Star map simulation method, system, computer device and computer readable storage medium

Abstract

The present invention relates to the field of celestial navigation technology, and specifically discloses a star map simulation method, system, computer device and computer-readable storage medium, the method comprising: partitioning the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere; determining a second partition from all first partitions according to the optical axis direction and rectangular field of view of a star sensor, and constructing a minimized partition corresponding to each second partition; determining the stars in the imaging range of the star sensor in the minimized partition as the observed stars of the celestial sphere, and performing star map simulation based on all the observed stars. The present invention can narrow the discrimination range during star map simulation, reduce the number of discriminations, and thus improve generation efficiency.

Description

Background Art

[0002] In the field of deep space exploration, astronomical navigation has incomparable advantages over other navigation methods, and it can provide accurate attitude information for the detector. Since the position of stars in the sky can be considered to be fixed and does not change, the starlight vector has a high measurement accuracy. The astronomical navigation technology based on star sensors has the advantages of no cumulative error, high measurement accuracy, and good concealment, which makes it an excellent space attitude sensitive technology.

[0003] Star sensors calculate attitude information by observing stars in the sky and quickly matching star maps. Star map matching algorithms play a vital role in calculating navigation information. To test and improve the performance of matching algorithms, star maps must be obtained and then target features must be extracted from them. Therefore, how to quickly obtain star maps is crucial. Space flight tests are expensive, and the development of astronomical navigation technology and the debugging of algorithms cannot all be done through actual starry sky photography. Star map simulation technology breaks through the limitations of conditions and can use computers to dynamically simulate and generate captured star maps in real time.

[0004] Star map simulation extracts observed stars from the observation star catalog based on the optical axis direction, field of view size and rotation angle of the star sensor. Then, the stars are displayed on the simulation screen through coordinate transformation and magnitude information. The field of view of the star sensor accounts for a very small proportion compared to the celestial sphere, which requires that the observed stars can be extracted quickly. The existing partitioning method divides the celestial sphere into different regions according to right ascension and declination, and extracts observed stars based on the discrimination range composed of the partition corresponding to the optical axis direction and the adjacent partitions. In order to improve the efficiency of the observation star extraction method and reduce the amount of calculation, the discrimination range of the extracted observation stars is narrowed by judging the positional relationship between the boundary points of the partition and the circular field of view of the star sensor. Although global search is avoided by partitioning, the stars entering the circular field of view may not be in the rectangular field of view of the star sensor. If all the stars in these partitions are directly judged whether they enter the imaging range of the star sensor (i.e., the rectangular field of view), it will undoubtedly greatly increase the amount of calculation.

[0005] Therefore, it is urgent to provide a technical solution to solve the above problems. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides a star map simulation method, system, computer device and computer-readable storage medium.

[0007] In a first aspect, the present invention provides a star map simulation method, the technical solution of the method is as follows:

[0008] Partitioning the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere;

[0009] According to the optical axis direction and the rectangular field of view of the star sensor, second partitions are determined from all first partitions, and a minimized partition corresponding to each second partition is constructed;

[0010] The stars in the minimized partition that are within the imaging range of the star sensor are determined as observed stars of the celestial sphere, and star map simulation is performed based on all the observed stars.

[0011] The beneficial effects of a star map simulation method of the present invention are as follows:

[0012] The method of the present invention can narrow the discrimination range during star map simulation, reduce the number of discriminations and thus improve generation efficiency.

[0013] Based on the above solution, a star map simulation method of the present invention can also be improved as follows.

[0014] In an optional manner, the step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor includes:

[0015] Constructing a circumscribed circular field of view corresponding to the rectangular field of view of the star sensor, and determining an optimized partition among all first partitions according to the optical axis direction of the star sensor and the circumscribed circular field of view;

[0016] The optimized partitions that have no intersection with the rectangular field of view are eliminated, and the remaining optimized partitions are determined as second partitions.

