning units are selected as dynamic reference units, and the fibers carried by the dynamic reference units become dynamic reference fibers. The dynamic reference fibers return to zero positions as feature points in camera calibration, and a focal plane three-dimensional flexible self-calibration target is constructed. Then, a camera self-calibration adjustment model is established, the camera parameters, the dynamic reference fiber positions and the observed fiber positions are taken as adjustment parameters, and the adjustment model is calculated, finally, accurate camera parameters and three-dimensional coordinates of the observed fibers are obtained, and the camera self-calibration is completed. Since the installation hole positions of the observed fibers are not occupied in the process, the efficiency of the telescope observation is not affected. At the same time, the dynamic reference fibers after returning to zero are used as reference points to ensure the accuracy of the reference point coordinates, and then a set of focal plane three-dimensional flexible self-calibration targets are constructed by using the high-precision dynamic reference points. The distribution shape and position of the feature points can be flexibly changed according to the camera calibration accuracy requirement, and the change of the camera calibration environment can be well adapted, so that the camera calibration accuracy is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0044] To make the technical solutions in the present application or prior art clearer, the accompanying drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the accompanying drawings in the following description are only some embodiments of the present application, and other accompanying drawings can be obtained by those skilled in the art without any creative effort.

[0045] Figure 1 A schematic diagram of a mechanical structure of a fiber positioning unit provided by the embodiment of the present application;

[0046] Figure 2 A schematic diagram of a fiber positioning principle provided by the embodiment of the present application;

[0047] Figure 3 A flowchart of a flexible self-calibration method of an astronomical telescope fiber position measurement camera provided by the embodiment of the present application;

[0048] Figure 4 A flowchart of a calibration method using a calibration target provided by the embodiment of the present application;

[0049] Figure 5A structural schematic diagram of a flexible self-calibration device of an astronomical telescope fiber position measurement camera provided by an embodiment of the present application is shown in the figure.

[0050] Figure 6 A flowchart of a camera calibration method in an application scenario provided by an embodiment of the present application is shown in the figure.

[0051] Figure 7 A schematic diagram of a dynamic reference fiber distribution on a focal plane provided by an embodiment of the present application is shown in the figure.

[0052] Figure 8 A structural schematic diagram of a focal plane plate provided by an embodiment of the present application is shown in the figure.

[0053] Figure 9 A schematic diagram of a calibration target assembly provided by an embodiment of the present application is shown in the figure.

[0054] Figure 10 A schematic diagram of solving initial coordinates of observation fibers provided by an embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the scope of protection of the present application.

[0056] In the present application, the terms “comprise”, “contain” or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement “comprises a…” does not exclude the presence of another identical element in the process, method, article or device comprising the element.

[0057] In the research of related technologies, it is found that in order to realize high-precision calibration of the fiber position measurement camera, measurement reference fibers need to be installed on the focal plane plate, and the reference fibers need to share the installation hole positions on the focal plane plate with the observation fibers. The number of installation hole positions is fixed, and the installation of reference fibers will greatly affect the number of observation fibers, greatly affecting the observation efficiency of the telescope.

[0058] Based on this, this application proposes a flexible self-calibration method, device, electronic equipment, and storage medium for an astronomical telescope fiber optic position measurement camera. It can select some fiber optic positioning units to act as dynamic reference units, with the fiber optic cable carried by each dynamic reference unit becoming the dynamic reference fiber. The dynamic reference fiber returns to its zero position as a feature point in camera calibration, completing the construction of a three-dimensional flexible self-calibration target for the focal plane. Then, an adjustment model for camera self-calibration is established, and the camera parameters, the position of the dynamic reference fiber, and the position of the observation fiber are substituted into the adjustment model as adjustment parameters for calculation. Finally, accurate camera parameters and the three-dimensional coordinates of the observation fiber are obtained, completing the camera self-calibration. This avoids the aperture occupation caused by the installation of feature-designed reference fiber units in existing technologies, thus improving the camera calibration accuracy without affecting the telescope's observation efficiency.

[0059] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0060] In the camera calibration method provided in this application, a certain number of fiber optic positioning units need to be selected on the focal plane as dynamic reference units for camera calibration. The dynamic reference fiber that returns to zero position is used as a feature point in camera calibration, and a set of flexible self-calibration targets on the focal plane is constructed, which can be used for online calibration of fiber optic measurement cameras.

[0061] First, let's introduce the fiber optic positioning unit mentioned above. Figure 1 A schematic diagram of the mechanical structure of an optical fiber positioning unit provided in an embodiment of this application is shown below. Figure 1 As shown, the mechanical structure of the fiber optic positioning unit mainly includes a central shaft 10, an eccentric shaft 20, an eccentric shaft rotation zero-position detection point 30, a central shaft movement zero-position detection point 40, and an observation fiber 50. The observation fiber 50 is installed on the fiber optic frame. When the central shaft 10 or the eccentric shaft 20 touches its respective zero-position detection point during rotation, it will stop immediately. The positional accuracy of the zero point is guaranteed by the mechanical structure of the fiber optic positioning unit.

