A high-precision positioning method and system based on ground-based optical telescope

Abstract

The present invention discloses a high-precision positioning method and system based on a ground-based optical telescope, which is applied to the field of astronomical observation technology. The method comprises: obtaining telescope pointing data of space debris; calculating telescope pointing data of calibration stars at the time of space debris observation; obtaining telescope pointing variation coefficient from the position relationship of the calibration stars; correcting the positioning data of the space debris by the telescope pointing variation coefficient, and outputting all positioning data in combination with axis positioning data at other times; the present application actively searches for two calibration stars in the neighborhood of space debris by means of a sweeping telescope, and matches the spatial position relationship between the calibration stars and the space debris, so as to realize high-precision positioning of the space debris.

Description

Technical Field

[0001] The present invention relates to the technical field of astronomical observation, and in particular to a high-precision positioning method and system based on a ground-based optical telescope. Background Art

[0002] Geosynchronous orbit space debris refers to various types of non-functional man-made objects that reside in geosynchronous orbit due to satellite disintegration or collision. In order to prevent space debris from colliding with other space objects and posing a threat to space activities, it is necessary to track, locate and precisely determine the orbit of space debris to achieve the purpose of monitoring, early warning and collision avoidance. Daytime detection is one of the important links in ground-based optical detection of space debris. However, more complex environmental changes and the application specificity of daytime detection systems make it impossible for this type of detection system to directly use traditional axis positioning or astronomical positioning methods to achieve high-precision positioning of the target. The precise positioning of space debris faces new challenges. How to more quickly achieve high-precision positioning of space debris in a daytime environment has become a difficult problem that needs to be solved urgently.

[0003] Reference patent CN113188508A proposes a method of combining astronomical images collected by a large field of view telescope unit and a small field of view telescope unit, and uses a determined mapping relationship between large and small field of view models to detect and astronomically locate space debris on daytime astronomical images to generate daytime observation data; Patent CN104133993A proposes a small field of view star matching method based on error vector matching, which uses the principle that the system error of optoelectronic equipment is basically unchanged within a certain time and space range, combines the recent historical frames of the optoelectronic equipment, and uses the cumulative effect of the error vector to achieve star matching of small field of view optoelectronic equipment through a small number of calibration stars, thereby further implementing astronomical positioning technology.

[0004] The existing technology uses large and small field of view model mapping and error vector matching to solve the problem of insufficient number of calibration stars in the process of small field of view telescope observation, but it is still a traditional astronomical positioning method in essence, and still cannot solve the star tailing problem in the daytime detection process. Therefore, this application proposes a high-precision positioning method and system based on a ground-based optical telescope, which actively searches for two calibration stars in the neighborhood of space debris by swinging and scanning the telescope, and uses the spatial position relationship between the calibration stars and the space debris to match, so as to achieve high-precision positioning of space debris. Summary of the invention

[0005] The purpose of this application is to provide a high-precision positioning method and system based on a ground-based optical telescope, aiming to solve the star trailing problem that exists during daytime detection.

[0006] To achieve the above objectives, this application provides the following technical solutions:

[0007] The present application provides a high-precision positioning method based on a ground-based optical telescope, comprising:

[0008] Obtain telescope pointing data for space debris;

[0009] Calculate the telescope pointing data of the calibration star at the time of space debris observation;

[0010] Obtaining the telescope pointing variation coefficient from the positional relationship of the calibration stars;

[0011] The positioning data of the space debris is corrected by the telescope pointing variation coefficient, and the entire positioning data is output in combination with the axis system positioning data at other times.

[0012] Furthermore, the step of obtaining telescope pointing data of space debris specifically includes the following steps:

[0013] Observe space debris and record the encoder data P at the time of observation GEO_az and P GEO_el , and record the pixel value of the field of view miss amount Mtva GEO and Mtve GEO , using the recorded data to synthesize telescope pointing data of space debris:

[0014] P′ GEO_el =P GEO_el +(CoV el -Mtve GEO )×pixel / 3600

[0015]

[0016] Where CoV is the pixel value at the center of the telescope's field of view, and Pixel is the pixel angular resolution of the camera element in the telescope system.