[0017] In an optional manner, the step of determining the optimized partition in all the first partitions according to the optical axis direction and the circumscribed circular field of view of the star sensor includes:

[0018] Obtain the partition number of each first partition; wherein the partition number is composed of the right ascension number and the declination number;

[0019] Calculating the numbering limit of the observation range according to the direction of the optical axis and the radius of the circumscribed circular field of view, and determining the right ascension numbering range and the declination numbering range according to the numbering limit of the observation range;

[0020] According to the right ascension number range and the declination number range, an optimized partition is determined from all the first partitions.

[0021] In an optional manner, the step of determining whether any optimized partition has an intersection with the rectangular field of view includes:

[0022] Determine whether the boundary points of any of the optimized partitions are within the rectangular field of view to obtain a first determination result, and determine whether a line connecting the boundary points of any of the optimized partitions intersects with the rectangular field of view to obtain a second determination result;

[0023] When at least one of the first judgment result and the second judgment result of any optimized partition is yes, it is determined that any optimized partition has an intersection with the rectangular field of view; when both the first judgment result and the second judgment result of any optimized partition are no, it is determined that any optimized partition has no intersection with the rectangular field of view.

[0024] In an optional manner, the step of constructing a minimized partition corresponding to any second partition includes:

[0025] The minimized partition corresponding to any second partition is determined according to the boundary points of the circumscribed circular field of view and the intersection points of the partition boundary line of any second partition and the circumscribed circular field of view.

[0026] In an optional manner, the step of determining whether any star in the minimized partition is within the imaging range of the star sensor comprises:

[0027] When any star is within the circumscribed circular field of view, obtaining a coordinate value of the star in the star sensor coordinate system, determining whether the coordinate value is within the imaging range of the star sensor, and obtaining a determination result of the star;

[0028] When the judgment result of any star is yes, it is determined that the any star is within the imaging range of the star sensor; when the judgment result of any star is no, it is determined that the any star is not within the imaging range of the star sensor.

[0029] In a second aspect, the present invention provides a star map simulation system, the technical solution of which is as follows:

[0030] It includes: a first processing module, a second processing module and a star map simulation module;

[0031] The first processing module is used to: partition the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere;

[0032] The second processing module is used to: determine the second partitions from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor, and construct a minimized partition corresponding to each second partition;

[0033] The star map simulation module is used to determine the stars in the minimized partition that are within the imaging range of the star sensor as observed stars of the celestial sphere, and perform star map simulation based on all the observed stars.

[0034] The beneficial effects of a star map simulation system of the present invention are as follows:

[0035] The system of the present invention can narrow the discrimination range during star map simulation, reduce the number of discriminations and thus improve generation efficiency.

[0036] Based on the above solution, a star map simulation system of the present invention can also be improved as follows.

[0037] In an optional manner, the step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor in the second processing module includes:

[0038] Constructing a circumscribed circular field of view corresponding to the rectangular field of view of the star sensor, and determining an optimized partition among all first partitions according to the optical axis direction of the star sensor and the circumscribed circular field of view;

[0039] The optimized partitions that have no intersection with the rectangular field of view are eliminated, and the remaining optimized partitions are determined as second partitions.

[0040] In a third aspect, a technical solution of a computer device of the present invention is as follows:

[0041] The invention comprises a memory, a processor and a program stored in the memory and running on the processor. When the processor executes the program, the steps of the star map simulation method of the present invention are realized.

[0042] In a fourth aspect, the present invention provides a computer-readable storage medium having the following technical solution:

[0043] Instructions are stored in the computer-readable storage medium. When the computer-readable storage medium reads the instructions, the computer-readable storage medium executes the steps of the star map simulation method of the present invention.

[0044] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented according to the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0046] Figure 1 A schematic diagram of a flow chart of an embodiment of a star map simulation method of the present invention;

[0047] Figure 2 This is an example diagram of the relationship between the celestial coordinate system and the star sensor coordinate system;

[0048] Figure 3 This is an example diagram of the circular field of view and partitions of a star sensor;

[0049] Figure 4 A schematic structural diagram of an embodiment of a star map simulation system of the present invention;

[0050] Figure 5 The figure is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0051] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0052] Figure 1 FIG. 2 is a flow chart showing an embodiment of a star map simulation method provided by the present invention. Figure 1 As shown, the following steps are included:

[0053] S1. Partition the celestial sphere into right ascension and declination partitions to obtain a plurality of first partitions of the celestial sphere.