[0062] The fiber optic positioning principle of the fiber optic positioning unit will be introduced next. Figure 2 This is a schematic diagram of an optical fiber positioning principle provided in an embodiment of this application, as shown below. Figure 2As shown in (a) of FIG. 1, the principle of the fiber positioning is a double rotation movement form, the rotation angle of the central shaft 10 is 360°, and the rotation angle of the eccentric shaft 20 is 180°. Through the rotation of the central shaft 10 and the eccentric shaft 20, the observation fiber 50 can be positioned at any position within a circle with a diameter of 33 mm. During the observation of the telescope, the observation fiber 50 can move to other positions to track celestial targets. As shown in (b) of FIG. 1, when the fiber positioning unit is installed on the focal plane panel, the position of the observation fiber zero point 60 relative to the focal plane is fixed, and when the camera is calibrated, the observation fiber 50 can return to the observation fiber zero point 60 as a dynamic reference point. As shown in (c) of FIG. 1, it is a schematic diagram of the observation fiber 50 returning to the zero point. Figure 2 As shown in (a) of FIG. 1, the principle of the fiber positioning is a double rotation movement form, the rotation angle of the central shaft 10 is 360°, and the rotation angle of the eccentric shaft 20 is 180°. Through the rotation of the central shaft 10 and the eccentric shaft 20, the observation fiber 50 can be positioned at any position within a circle with a diameter of 33 mm. During the observation of the telescope, the observation fiber 50 can move to other positions to track celestial targets. As shown in (b) of FIG. 1, when the fiber positioning unit is installed on the focal plane panel, the position of the observation fiber zero point 60 relative to the focal plane is fixed, and when the camera is calibrated, the observation fiber 50 can return to the observation fiber zero point 60 as a dynamic reference point. As shown in (c) of FIG. 1, it is a schematic diagram of the observation fiber 50 returning to the zero point. Figure 2 As shown in (a) of FIG. 1, the principle of the fiber positioning is a double rotation movement form, the rotation angle of the central shaft 10 is 360°, and the rotation angle of the eccentric shaft 20 is 180°. Through the rotation of the central shaft 10 and the eccentric shaft 20, the observation fiber 50 can be positioned at any position within a circle with a diameter of 33 mm. During the observation of the telescope, the observation fiber 50 can move to other positions to track celestial targets. As shown in (b) of FIG. 1, when the fiber positioning unit is installed on the focal plane panel, the position of the observation fiber zero point 60 relative to the focal plane is fixed, and when the camera is calibrated, the observation fiber 50 can return to the observation fiber zero point 60 as a dynamic reference point. As shown in (c) of FIG. 1, it is a schematic diagram of the observation fiber 50 returning to the zero point.

[0063] Figure 3 A flowchart of a flexible self-calibration method of an astronomical telescope fiber position measurement camera provided by the embodiment is shown in FIG. 1, and a flexible self-calibration method of an astronomical telescope fiber position measurement camera provided by the embodiment is applied to an astronomical telescope fiber position measurement camera. The method comprises the following steps. Figure 3 As shown in (a) of FIG. 1, the principle of the fiber positioning is a double rotation movement form, the rotation angle of the central shaft 10 is 360°, and the rotation angle of the eccentric shaft 20 is 180°. Through the rotation of the central shaft 10 and the eccentric shaft 20, the observation fiber 50 can be positioned at any position within a circle with a diameter of 33 mm. During the observation of the telescope, the observation fiber 50 can move to other positions to track celestial targets. As shown in (b) of FIG. 1, when the fiber positioning unit is installed on the focal plane panel, the position of the observation fiber zero point 60 relative to the focal plane is fixed, and when the camera is calibrated, the observation fiber 50 can return to the observation fiber zero point 60 as a dynamic reference point. As shown in (c) of FIG. 1, it is a schematic diagram of the observation fiber 50 returning to the zero point.

[0064] S11: selecting a dynamic reference unit for camera calibration, wherein the dynamic reference unit comprises a dynamic reference fiber.

[0065] The camera for camera calibration mentioned in the embodiment can be an astronomical telescope fiber position measurement camera, and the above camera is taken as an example for illustration in the embodiment.

[0066] The specific selection process can be: selecting a target number of fiber positioning units on the focal plane panel as the dynamic reference unit, and the fibers carried by the dynamic reference unit are the dynamic reference fibers. The number of dynamic reference fibers needs to be determined according to different measurement accuracy requirements, and the number can directly affect the calibration accuracy of the camera. The specific number can be determined by a person skilled in the art according to the actual situation and application scenario, which is not limited herein.