[0017] Furthermore, in the step of calculating the telescope pointing data of the calibrated star at the time of space debris observation, the following steps are specifically included:

[0018] In the star map, two stars in the neighborhood of space debris are selected as calibration stars, which are denoted as star1 and star2.

[0019] Get the astronomical theoretical position P of the space debris observation time and the star observation time star_az_theo , P star_el_theo , encoder data P at the time of star observation star_az、 P star_el and its field of view miss distance pixel values ​​Mtvastar, Mtvestar;

[0020] According to the astronomical theoretical position of the calibrated stars and their encoder data, combined with the miss distance, the telescope pointing data of star1 and star2 at the time of space debris observation is calculated:

[0021] P′ star_el =P star_el -(P star_el_theo-startime -P star_el_theo-GEOtime )+(CoV el -Mtve star )×pixel / 3600

[0022]

[0023] Furthermore, the step of obtaining the telescope pointing variation coefficient from the position relationship of the calibration stars specifically includes the following steps:

[0024] The telescope pointing change coefficient α is the proportional relationship between the telescope pointing change in the region and the astronomical theoretical position change of the space object, and the formula is:

[0025]

[0026]

[0027] Furthermore, in the step of correcting the positioning data of the space debris by using the telescope pointing variation coefficient and combining it with the axis system positioning data at other times to output the entire positioning data, the following steps are specifically included:

[0028] Compare the position data of star1 and the space debris, and calculate the theoretical position P of the debris at the time of space debris observation by the telescope pointing change coefficient α GEO_theo , the formula is:

[0029] P GEO_az_theo =(P′ GEO_az -P′ star1_az )×α az +P star1_theo_az-GEOtime

[0030] P GEO_el_theo =(P′ GEO_el -P′ star1_el )×α el +P star1_teo_el-GEOtime

[0031] The correction of all positioning data is achieved through the deviation between the axis positioning data at the time of space debris observation and the axis positioning data at other times during the space debris observation process. The formula is:

[0032]

[0033] Where n is the position data at the nth moment in the space debris observation process.

[0034] The present application provides a high-precision positioning system based on a ground-based optical telescope, comprising:

[0035] Acquisition module: obtains telescope pointing data of space debris;

[0036] Calculation module: calculates the telescope pointing data of the calibration star at the time of space debris observation; obtains the telescope pointing variation coefficient from the position relationship of the calibration star;

[0037] Correction module: corrects the positioning data of space debris through the telescope pointing change coefficient, and combines it with the axis positioning data at other times to output the entire positioning data.

[0038] The present application provides a device, which includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a high-precision positioning method based on a ground-based optical telescope; the processor is used to execute the program instructions stored in the memory to implement a high-precision positioning method based on a ground-based optical telescope.

[0039] The present application provides a storage medium storing program instructions executable by a processor, wherein the program instructions are used to execute a high-precision positioning method based on a ground-based optical telescope.

[0040] The present application provides a high-precision positioning method and system based on a ground-based optical telescope, which has the following beneficial effects:

[0041] By adding two calibration stars to the observation in the neighborhood of space debris according to certain selection rules, and using the spatial position relationship between the stars and the target, the position relationship between the stars and the target can be matched, thereby correcting the positioning data of the space debris at a certain moment, and then combining it with the axis positioning data output by the telescope system, ultimately achieving the correction of all positioning data, thereby realizing high-precision positioning of space debris. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic flow chart of a high-precision positioning method based on a ground-based optical telescope according to Example 1 of the present application;

[0043] Figure 2 This is a schematic diagram of the relative position relationship of each target in Example 1 of the present application;

[0044] Figure 3 This is a schematic diagram of the structure of a high-precision positioning system based on a ground-based optical telescope according to Example 2 of the present application;

[0045] Figure 4This is a schematic diagram of the device structure of Example 3 of the present application;

[0046] Figure 5 This is a schematic diagram of the storage medium structure of Example 4 of the present application. DETAILED DESCRIPTION

[0047] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0048] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0049] Example 1

[0050] See also Figure 1 , is a flow chart of a high-precision positioning method based on a ground-based optical telescope according to Example 1 of the present application; the steps include:

[0051] S1: Obtain telescope pointing data for space debris.