[0054] The stars in the celestial sphere are divided into right ascension and declination partitions according to the partition interval B. The right ascension α ranges from 0 to 360°, and the declination δ ranges from -90 to 90°. The star information can be stored in a certain order (such as the partition number from small to large), and the first partition corresponding to each star in the celestial sphere is recorded.

[0055] It should be noted that, in S1, each first partition is numbered by default, and each first partition may be distinguished by using a different color, etc., and there is no limitation here.

[0056] S2. According to the optical axis direction and the rectangular field of view of the star sensor, second partitions are determined from all first partitions, and a minimized partition corresponding to each second partition is constructed.

[0057] Among them, the optical axis of the star sensor points to (α0, δ0), and the size of the rectangular field of view of the star sensor is FOV x ×FOV y The second partition is: the first partition that intersects with the rectangular field of view. The minimized partition is determined by the intersection of the boundary of the second partition and the circular field of view and the boundary point of the circular field of view. The circular field of view is the circumscribed circular field of view of the rectangular field of view.

[0058] S3, determining the stars in the minimized partition that are within the imaging range of the star sensor as observed stars of the celestial sphere, and performing star map simulation based on all observed stars.

[0059] The imaging range of the star sensor is a rectangular imaging range, which is determined according to the properties of the star sensor. The star map simulation process is achieved by displaying the observed stars on the simulation screen through coordinate transformation and magnitude information of the observed stars, and the specific process is not repeated in this embodiment.

[0060] In an optional manner, the step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor includes:

[0061] A circumscribed circular field of view corresponding to the rectangular field of view of the star sensor is constructed, and an optimized subarea among all the first subareas is determined according to the optical axis direction of the star sensor and the circumscribed circular field of view.

[0062] Among them, the radius R of the circumscribed circular field of view is

[0063] Specifically, the step of determining the optimized partitions in all the first partitions according to the optical axis direction and the circumscribed circular field of view of the star sensor includes:

[0064] Get the partition number of each first partition.

[0065] The partition number consists of the right ascension number and the declination number. The right ascension number ranges from 0 to 360 / B, and the declination number ranges from -90 / B to 90 / B. The partition number of the star is recorded when generating the star catalog data, and the star information is stored in the order of the partition number from small to large. The celestial sphere is partitioned and numbered according to right ascension and declination, and the star catalog stores the star information in the order of the number from small to large, which is convenient for quickly finding the partition that the optical axis points to according to the direction of the optical axis, and extracting the star information data contained in each partition.

[0066] The observation range numbering limit is calculated according to the direction of the optical axis and the radius of the circumscribed circular field of view, and the right ascension numbering range and the declination numbering range are determined according to the observation range numbering limit.

[0067] Substitute the optical axis direction and the radius of the circumscribed circular field of view into the first formula to calculate the observation range number limit: num 左 、num 右 、num 上 、num 下 The first formula is: int is the rounding function, for num 左 and num 下 Round down, for num 右 and num 上 Round up. num 左 and num 右 Determine the right ascension number range, num上 and num 下 Determine the declination number range.

[0068] According to the right ascension number range and the declination number range, an optimized partition is determined from all the first partitions.

[0069] Among them, the first partition whose right ascension number falls within the right ascension number range and whose declination number falls within the declination number range is determined as the optimized partition.

[0070] The optimized partitions that have no intersection with the rectangular field of view are eliminated, and the remaining optimized partitions are determined as second partitions.

[0071] Specifically, the step of determining whether any optimized partition has an intersection with the rectangular field of view includes:

[0072] It is determined whether the boundary points of any of the optimized partitions are within the rectangular field of view to obtain a first determination result, and it is determined whether a line connecting the boundary points of any of the optimized partitions intersects with the rectangular field of view to obtain a second determination result.

[0073] When at least one of the first judgment result and the second judgment result of any optimized partition is yes, it is determined that any optimized partition has an intersection with the rectangular field of view; when both the first judgment result and the second judgment result of any optimized partition are no, it is determined that any optimized partition has no intersection with the rectangular field of view.