[0067] The dynamic reference unit and the fiber positioning unit have no difference in mechanical structure and hardware control, and are only distinguished in the unit attribute in the upper computer software. Therefore, during the observation of the telescope, a certain dynamic reference unit can perform an observation task as a common fiber positioning unit, and other common fiber positioning units can also serve as dynamic reference units.

[0068] S12: zero calibration of the dynamic reference fiber, and determining the dynamic reference fiber after the zero calibration as a reference point.

[0069] The motion zero point of the fiber positioning unit (i.e. dynamic reference fiber) is a fixed motion starting point of the fiber positioning unit in its positioning area. The dynamic reference fiber can move and has a motion starting point, which is called the zero point. No matter where the dynamic reference fiber rotates, it can accurately return to the zero point. Currently, the zero point coordinates of the fiber positioning unit on the focal plane are not accurate. Therefore, we need to control the dynamic reference fiber to return to the zero point, and then use the fiber position measurement platform to measure the coordinates of the zero point. After that, the zero points of all dynamic reference fibers on the focal plane are accurately known, and there is no need for multiple measurements. When the camera needs to be calibrated, the dynamic reference fiber returns to the zero point as a reference point.

[0070] S13: Select a target number of the reference points as calibration feature points according to the calibration requirements.

[0071] Before step S13, it further includes: measuring the three-dimensional coordinates of the zero point of the dynamic reference fiber; fitting the three-dimensional coordinates to obtain the surface equation of the focal plane; and establishing a focal plane world coordinate system based on the surface equation.

[0072] The above-mentioned focal plane world coordinate, i.e. the world coordinate system of the focal plane panel, is also called the measurement coordinate system, which is a three-dimensional rectangular coordinate system O S -X S Y S Z S The spatial positions of the camera and the object to be measured can be described in the world coordinate system. The position of the world coordinate system is determined according to the actual situation, and in this application, it is obtained through the above-mentioned calculation process.

[0073] The dynamic reference fiber and the observation fiber are always on the focal plane panel, and the shape of the focal plane panel is a determined spherical cap. Therefore, a large number of dynamic reference points can be combined to form a three-dimensional flexible point cloud on the focal plane, and the three-dimensional flexible point cloud is fitted to obtain the mathematical equation of the focal plane surface.

[0074] The number and position of the above-mentioned dynamic reference fiber on the focal plane panel can be changed according to the actual requirements of camera calibration, so the distribution shape and number of the feature points of the calibration target are flexibly variable.

[0075] S14: Use the calibration feature points to build a flexible self-calibration target for the calibration operation, and the flexible self-calibration target is a calibration target composed of different calibration feature points according to the change of the calibration requirements.

[0076] The calibration target is composed of a series of regularly distributed feature points in three-dimensional (or) space, and the coordinates of each feature point are accurately known.

[0077] Step S14 mentions "an operation of calibrating the camera by using the calibration target", and the embodiments of the present application provide a method for calibrating a camera by using a calibration target, Figure 4 A flowchart of a method for calibrating a camera by using a calibration target provided by the embodiments of the present application is shown in Figure 4 The method specifically includes the following steps.

[0078] S141: calculating the camera's extrinsic parameters based on the flexible self-calibration target.

[0079] The camera's intrinsic parameters are pre-calibrated by a precise plane calibration board, and the camera's extrinsic parameters are solved by a focal plane three-dimensional flexible self-calibration target. In a laboratory environment, the camera's intrinsic parameters A are pre-calibrated by a precise plane calibration board, as shown in the following formula:

[0080]

[0081] In the formula, f u ,f v , u0 and v0 are the image principal point coordinates; k1, k2, k3, k4 and k5 are the lens distortion coefficients; and β is the tilt factor of the coordinate axis in the image coordinate system. Then, a certain number of dynamic reference optical fibers are uniformly selected in the focal plane three-dimensional flexible self-calibration target, and the pixel coordinates are obtained by camera shooting. The initial extrinsic parameters of the camera are solved by the corner cube method, and the accurate extrinsic parameters of the camera, i.e., the rotation matrix R and the translation matrix T of the focal plane coordinate system converted to the camera coordinate system, are obtained by the single-image space resection method. The relative position relationship between the camera coordinate system O C -X C Y C Z C and the focal plane world coordinate system O S -X S Y S Z S is established.

[0082] S142: calibrating the camera's intrinsic parameters and the extrinsic parameters, both of which are parameters of the camera.

[0083] The camera's intrinsic parameters are related to the camera's own characteristics, such as the camera's focal length and pixel size. The camera's extrinsic parameters are in the world coordinate system, such as the camera's position and rotation direction.

[0084] S143: using the camera to shoot the observed optical fibers on the focal plane board to obtain the image coordinates of the observed optical fibers.