[0052] In this embodiment, the space fragments are observed and the encoder data P at the observation time is recorded. GEO_az and P GEO_el , and record the pixel value of the field of view miss amount Mtva GEO and Mtve GEO , using the recorded data to synthesize telescope pointing data of space debris:

[0053] P′ GEO_el =P GEO_el +(CoV el -Mtve GEO )×pixel / 3600

[0054]

[0055] Considering the secant compensation problem of azimuth value under different elevation angles, the azimuth value and elevation value of the telescope pointing data are expressed separately in the formula, which are reflected by the subscripts az and el, and involve the calculation of secant compensation. Where CoV is the pixel value at the center of the telescope field of view, and Pixel is the pixel angular resolution of the camera element in the telescope system.

[0056] See also Figure 2 , which is a schematic diagram of the relative position relationship of each target in Example 1 of the present application.

[0057] It is understood that this application also needs to follow the following star selection rules:

[0058] Stars of appropriate magnitude. The magnitude of a star is a reflection of its brightness. The lower the magnitude, the brighter the star. Considering the requirements of the telescope's detection capability, we choose stars of magnitude 4 to 8 as calibration stars. On the one hand, stars of magnitude 4 to 8 are easy to detect, and can complete target extraction and obtain position data in 3 to 5 seconds or even shorter. Therefore, using stars in this magnitude range as calibration stars can minimize the impact of time deviation in telescope pointing position matching. On the other hand, stars brighter than magnitude 4 can complete extraction faster, but they are likely to cause saturation of the detection system, affect the extraction of target misses, and affect the final positioning accuracy. Therefore, it is more reasonable to use stars of magnitude 4 to 8 as calibration stars.

[0059] Reasonable relative position relationship. The two calibration stars and the target should be in a straight line as much as possible in the main control display star map, and the target should be between the two calibration stars. Figure 2 As shown, the distance difference between calibration star 1 and the target and the distance difference between calibration star 2 and the target should satisfy the ratio of 0.8 to 1.2 as much as possible. For example, the azimuth difference between calibration star 1 and the target star is 5°, and the elevation difference is 2°; the azimuth difference between calibration star 2 and the target star is -5°, and the elevation difference is -2°, then the distance difference ratio is 1. Since the positioning method proposed in the present application is equivalent to mapping a space object onto a two-dimensional plane, the precise position of the target is solved by the proportional relationship between the azimuth and the pitch values. If the condition of being on a straight line is not met, position deviation will occur when mapping in the same direction, which will also have a certain impact on the final positioning accuracy.

[0060] S2: Calculate the telescope pointing data of the calibrated star at the time of space debris observation.

[0061] In this embodiment, two stars in the neighborhood of space debris are selected as calibration stars in the star map, and are respectively denoted as star1 and star2.

[0062] Get the astronomical theoretical position P of the space debris observation time and the star observation time star_az_theo , P star_el_theo , encoder data P at the time of star observation star_az、 P star_el and its field of view miss distance pixel values ​​Mtvastar, Mtvestar;

[0063] According to the astronomical theoretical position of the calibrated stars and their encoder data, combined with the miss distance, the telescope pointing data of star1 and star2 at the time of space debris observation is calculated:

[0064] P′star_el =P star_el -(P star_el_theo-startime -P star_el_theo-GEOtime )+(CoV el -Mtve star )×pixel / 3600

[0065]

[0066] S3: Obtaining the telescope pointing variation coefficient from the positional relationship of the calibration stars.

[0067] In this embodiment, the telescope pointing variation coefficient α is the proportional relationship between the telescope pointing variation in the region and the astronomical theoretical position variation of the space object, and the formula is:

[0068]

[0069]

[0070] S4: Correct the positioning data of the space debris by using the telescope pointing variation coefficient, and combine it with the axis positioning data at other times to output the entire positioning data.