[0074] Among them, the boundary points of the optimized partition are the intersection points of the dividing lines of the partition right ascension and declination numbers. Through coordinate conversion, the celestial coordinates of the boundary points are converted to the star sensor coordinates to determine whether they are within the rectangular field of view. The specific judgment condition is: the coordinates of the star in the imaging plane of the star sensor satisfy |x|≤1 and |y|≤1. The judgment condition that the boundary point connection line of the optimized partition and the rectangular field of view have an intersection is: the four boundary points of the rectangular field of view of the star sensor are within the optimized partition. The four boundary points of the rectangular field of view are the four intersection points of the rectangular field of view of the star sensor and its circumscribed circular field of view. The optimized partition can be determined based on its coordinates.

[0075] Since the calculation of determining whether a star is within the imaging range of the star sensor is much more complicated than determining whether a star is within the circular field of view, in this embodiment, the portion that is not within the rectangular field of view in the circular field of view partition is eliminated by determining the boundary points, thereby narrowing the determination range. The determination of the boundary points replaces the determination of all stars within the partition, greatly simplifying the calculation.

[0076] It should be noted that the conversion of the celestial coordinates of the boundary points to the star sensor coordinates is as follows:

[0077] ①First, find the starlight vector of the star in the celestial rectangular coordinate system:

[0078]

[0079] The right ascension and declination of the ith star are represented by α i and δ i Indicates that (U, V, W) are the rectangular coordinates of the star in the celestial coordinate system.

[0080] ②Convert the coordinates of the star in the celestial rectangular coordinate system to the coordinates in the star sensor coordinate system: [X, Y, Z] T =M[U,V,W] T ; Where M is the transfer matrix between coordinate systems, and (X, Y, Z) is the rectangular coordinate of the star in the star sensor coordinate system.

[0081] ③ It is necessary to convert the rectangular coordinates of the star sensor coordinate system into two-dimensional coordinates in the imaging plane. Based on the focal length of the optical system and the rectangular coordinates of the star in the star sensor coordinate system, the coordinates on the imaging plane can be obtained: Among them, (x, y) is the coordinate of the star in the two-dimensional imaging plane.

[0082] Figure 2 The following figure shows the relationship between the celestial coordinate system and the star sensor coordinate system. Since any finite distance relative to the radius of the celestial sphere can be regarded as the same point, it can be considered that the origin of the star sensor coordinate system coincides with the origin of the celestial coordinate system. The optical axis of the star sensor's visual axis Z in the celestial coordinate system points to (α0, δ0). Figure 2 Where OZ′ is the projection of OZ on the UOV plane, then the angle between it and OU is, and the angle between OZ and OZ′ is α0. Figure 2 The WOZ plane intersects the XOY plane perpendicularly with the straight line l, and the angle between OX and the straight line l is recorded as After rotating UVW three times, the star sensor coordinate system XYZ can be overlapped. According to Euler's theorem, the transfer matrix M can be obtained:

[0083]

[0084] In an optional manner, the step of constructing a minimized partition corresponding to any second partition includes:

[0085] The minimized partition corresponding to any second partition is determined according to the boundary points of the circumscribed circular field of view and the intersection points of the partition boundary line of any second partition and the circumscribed circular field of view.

[0086] Among them, for each second partition, the discrimination range is the minimized partition determined by the intersection of the partition boundary line of the second partition and the circumscribed circular field of view and the boundary point of the circular field of view. When a second partition has no intersection with the circular field of view, the second partition is its own minimized partition. The intersection point is defined as the intersection of the circular field of view and the partition boundary line, and the boundary point of the circular field of view is defined as the point with the maximum and minimum coordinate values ​​in the right ascension and declination directions in its observation range.