[0085] S144: converting the image coordinates to the initial coordinates of the observed optical fibers in the focal plane world coordinate system based on the curved surface equation of the focal plane and the parameters of the camera.

[0086] The specific method for implementing step S144 can be: first, based on the camera internal parameter, the external parameter, and the image coordinates of the observation fiber, a projection collinear equation corresponding to the projection of the observation fiber from the focal plane to the camera image plane is established. Then, the initial coordinates of the observation fiber in the focal plane world coordinate system are calculated by simultaneously solving the curved surface equation of the focal plane and the projection collinear equation.

[0087] The camera coordinate system mentioned above is also a three-dimensional rectangular coordinate system O C -X C Y C Z C The origin of the camera coordinate system is the optical center of the lens, the X C , Y C axes are respectively parallel to the two sides of the image plane, and the Z C axis is the optical axis of the lens and is perpendicular to the image plane.

[0088] The transformation from the world coordinate system to the camera coordinate system is a rigid body transformation, that is, only the spatial position (translation) and orientation (rotation) of the object are changed, and the shape of the object is not changed. The transformation can be represented by a rotation matrix R and a translation vector t.

[0089] S145: processing the initial coordinates of the observation fiber to obtain the processed camera parameter and the initial coordinates of the observation fiber, and completing the calibration.

[0090] The specific method for implementing step S145 can be: a bundle adjustment model is established, the camera internal parameter, the external parameter, the coordinates of the zero point, and the initial coordinates in the focal plane world coordinate system are taken as adjustment parameters to input the bundle adjustment model for calculation, and the processed camera parameter and the initial coordinates are obtained.

[0091] The camera calibration method provided by the embodiment of the application can also be applied to two-dimensional calibration. In the foregoing embodiment, a flexible three-dimensional flexible self-calibration target is constructed on the focal plane, and the three-dimensional coordinates of each calibration feature point in the calibration target are accurately known. The two-dimensional calibration target and the three-dimensional calibration target have no structural difference, and only the (X, Y, Z) coordinates of the feature points or only the (X, Y) coordinates are selected according to different camera calibration models. However, since the focal plane is approximately a plane, the Z-axis coordinates of the calibration feature points have less influence on the camera calibration result, and now the camera of LAMOST adopts a two-dimensional polynomial model, that is, only the X and Y coordinates of the calibration feature points are used. The polynomial camera calibration model is as follows,

[0092] X w = a0+a1u+a2v+a3u 2 +a4uv+a5v 2 +a6u 3 +a7u2 v+a8uv 2 +a9v 3 ,

[0093] Y w =b0+b1u+b2v+b3u 2 +b4uv+b5v 2 +b6u 3 +b7u 2 v+b8uv 2 +b9v 3 .

[0094] In the formula, (u, v) is the image coordinates of the calibration points in the two-dimensional flexible self-calibration target, (X w , Y w ) is the world coordinates of the calibration points in the two-dimensional flexible self-calibration target.

[0095] In the embodiment, a flexible self-calibration method of an astronomical telescope fiber position measurement camera is provided. First, a dynamic reference unit for calibration is selected, the dynamic reference unit includes a dynamic reference fiber, then the dynamic reference fiber is calibrated to zero, the coordinates of the dynamic reference fiber after the zero calibration are determined as reference points, and a target number of reference points are selected as feature points according to the calibration requirements. Finally, the calibration target is assembled by using the feature points to perform the calibration operation. In this way, by providing a dynamic reference fiber based on zero, the dynamic reference fiber is calibrated to zero, so that the coordinates of the zero point are more accurate, and the dynamic reference fiber after the zero calibration can be directly used as a reference point, so that the installation hole of the observation fiber is completely avoided, and the observation efficiency of the telescope can be greatly ensured. Secondly, a high-precision dynamic reference point is used to assemble a calibration target, the distribution shape and position of the feature points can be flexibly changed according to the camera calibration accuracy requirements, and the change of the camera calibration environment can be well adapted, so as to ensure the camera calibration accuracy.

[0096] Figure 5 A structure schematic diagram of a flexible self-calibration device of an astronomical telescope fiber position measurement camera provided by the embodiment of the application is shown in FIG. 1. The flexible self-calibration device of the astronomical telescope fiber position measurement camera is applied to the astronomical telescope fiber position measurement camera, and specifically includes a first selection module 100, a calibration module 200, a second selection module 300 and a calibration module 400. Figure 5 The first selection module 100 is used to select a dynamic reference unit for calibration, and the dynamic reference unit includes a dynamic reference fiber.

[0097] The calibration module 200 is used to calibrate the dynamic reference fiber to zero.

