Telescope tracking blind spot detection method, device and equipment

Abstract

The present invention provides a method, device and equipment for detecting blind spots in telescope tracking. The method for detecting blind spots in telescope tracking includes: obtaining orbital parameters of a space target at a target orbital altitude; generating first trajectory data of a telescope passing through the zenith at the target orbital altitude based on the orbital parameters, the first trajectory data being used to guide the telescope to track; obtaining second trajectory data generated by the telescope when tracking the first trajectory data, the second trajectory data being actually measured for the telescope; and determining the tracking blind spot of the telescope at the target orbital altitude based on the error data between the first trajectory data and the second trajectory data. The above method is simple and easy to implement, and can be widely used in the actual detection of the size of the tracking blind spot of a horizontal telescope, and can perform comprehensive coverage detection of each orbital altitude.

Description

Technical Field

[0001] The present invention relates to the technical field of performance detection of horizontal telescopes and space target observation, and in particular to a method, device and equipment for detecting blind spots in telescope tracking. Background Art

[0002] In recent years, with the rapid development of the aerospace industry, artificial spacecraft have been continuously launched into space, and while developing human civilization, a large number of space debris have also been brought. These space targets continue to accumulate in various orbits, increasing the risk of collision of spacecraft in orbit, and the safety of space assets faces severe challenges. When responding to space threat events such as dangerous collisions, the first thing to do is to continuously track and observe specific targets to obtain real-time orbital positions. Telescopes are widely used in space target observation and are an important means of space target situational awareness.

[0003] The trajectory of space debris can appear anywhere in space, but due to the characteristics of the tracking method of general telescopes, there will always be a certain tracking blind area that causes the target to be lost. The blind area of ​​​​horizontal telescopes appears near the zenith. In order to prevent the observation plan from being unable to be executed or the tracking fails, it is particularly important to detect the scope of the telescope's blind area. Summary of the invention

[0004] In view of this, the present invention provides a telescope tracking blind area detection method and device thereof to at least solve some of the above problems.

[0005] A first aspect of the present invention provides a telescope tracking blind spot detection method, comprising: obtaining orbital parameters of a space target at a target orbital altitude; generating first trajectory data of a telescope passing through the zenith at the target orbital altitude based on the orbital parameters, the first trajectory data being used to guide the telescope to track; obtaining second trajectory data generated by the telescope when tracking the first trajectory data, the second trajectory data being actually measured for the telescope; and determining the tracking blind spot of the telescope at the target orbital altitude based on error data between the first trajectory data and the second trajectory data.

[0006] According to an embodiment of the present invention, orbital parameters of a space target at a target orbital altitude are obtained, including: obtaining a double-row orbital element number of the space target, the space target including a near-circular orbit space target; and modifying a horizontal motion velocity parameter in the double-row orbital element number according to the target orbital altitude to obtain the orbital parameters.

[0007] According to an embodiment of the present invention, first trajectory data of a telescope passing through the zenith at a target orbital altitude is generated based on orbital parameters, including: generating multiple transit trajectories of the space target according to the station site of the telescope; traversing the right ascension of the ascending node of the space target from the orbital parameters to obtain the minimum zenith angle of each transit trajectory; and determining the data of the transit trajectory corresponding to the smallest zenith angle among the multiple minimum zenith angles as the first trajectory data.

[0008] According to an embodiment of the present invention, obtaining second trajectory data generated by a telescope when tracking first trajectory data includes: setting a time sequence in the first trajectory data, guiding the telescope to track the first trajectory data according to the time sequence, the first trajectory data including first azimuth axis data and first pitch axis data; and recording second azimuth axis data and second pitch axis data generated by the telescope when tracking the first trajectory data according to a preset sampling frequency to obtain the second trajectory data.

[0009] According to an embodiment of the present invention, a tracking blind area of ​​the telescope at the target orbit altitude is determined based on error data between the first trajectory data and the second trajectory data, including: determining first error data between the first azimuth axis data and the second azimuth axis data, and second error data between the first pitch axis data and the second pitch axis data at each sampling moment; and determining the tracking blind area of ​​the telescope at the target orbit altitude based on the first error data and the second error data.

[0010] According to an embodiment of the present invention, determining a tracking blind area of ​​a telescope at a target orbit height based on first error data and second error data includes: calculating the root mean square error of the first error data and the second error data in sequence according to the magnitude order of each pitch value in the second pitch axis data; and determining the tracking blind area of ​​the telescope at the target orbit height based on the root mean square error and a tracking accuracy threshold of the telescope.