[0087] Specifically, for the partition where the upper boundary point is located, the minimized partition is the area with a declination less than the declination of the upper boundary point; for the partition where the lower boundary point is located, the minimized partition is the area with a declination greater than the declination of the upper boundary point; for the partition where the left boundary point is located, the minimized partition is the area with a right ascension greater than the right ascension of the left boundary point; for the partition where the right boundary point is located, the minimized partition is the area with a right ascension less than the right ascension of the right boundary point; for the remaining partitions, the minimized partition is composed of the minimized area formed by the intersection of the circular field of view and the boundary line of the partition and the boundary points of the partition. If the intersection of the circular field of view and the boundary line of the partition is on the boundary of the adjacent partitions, the minimized partition is composed of a spherical rectangular area with two intersections and the boundary point in the circular field of view as endpoints; if the intersection of the circular field of view and the boundary line of the partition is on the right ascension (declination) boundary of the partition, it is composed of the parallel lines of the right ascension (declination) passing through the intersection and the boundary. When a partition has no intersection with the circular field of view, the partition is its own minimized partition.

[0088] In this embodiment, the minimized partition of each second partition is constructed according to the boundary points of the circular field of view and the intersection points of the circular field of view and the partition boundary lines, which further narrows the discrimination range and improves the work efficiency.

[0089] like Figure 3 As shown, the partitions are represented by r1, r2, r3, etc., and the partition boundary points are represented by n1, n2, n3, etc. The four boundary points of the rectangular field of view are located in the partitions r4, r5, r6, r7, r8, r9, r10, r11, r12, r13, etc. 10 、r 11 、r 13 , so these four partitions must be the second partition. Partition boundary points n1-n9, n 11 -n 14 、n 17 -n 24 Not within the imaging range, partitions r1, r2, r5, r6, r 15 All remaining partitions are the second partitions. Figure 3 For the observation case shown, the minimum partition is Figure 3 The shaded area in the figure. L is the direction of the optical axis, and points N, S, W, and E are the four boundary points of the circumscribed circular field of view. Figure 3 All dotted lines in the graph are parallel to right ascension (declination).

[0090] In an optional manner, the step of determining whether any star in the minimized partition is within the imaging range of the star sensor comprises:

[0091] When any star is within the circumscribed circular field of view, the coordinate value of any star in the star sensor coordinate system is obtained, and it is determined whether the coordinate value is within the imaging range of the star sensor to obtain a determination result of any star.

[0092] Among them, first determine whether the star is within the circumscribed circular field of view based on whether the angular distance between the starlight vector and the starlight vector corresponding to the optical axis of the star sensor is less than the radius of the circular field of view. The solution for the angular distance is: S i and S j is the starlight vector of the two stars, e ij is the angular distance between the two.

[0093] When the judgment result of any star is yes, it is determined that the any star is within the imaging range of the star sensor; when the judgment result of any star is no, it is determined that the any star is not within the imaging range of the star sensor.

[0094] By judging whether the converted coordinates of the star are within the rectangular imaging range of the star sensor, it is judged whether the star is observed and imaged, thereby obtaining a set of observed stars falling within the imaging range of the star sensor.

[0095] The technical solution of this embodiment can narrow the discrimination range during star map simulation, reduce the number of discriminations and thus improve generation efficiency.

[0096] Figure 4 FIG. 2 is a schematic diagram showing a structure of an embodiment of a star map simulation system 200 provided by the present invention. Figure 4 As shown, the system 200 includes: a first processing module 210, a second processing module 220 and a star map simulation module 230;

[0097] The first processing module 210 is used to: partition the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere;

[0098] The second processing module 220 is used to: determine the second partitions from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor, and construct a minimized partition corresponding to each second partition;

[0099] The star map simulation module 230 is used to determine the stars in the minimized partition that are within the imaging range of the star sensor as observed stars of the celestial sphere, and perform star map simulation based on all the observed stars.

[0100] In an optional manner, the step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor in the second processing module 220 includes:

[0101] Constructing a circumscribed circular field of view corresponding to the rectangular field of view of the star sensor, and determining an optimized partition among all first partitions according to the optical axis direction of the star sensor and the circumscribed circular field of view;

[0102] The optimized partitions that have no intersection with the rectangular field of view are eliminated, and the remaining optimized partitions are determined as second partitions.