[0098] The second selection module 300 is used to select a target number of reference points as feature points according to the calibration requirements. The calibration module 400 is used to assemble a calibration target by using the feature points to perform the calibration operation.The calibration module 200 is configured to perform zero position calibration on the dynamic reference fiber, and determine the dynamic reference fiber after the zero position calibration as a reference point.

[0099] The second selection module 300 is configured to select a target number of the reference points as calibration feature points according to a calibration requirement.

[0100] The calibration module 400 is configured to perform the calibration by using the calibration feature points to establish a calibration target.

[0101] In an implementation, the calibration module 200 is specifically configured to:

[0102] control the dynamic reference fiber to return to a zero position point;

[0103] measure a coordinate of the zero position point by using a fiber position scanning measurement platform to perform the zero position calibration;

[0104] determine the dynamic reference fiber after the zero position calibration as the reference point.

[0105] In an implementation, the apparatus further includes a coordinate system establishment module 500, which is specifically configured to:

[0106] measure a three-dimensional coordinate of the zero position point of the dynamic reference fiber;

[0107] fit the three-dimensional coordinate to obtain a curved surface equation of a focal surface;

[0108] establish a focal surface world coordinate system based on the curved surface equation.

[0109] In an implementation, the calibration module 400 is specifically configured to:

[0110] calculate an extrinsic parameter of a camera based on the flexible self-calibration target;

[0111] calibrate an intrinsic parameter of the camera and the extrinsic parameter, wherein the intrinsic parameter and the extrinsic parameter are parameters of the camera;

[0112] capture an observation fiber on a focal surface plate by using the camera to obtain an image coordinate of the observation fiber;

[0113] convert the image coordinate into an initial coordinate of the observation fiber in the focal surface world coordinate system based on the curved surface equation of the focal surface and the parameters of the camera;

[0114] process the initial coordinate of the observation fiber to obtain a processed camera parameter and the initial coordinate of the observation fiber, and complete the calibration.

[0115] In an implementation manner, the calibration module 400 is specifically configured to:

[0116] establish a bundle adjustment model, input the camera intrinsic parameters, the camera extrinsic parameters, the coordinates of the dynamic reference fiber after the zero position calibration, and the initial coordinates of the observation fiber into the bundle adjustment model for calculation, and obtain the processed camera parameters and the initial coordinates.

[0117] In an implementation manner, the calibration module 400 is specifically configured to:

[0118] establish a projection collinear equation corresponding to the projection of the observation fiber from the focal plane to the camera image plane based on the camera intrinsic parameters, the camera extrinsic parameters, and the image coordinates of the observation fiber;

[0119] simultaneously solve the curved surface equation of the focal plane and the projection collinear equation to obtain the initial coordinates of the observation fiber in the focal plane world coordinate system.

[0120] In an implementation manner, the coordinate system establishment module 500 is further specifically configured to:

[0121] measure the two-dimensional coordinates of the zero position of the dynamic reference fiber and perform the zero position calibration;

[0122] determine the dynamic reference fiber after the zero position calibration as a two-dimensional reference point.

[0123] compose a two-dimensional calibration target based on the two-dimensional reference point;

[0124] The operation of calibration is performed by using the two-dimensional calibration target and the polynomial calibration model. In the embodiment, a flexible self-calibration device of an astronomical telescope fiber position measurement camera is provided, which comprises a first selection module, a calibration module, a second selection module and a calibration module. The first selection module is used to select a dynamic reference unit for calibration, and the dynamic reference unit comprises a dynamic reference fiber; the calibration module is used to calibrate the zero position of the dynamic reference fiber, and the dynamic reference fiber after the zero position calibration is determined as a reference point; the second selection module is used to select a target number of reference points as feature points according to the calibration requirement; and the calibration module is used to perform the operation of calibration by using the feature points to form a calibration target. In this way, some fiber positioning units are selected as dynamic reference units, and the fibers carried by the dynamic reference units become dynamic reference fibers. The dynamic reference fibers return to the zero position as feature points in camera calibration, and a three-dimensional flexible self-calibration target of the focal plane is formed. Then, a self-calibration adjustment model of the camera is established, the camera parameters, the dynamic reference fiber positions and the observed fiber positions are taken as adjustment parameters to be substituted into the adjustment model for calculation, and finally the accurate camera parameters and the three-dimensional coordinates of the observed fibers are obtained, and the self-calibration of the camera is completed. Since the installation hole positions of the observed fibers are not occupied in the process, the accuracy of the observation is not affected. At the same time, the coordinates of the dynamic reference fibers after the zero position calibration are used as the reference points to ensure the accuracy of the reference point coordinates, and then a set of three-dimensional flexible self-calibration target of the focal plane is formed by using the high-precision dynamic reference points. The distribution shape and position of the feature points can be flexibly changed according to the camera calibration accuracy requirement, and the change of the camera calibration environment can be well adapted, so as to ensure the camera calibration accuracy.