[0071] In this embodiment, the position data of star1 and the space debris are compared, and the theoretical position P of the debris at the time of space debris observation is calculated by the telescope pointing change coefficient α. GEO_theo , the formula is:

[0072] P GEO_az_theo =(P′ GEO_az -P′ star1_az )×α az +P star1_theo_az-GEOtime

[0073] P GEO_el_theo =(P′ GEO_el -P′ star1_el )×α el +P star1_theo_el-GEOtime

[0074] The above steps can realize the correction of the positioning data of a certain observation time of space debris. In order to output the sequence positioning data of space debris, it is necessary to further correct all the positioning data recorded in other observation periods of space debris. Since the geosynchronous orbit space debris is almost stationary relative to the ground observation equipment (basically moving within the range of angular classification), and the environment around the telescope will not change significantly within the time range of a space debris observation, it can be approximately considered that the pointing accuracy of the telescope axis system is in a relatively stable state.

[0075] At this time, the correction of all positioning data is realized through the deviation of the axis positioning data at the time of space debris observation and the axis positioning data at other times during the space debris observation process. The formula is:

[0076]

[0077] Where n is the position data at the nth moment in the space debris observation process.

[0078] To summarize, Example 1 of the present application adds the observation of two calibration stars in the neighborhood of space debris according to certain selection rules, and uses the spatial position relationship between the stars and the target to match the position relationship between the stars and the target, thereby correcting the positioning data of the space debris at a certain moment, and then combining it with the axis positioning data output by the telescope system, ultimately achieving the correction of all positioning data, thereby achieving high-precision positioning of space debris.

[0079] Example 2

[0080] See also Figure 3 , is a schematic diagram of the structure of a high-precision positioning system based on a ground-based optical telescope in Example 2 of the present application; the specific contents include:

[0081] Acquisition module: obtains telescope pointing data of space debris;

[0082] Calculation module: calculates the telescope pointing data of the calibration star at the time of space debris observation; obtains the telescope pointing variation coefficient from the position relationship of the calibration star;

[0083] Correction module: corrects the positioning data of space debris through the telescope pointing change coefficient, and combines it with the positioning data of other time axis systems to output all positioning data.

[0084] In summary, Example 2 of the present application obtains the telescope pointing data of the space debris and the calibration stars through the acquisition module and the calculation module, and calculates the telescope pointing change coefficient from the position relationship and pointing data of the two calibration stars; finally, the position relationship between the space debris and one of the calibration stars is matched, and the above coefficient is used to correct the positioning data of the space debris at a certain moment by the correction module, and then combined with the axis positioning data output by the telescope system, finally the correction of all positioning data is realized, which solves the problem that the device cannot apply traditional astronomical positioning technology due to star trailing during daytime detection. Example 3

[0085] See also Figure 4 , is a schematic diagram of the device structure of Embodiment 3 of the present application. The device 50 includes a processor 51 and a memory 52 coupled to the processor 51 .

[0086] The memory 52 stores program instructions for implementing the above-mentioned high-precision positioning method based on a ground-based optical telescope.

[0087] The processor 51 is used to execute program instructions stored in the memory 52 to achieve high-precision positioning based on a ground-based optical telescope.

[0088] The processor 51 may also be referred to as a CPU (Central Processing Unit).

[0089] The processor 51 may be an integrated circuit chip with signal processing capabilities. The processor 51 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0090] Example 4

[0091] See also Figure 5 , which is a schematic diagram of the structure of the storage medium of Example 4 of the present application. The storage medium of the embodiment of the present application stores a program file 61 that can implement all the above methods, wherein the program file 61 can be stored in the above storage medium in the form of a software product, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or a computer, a server, a mobile phone, a tablet, and other devices.

[0092] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0093] The above description is only a preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

[0094] Although the embodiments of the present application have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the appended claims and their equivalents.