[0103] In an optional manner, the step of determining the optimized partition in all the first partitions according to the optical axis direction and the circumscribed circular field of view of the star sensor in the second processing module 220 includes:

[0104] Obtain the partition number of each first partition; wherein the partition number is composed of the right ascension number and the declination number;

[0105] Calculating the numbering limit of the observation range according to the direction of the optical axis and the radius of the circumscribed circular field of view, and determining the right ascension numbering range and the declination numbering range according to the numbering limit of the observation range;

[0106] According to the right ascension number range and the declination number range, an optimized partition is determined from all the first partitions.

[0107] In an optional manner, the method further includes: a judgment module; the judgment module is used to:

[0108] Determine whether the boundary points of any of the optimized partitions are within the rectangular field of view to obtain a first determination result, and determine whether a line connecting the boundary points of any of the optimized partitions intersects with the rectangular field of view to obtain a second determination result;

[0109] When at least one of the first judgment result and the second judgment result of any optimized partition is yes, it is determined that any optimized partition has an intersection with the rectangular field of view; when both the first judgment result and the second judgment result of any optimized partition are no, it is determined that any optimized partition has no intersection with the rectangular field of view.

[0110] In an optional manner, the step of constructing a minimized partition corresponding to any second partition in the second processing module 220 includes:

[0111] The minimized partition corresponding to any second partition is determined according to the boundary points of the circumscribed circular field of view and the intersection points of the partition boundary line of any second partition and the circumscribed circular field of view.

[0112] In an optional manner, the step of determining whether any star in the minimized partition is within the imaging range of the star sensor in the star map simulation module 230 includes:

[0113] When any star is within the circumscribed circular field of view, obtaining a coordinate value of the star in the star sensor coordinate system, determining whether the coordinate value is within the imaging range of the star sensor, and obtaining a determination result of the star;

[0114] When the judgment result of any star is yes, it is determined that the any star is within the imaging range of the star sensor; when the judgment result of any star is no, it is determined that the any star is not within the imaging range of the star sensor.

[0115] The technical solution of this embodiment can narrow the discrimination range during star map simulation, reduce the number of discriminations and thus improve generation efficiency.

[0116] The above parameters and steps for each module to implement corresponding functions in the star map simulation system 200 of this embodiment can refer to the parameters and steps in the embodiment of the star map simulation method above, and will not be repeated here.

[0117] like Figure 5 As shown, a computer device 300 according to an embodiment of the present invention includes a processor 320, the processor 320 is coupled to a memory 310, and the memory 310 stores at least one computer program 330, and the at least one computer program 330 is loaded and executed by the processor 320, so that the computer device 300 implements any of the above star map simulation methods, specifically:

[0118] The computer device 300 may have relatively large differences due to different configurations or performances, and may include one or more processors 320 (Central Processing Units, CPU) and one or more memories 310, wherein the one or more memories 310 store at least one computer program 330, and the at least one computer program 330 is loaded and executed by the one or more processors 320, so that the computer device 300 implements any of the star map simulation methods provided in the above embodiments. Of course, the computer device 300 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output, and the computer device 300 may also include other components for implementing device functions, which will not be described in detail here.

[0119] A computer-readable storage medium according to an embodiment of the present invention stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that a computer implements any of the above-mentioned star map simulation methods.

[0120] Optionally, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

[0121] In an exemplary embodiment, a computer program product or a computer program is also provided, the computer program product or the computer program comprising computer instructions, the computer instructions being stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs any of the above-mentioned star map simulation methods.

[0122] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects and represent the definition of a specific order or sequence. The order of use of similar objects can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than the order shown or described.

[0123] Those skilled in the art know that the present invention can be implemented as a system, method or computer program product. Therefore, the present disclosure can be specifically implemented in the following forms, namely: it can be complete hardware, it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software, which is generally referred to as "circuit", "module" or "system" herein. In addition, in some embodiments, the present invention can also be implemented in the form of a computer program product in one or more computer-readable media, and the computer-readable medium contains computer-readable program code.