[0125] The embodiment of the application further provides a camera calibration method in an application scenario, in particular:

[0126] Since the size of the focal plane is large, the measurement field of view of one camera is limited. In order to ensure the measurement accuracy, the focal plane can be generally divided into six smaller measurement regions, which are numbered as P1, P2, P3, P4, P5 and P6. In front of the focal plane, six cameras are respectively arranged, and each camera is responsible for the measurement of the fiber positions in one region. The calibration method and device of each camera are the same. Hereinafter, only the camera corresponding to the P5 region of the focal plane is explained.

[0127] Figure 6 The flowchart of the camera calibration method in the application scenario provided by the embodiment of the application is shown in Figure 6 The specific steps of the camera calibration method in the application scenario provided by the embodiment of the application are as follows:

[0128] Step (101): Select m fiber positioning units as dynamic reference units within the P5 region of the focal plate, and denote the fiber carried by the dynamic reference unit as the dynamic reference fiber DP. i (i = 1, 2, 3, ..., m). Figure 7 A schematic diagram of the dynamic reference fiber distribution on the focal plane is provided in this application embodiment, specifically as follows: Figure 7 As shown.

[0129] In step (102), the host computer issues a control command, the dynamic reference fibers return to their respective zero positions, and the robotic arm moves the fiber position scanning measurement platform directly above the focal plate. The dynamic reference fiber DP is then measured through the fiber position scanning measurement platform. i The three-dimensional coordinates are denoted as

[0130] It should be noted that the zero-position of different optical fibers on the focal plane is different. After the dynamic reference fiber returns to its respective zero position, the robotic arm moves the fiber position scanning measurement platform directly above the focal plane. The fiber position scanning measurement platform measures the three-dimensional coordinates of the dynamic reference fiber, which are the zero-position coordinates of that fiber.

[0131] Step (103) Dynamic reference fiber DP i It is always positioned on the focal plate 101, and the shape of the focal plate 101 is a definite spherical cap surface. Figure 8 This is a schematic diagram of the structure of the focal plate provided in an embodiment of this application, as shown below. Figure 8 As shown, the focal plate 101 includes an optical fiber positioning unit 102 and an optical fiber 103.

[0132] Fitting dynamic reference fiber DP i 3D coordinates Obtain the focal plane S Focal plane The surface equation f S (x,y,z)=0, and establish the focal plane world coordinate system O. S -X S Y S Z S ;

[0133] Step (104) Select a certain number of dynamic reference fiber optic DPs according to the camera calibration requirements. i Serving as feature points, a three-dimensional flexible self-calibrating target is constructed on the focal plane. Figure 9 This is a schematic diagram of a calibration target assembly provided in an embodiment of this application, as shown below. Figure 9 As shown in Figure (a); on the focal plane, the number and position of dynamic reference points can be changed according to the camera calibration requirements. Therefore, the distribution shape and number of calibration points of the three-dimensional flexible self-calibration target are dynamically changing, such as... Figure 9As shown in Figure (b) of the document. Figure 9 Figure (a) illustrates region P5 on the focal plane, where two types of optical fibers are distributed: the observation fiber OP, which needs to be detected. k and dynamic reference fiber DP i The world coordinates of all dynamic reference fibers have been measured, and the position of the dynamic reference fibers can be changed. Therefore, the dynamic reference fibers are used as feature points for camera calibration to construct a three-dimensional flexible self-calibration target. Figure 9 Figure (b) in the figure is another schematic diagram of the distribution of dynamic reference fiber. The dynamic reference fiber can be transformed into an observation fiber to observe celestial bodies, and the observation fiber with the zero coordinates measured in advance can also serve as a dynamic reference fiber, which shows that the dynamic reference fiber can be flexibly changed on the focal plane.

[0134] Step (104) Camera parameter calibration. The internal parameters A of the camera are pre-calibrated in a laboratory environment, as shown in the following formula:

[0135] In the formula, the focal length f is included. u ,f v The principal point coordinates of the image are u0, v0;

[0136] And the lens distortion coefficients k1, k2, k3, k4, k5, where β is the tilt factor of the coordinate axes in the image coordinate system. Then, a certain number of dynamic reference fibers are uniformly selected in the three-dimensional flexible self-calibration target of the focal plane. The camera takes pictures to obtain pixel coordinates, and the initial extrinsic parameters of the camera are solved by the pyramid method. Then, the accurate camera extrinsic parameters are obtained by the single-image space resection method, that is, the rotation matrix R and translation matrix T of the focal plane coordinate system to the camera coordinate system. The camera coordinate system O is established. C -X C Y C Z C With the focal plane world coordinate system O S -X S Y S Z S The relative positional relationship;