[0095] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A high-precision positioning method based on a ground-based optical telescope, characterized in that: include: Obtain telescope pointing data for space debris; Specifically include: observing space debris, recording the encoder data P at the time of observation GEO_az and P GEO_el , and record the pixel value of the field of view miss amount Mtva GEO and Mtve GEO , using the recorded data to synthesize telescope pointing data of space debris: P G ′ EO_el =P GEO_el +(COVID el -Mtve GEO )×pixels / 3600, Where CoV is the pixel value at the center of the telescope field of view, pixel is the pixel angular resolution of the camera element in the telescope system; CoV el is the pixel value at the center of the telescope field of view in the elevation direction; CoV az is the pixel value at the center of the telescope field of view in the horizontal direction; Calculate the telescope pointing data of the calibration star at the time of space debris observation; specifically, select two stars in the neighborhood of space debris in the star map as calibration stars, record them as star1 and star2 respectively, obtain their space debris observation time and astronomical theoretical position P at the time of star observation star_az_theo , P star_el_theo , encoder data P at the time of star observation star_az , P star_el and its field of view miss distance pixel values ​​Mtvastar, Mtvestar; According to the astronomical theoretical position of the calibrated stars and their encoder data, combined with the miss distance, the telescope pointing data of star1 and star2 at the time of space debris observation is calculated: P s ′ tar_el =P star_el -(P star_el_theo-startime -P star_el_theo-GEOtime )+(CoV el - Mtve star )×pixel / 3600, Among them, P star_el_theo-startime Calibrate the star's theoretical astronomical position for star observation; P star_el_theo-GEOtime Calibrate the star's theoretical astronomical position for space debris observation; star_az_theo-startime Calibrate the astronomical theoretical position of the star for the time of star observation; star_az_theo-GEOtime Calibrate the astronomical theoretical position of stars for space debris observation; The telescope pointing variation coefficient is obtained from the position relationship of the calibration stars; specifically, the telescope pointing variation coefficient α is the proportional relationship between the telescope pointing variation in the region and the astronomical theoretical position variation of the space object, and the formula is: Among them, P star1_az_theo-GEOtime For P star2_az_theo-GEOtime are the astronomical theoretical positions of the two calibration stars at the time of space debris observation; P star1_el_theo-GEOtime For P star2_el_theo-GEOtime are the theoretical astronomical positions of the two calibration stars at the time of space debris observation; The positioning data of the space debris is corrected by the telescope pointing variation coefficient, and the entire positioning data is output in combination with the axis system positioning data at other times.

2. A high-precision positioning method based on a ground-based optical telescope according to claim 1, characterized in that: The step of correcting the positioning data of the space debris by using the telescope pointing variation coefficient and combining it with the axis system positioning data at other times to output the entire positioning data specifically includes the following steps: Compare the position data of star1 and the space debris, and calculate the theoretical position P of the debris at the time of space debris observation by the telescope pointing change coefficient α GEO_theo , the formula is: P GEO_az_theo =(P G ′ EO_az -P s ′ tar1_az )×α az +P star1_theo_az-GEOtime P GEO_el_theo =(P G ′ EO_el -P s ′ tar1_el )×α el +P star1_theo_el-GEOtime The correction of all positioning data is achieved through the deviation between the axis positioning data at the time of space debris observation and the axis positioning data at other times during the space debris observation process. The formula is: Where n is the position data at the nth moment in the space debris observation process; is the axis positioning data of the space debris at the observation time n; GEo is the axis positioning data of the space debris at the time of observation; P GEO_theo Correct the data for the location of space debris at the time of observation.

3. A system for a high-precision positioning method based on a ground-based optical telescope according to claim 1, comprising: Acquisition module: obtains telescope pointing data of space debris; Computation module: calculates the telescope pointing data of the calibrated stars at the time of space debris observation; Obtaining the telescope pointing variation coefficient from the positional relationship of the calibration stars; Correction module: corrects the positioning data of space debris through the telescope pointing change coefficient, and combines it with the axis positioning data at other times to output the entire positioning data.

4. A device, characterized in that: The device includes a processor and a memory coupled to the processor, wherein the memory stores program instructions for implementing a high-precision positioning method based on a ground-based optical telescope as described in any one of claims 1-2; and the processor is used to execute the program instructions stored in the memory to implement a high-precision positioning method based on a ground-based optical telescope.

5. A storage medium, characterized in that: The invention stores program instructions executable by a processor, wherein the program instructions are used to execute a high-precision positioning method based on a ground-based optical telescope as described in any one of claims 1 to 2.

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