[0124] Any combination of one or more computer-readable media can be used. Computer-readable media can be computer-readable signal media or computer-readable storage media. Computer-readable storage media can be, for example, but not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, 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 disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0125] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A star map simulation method, characterized in that: include: Partitioning the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere; According to the optical axis direction and the rectangular field of view of the star sensor, second partitions are determined from all first partitions, and a minimized partition corresponding to each second partition is constructed; Determine the stars in the minimized partition that are within the imaging range of the star sensor as observed stars of the celestial sphere, and perform star map simulation based on all observed stars; The step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor comprises: Constructing a circumscribed circular field of view corresponding to the rectangular field of view of the star sensor, and determining an optimized partition among all first partitions according to the optical axis direction of the star sensor and the circumscribed circular field of view; Eliminate the optimized partitions that do not have an intersection with the rectangular field of view, and determine the remaining optimized partitions as second partitions; The steps of constructing a minimized partition corresponding to any second partition include: The minimized partition corresponding to any second partition is determined according to the boundary points of the circumscribed circular field of view and the intersection points of the partition boundary line of any second partition and the circumscribed circular field of view.

2. The star map simulation method according to claim 1, characterized in that: The step of determining the optimized partitions in all the first partitions according to the optical axis direction and the circumscribed circular field of view of the star sensor comprises: Obtain the partition number of each first partition; wherein the partition number is composed of the right ascension number and the declination number; Calculating the numbering limit of the observation range according to the direction of the optical axis and the radius of the circumscribed circular field of view, and determining the right ascension numbering range and the declination numbering range according to the numbering limit of the observation range; According to the right ascension number range and the declination number range, an optimized partition is determined from all the first partitions.

3. The star map simulation method according to claim 1, characterized in that: The step of determining whether any optimized partition has an intersection with the rectangular field of view comprises: Determine whether the boundary points of any of the optimized partitions are within the rectangular field of view to obtain a first determination result, and determine whether a line connecting the boundary points of any of the optimized partitions intersects with the rectangular field of view to obtain a second determination result; When at least one of the first judgment result and the second judgment result of any optimized partition is yes, it is determined that any optimized partition has an intersection with the rectangular field of view; when both the first judgment result and the second judgment result of any optimized partition are no, it is determined that any optimized partition has no intersection with the rectangular field of view.

4. The star map simulation method according to any one of claims 1 to 3, characterized in that: The step of determining whether any star in the minimized partition is within the imaging range of the star sensor comprises: When any star is within the circumscribed circular field of view, obtaining a coordinate value of the star in the star sensor coordinate system, determining whether the coordinate value is within the imaging range of the star sensor, and obtaining a determination result of the star; When the judgment result of any star is yes, it is determined that the any star is within the imaging range of the star sensor; when the judgment result of any star is no, it is determined that the any star is not within the imaging range of the star sensor.

5. A star map simulation system, characterized in that: include: A first processing module, a second processing module and a star map simulation module; The first processing module is used to: partition the celestial sphere by right ascension and declination to obtain a plurality of first partitions of the celestial sphere; The second processing module is used to: determine the second partitions from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor, and construct a minimized partition corresponding to each second partition; The star map simulation module is used to: determine the stars in the minimized partition that are within the imaging range of the star sensor as the observed stars of the celestial sphere, and perform star map simulation based on all the observed stars; The step of determining the second partition from all the first partitions according to the optical axis direction and the rectangular field of view of the star sensor in the second processing module includes: Constructing a circumscribed circular field of view corresponding to the rectangular field of view of the star sensor, and determining an optimized partition among all first partitions according to the optical axis direction of the star sensor and the circumscribed circular field of view; Eliminate the optimized partitions that do not have an intersection with the rectangular field of view, and determine the remaining optimized partitions as second partitions; The step of constructing a minimized partition corresponding to any second partition in the second processing module includes: The minimized partition corresponding to any second partition is determined according to the boundary points of the circumscribed circular field of view and the intersection points of the partition boundary line of any second partition and the circumscribed circular field of view.

6. A computer device, characterized in that: The computer device includes a processor, the processor is coupled to a memory, at least one computer program is stored in the memory, and the at least one computer program is loaded and executed by the processor so that the computer device implements the star map simulation method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by a processor so that the computer-readable storage medium implements the star map simulation method according to any one of claims 1 to 4.

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