[0137] Step (105) Initial coordinate solution, Figure 10 This application provides a schematic diagram of solving the initial coordinates of an observation fiber, as shown in the embodiment of the present application. Figure 10 The diagram illustrates the projection relationship in camera measurement, including O in camera coordinates. c -X c Y c Z c Image coordinate system o-uv. The image coordinates (u) of the dynamic reference fiber are obtained by the camera capturing the focal plane. i ,v i) and image coordinates (u k ,v k ) of the observation optical fiber. The observation optical fiber OP k (k = 1, 2, 3,.., N) on the focal plane is photographed to obtain the image coordinates (u k ,v k ) of each observation optical fiber. The curved surface equation S Focal plane and the camera parameters A, R, T are used to obtain the initial coordinates of the observation optical fiber OP k in the focal plane world coordinate system The specific process is as follows:

[0138] According to the pinhole camera model, the projection collinear relationship of a point (u k ,v k ) in the image to the corresponding point in the three-dimensional space can be expressed as follows,

[0139]

[0140] Since the observation optical fibers are distributed on the focal plane, the three-dimensional coordinates of the observation optical fibers can be expressed by the curved surface equation of the focal plane as follows:

[0141]

[0142] The initial coordinates of the observation optical fiber OP k can be obtained by solving the above two equations

[0143] Step (106) establishes a bundle adjustment model, and the camera internal and external parameters and the coordinates of the observation optical fibers are taken as three kinds of adjustment parameters for calculation to obtain the accurate camera parameters A, R, T and the three-dimensional coordinates of the observation optical fibers after iteration, and complete the flexible self-calibration of the camera.

[0144] In the embodiments of the present application, the three-dimensional flexible self-calibration target can also discard the Z-axis coordinates and be reduced to a two-dimensional flexible self-calibration target, and thus is also applicable to a polynomial camera calibration model. The polynomial camera calibration model is as follows,

[0145] X w = a0+ a1u + a2v + a3u 2 +a4uv + a5v 2 +a6u 3 +a7u 2 v + a8uv 2 +a9v 3 ,

[0146] Y w =b0+ b1u + b2v + b3u2 + b4uv + b5v 2 + b6u 3 + b7u 2 v + b8uv 2 + b9v 3 .

[0147] where (u, v) are image coordinates of a calibration point in a two-dimensional flexible self-calibration target, (X w , Y w ) are world coordinates of a calibration point in a two-dimensional flexible self-calibration target.

[0148] Through the camera calibration method in the above application scenario, a dynamic reference optical fiber based on zero position is used, so that the installation hole position for observing the optical fiber is completely avoided, and the observation efficiency of the telescope can be greatly ensured. Secondly, a set of focal plane three-dimensional flexible self-calibration targets are formed by using high-precision dynamic reference points, the distribution shape and position of the feature points can be flexibly changed according to the camera calibration accuracy requirement, and the change of the camera calibration environment can be well adapted, so as to ensure the camera calibration accuracy.

[0149] The flowcharts and block diagrams in the drawings illustrate the architecture, functionality, and operation of possible implementations of apparatuses, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that noted in the figures. For example, two blocks noted in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented by dedicated hardware-based systems that perform specified logical functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0150] The embodiments of the present application also provide corresponding devices and computer readable storage media for implementing the schemes provided by the embodiments of the present application.

[0151] The device includes a memory and a processor, the memory is used to store instructions or codes, and the processor is used to execute the instructions or codes, so that the device executes the camera calibration method according to any embodiment of the present application.

[0152] In practical application, the computer-readable storage medium can adopt any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device.

[0153] The computer-readable signal medium can include a computer-readable program code in a baseband or propagated as a carrier wave in a propagation medium. Such a propagated signal can take a wide variety of forms, including but not limited to, electro-magnetic, optical, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium that is not a storage medium and that can communicate or propagate program code instructions; and such communication can occur via a network and / or data links.

[0154] Program code embodied on a computer-readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0155] Computer program code for carrying out operations of the present application can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In an embodiment, multiple data storage devices can be used.

[0156] It is also need to point out that, in this article, the relationship 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 that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the existence of other identical elements in the process, method, article or equipment including the element.

[0157] The above description is only one specific implementation of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements easily thought of by those skilled in the art within the technical scope disclosed by the present application should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A flexible self-calibration method for an astronomical telescope fiber position measurement camera, characterized in that, The method is applied to an astronomical telescope fiber position measurement camera, and the method comprises the following steps: a dynamic reference unit for camera calibration is selected, the dynamic reference unit comprising dynamic reference fibers; zero position calibration is performed on the dynamic reference fibers, and the dynamic reference fibers after the zero position calibration are determined as reference points; a target number of the reference points are selected as calibration feature points according to the requirements of the calibration; a flexible self-calibration target is established by using the calibration feature points to perform the calibration operation, the flexible self-calibration target being a calibration target composed of different calibration feature points according to the change of the requirements of the calibration; the dynamic reference unit for camera calibration comprises selecting a target number of fiber positioning units on a focal plane panel as dynamic reference units, and the fibers carried by the dynamic reference units are dynamic reference fibers; the zero position calibration performed on the dynamic reference fibers, and the dynamic reference fibers after the zero position calibration being determined as reference points, comprise the following steps: the dynamic reference fibers are controlled to return to corresponding zero position points; the coordinates of the zero position points are measured to perform the zero position calibration; the dynamic reference fibers after the zero position calibration are determined as reference points.

2. The method of claim 1, wherein, after the dynamic reference fibers are controlled to return to corresponding zero position points, the following steps are further included: the three-dimensional coordinates of the zero position points of the dynamic reference fibers are measured; the three-dimensional coordinates of the zero position points are fitted to obtain a surface equation of a focal plane; a focal plane world coordinate system is established based on the surface equation.

3. The method of claim 2, wherein, the operation of using the calibration feature points to establish a flexible self-calibration target to perform the calibration comprises the following steps: external parameters of a camera are calculated based on the flexible self-calibration target; internal parameters and the external parameters of the camera are calibrated, the internal parameters and the external parameters both being parameters of the camera; observation fibers on a focal plane panel are photographed by using the camera to obtain image coordinates of the observation fibers; the image coordinates are converted into initial coordinates of the observation fibers in the focal plane world coordinate system based on the surface equation of the focal plane and the parameters of the camera; the initial coordinates of the observation fibers are processed to obtain the processed camera parameters and the initial coordinates of the observation fibers, and the calibration is completed.

4. The method of claim 3, wherein, the processing of the initial coordinates of the observation fibers to obtain the processed camera parameters and the initial coordinates of the observation fibers comprises the following steps: a bundle adjustment model is established, the internal parameters of the camera, the external parameters of the camera, the coordinates of the dynamic reference fibers after the zero position calibration and the initial coordinates of the observation fibers are taken as adjustment parameters, the adjustment parameters are input into the bundle adjustment model for processing, and the processed camera parameters and the initial coordinates of the observation fibers are obtained.

5. The method of claim 3, wherein, the conversion of the image coordinates into the initial coordinates of the observation fibers in the focal plane world coordinate system comprises the following steps: a projection collinear equation corresponding to the projection of the observation fibers from the focal plane panel to a camera image plane is established based on the internal parameters of the camera, the external parameters and the image coordinates of the observation fibers; the initial coordinates of the observation fibers in the focal plane world coordinate system are calculated by simultaneously solving the surface equation of the focal plane and the projection collinear equation.

6. The method of claim 1, wherein, the method further comprises the following steps: Measuring two-dimensional coordinates of the null point of the dynamic reference fiber and performing the null calibration; Determining the dynamic reference fiber completing the null calibration as a two-dimensional reference point; Forming a two-dimensional calibration target based on the two-dimensional reference point; Performing calibration using the two-dimensional calibration target and a polynomial calibration model.

7. A flexible self-calibration device for an astronomical telescope fiber position measurement camera, characterized by, The device is applied to an astronomical telescope fiber position measurement camera, and the device comprises a first selection module, a calibration module, a second selection module, and a calibration module. The first selection module is configured to select a dynamic reference unit for calibration, and the dynamic reference unit comprises a dynamic reference fiber. The calibration module is configured to perform null calibration on the dynamic reference fiber and determine the dynamic reference fiber completing the null calibration as a reference point. The second selection module is configured to select a target number of reference points as calibration feature points according to the calibration requirement. The calibration module is configured to use the calibration feature points to form a flexible self-calibration target to perform the calibration operation, and the flexible self-calibration target is a calibration target composed of different calibration feature points according to the change of the calibration requirement. The first selection module selects a target number of fiber positioning units on a focal plane panel as dynamic reference units, and the fibers carried by the dynamic reference units are dynamic reference fibers. The calibration module is specifically configured to: Control the dynamic reference fiber to return to the null point; Measure the coordinates of the null point using a fiber position scanning measurement platform to perform the null calibration; Determine the dynamic reference fiber completing the null calibration as a reference point.

8. An electronic device, comprising: The device comprises a processor, a memory, and a system bus. The processor and the memory are connected through the system bus. The memory is configured to store one or more programs, and the one or more programs comprise instructions which, when executed by the processor, cause the processor to perform the flexible self-calibration method of the astronomical telescope fiber position measurement camera according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores an implementation program for implementing the flexible self-calibration method of the astronomical telescope fiber position measurement camera, and the implementation program for implementing the flexible self-calibration method of the astronomical telescope fiber position measurement camera is executed by the processor to implement the steps of the method according to any one of claims 1-6.

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