[0011] According to an embodiment of the present invention, a tracking blind area of ​​a telescope at a target orbit altitude is determined based on a root mean square error and a tracking accuracy threshold of the telescope, including: when the root mean square error exceeds the tracking accuracy threshold, reading the target elevation angle in the second pitch axis data, the complementary angle of the target elevation angle being the size of the tracking blind area of ​​the telescope at the target orbit altitude.

[0012] According to an embodiment of the present invention, determining the tracking blind area of ​​the telescope at the target orbit height based on the error data between the first trajectory data and the second trajectory data also includes: when the time frequency of the first trajectory data and the sampling frequency of the second trajectory data are inconsistent, performing difference processing on the first trajectory data according to the sampling frequency.

[0013] A second aspect of the present invention provides a telescope tracking blind spot detection device, comprising: a first acquisition module, used to acquire orbital parameters of a space target at a target orbital altitude; a generation module, used to generate first trajectory data of a telescope passing through the zenith at the target orbital altitude based on the orbital parameters, the first trajectory data being used to guide the telescope to track; a second acquisition module, used to acquire second trajectory data generated by the telescope when tracking the first trajectory data, the second trajectory data being actually measured for the telescope; and a determination module, used to determine the tracking blind spot of the telescope at the target orbital altitude based on error data between the first trajectory data and the second trajectory data.

[0014] A third aspect of the present invention provides an electronic device, comprising: one or more processors; a memory for storing one or more computer programs, wherein the one or more processors execute the one or more computer programs to implement the steps of the above method.

[0015] According to the telescope tracking blind area detection method, device and equipment provided by the embodiment of the present invention, the target orbit parameters of the space target are used to obtain the tracking trajectory that can be used to detect the blind area, and the telescope is guided to track and observe, and the feedback trajectory data of the telescope during the tracking process is recorded. The two are compared to obtain the actual telescope tracking blind area range to verify the true performance of the telescope. The detection method is simple and operable. Compared with the telescope blind area obtained by theoretical calculation, the present invention can obtain a more accurate telescope blind area size. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0017] Figure 1 A flowchart of a telescope tracking blind area detection method according to an embodiment of the present invention is schematically shown;

[0018] Figure 2 A schematic diagram shows a zenithal top view of a 200km space target passing through the zenith of a measuring station according to an embodiment of the present invention;

[0019] Figure 3 A graph schematically shows a telescope pitch angle and azimuth tracking error curve when observing a 200km orbit according to an embodiment of the present invention;

[0020] Figure 4 A diagram schematically shows a telescope elevation angle and azimuth tracking error curve when observing a 500km orbit according to an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of a telescope pitch angle and azimuth tracking error when observing a 2000km orbit according to an embodiment of the present invention is shown;

[0022] Figure 6 A schematic diagram of a structure of a telescope tracking blind area detection device according to an embodiment of the present invention is shown;

[0023] Figure 7 A block diagram of an electronic device suitable for implementing a telescope tracking blind area detection method according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

[0024] Below, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the present invention. In the following detailed description, for ease of explanation, many specific details are set forth to provide a comprehensive understanding of embodiments of the present invention. However, it is apparent that one or more embodiments may also be implemented without these specific details. In addition, in the following description, descriptions of known structures and technologies are omitted to avoid unnecessary confusion of concepts of the present invention.

[0025] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the existence of features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0026] All terms (including technical and scientific terms) used herein have the meanings commonly understood by those skilled in the art unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0027] When using expressions such as "at least one of A, B, and C, etc.", they should generally be interpreted according to the meaning of the expression commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include but is not limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0028] In the prior art, the size of the telescope blind area can be obtained by theoretical calculation. According to the calculation of scholars, the maximum elevation angle of the horizontal telescope tracking is , it can be seen that the blind spot size of the horizontal telescope is determined by the maximum precision azimuth tracking angular velocity The actual value of the space target is determined by the following parameters: h, the target’s flight altitude h, and the flight speed v. However, in actual observation, it is also affected by many factors such as the telescope design parameters, the target’s trajectory, instrument interference, and environmental noise. Therefore, it is necessary to track the actual space target to detect the real tracking performance of the telescope.

[0029] In order to solve the deviation problem existing in the theoretical calculation of telescope blind area, the present invention provides a telescope tracking blind area detection method, which can detect the telescope blind area according to the actual orbit parameters of the space target. Figure 1 Provide explanation.

[0030] Figure 1 The flowchart of the telescope tracking blind area detection method according to an embodiment of the present invention is schematically shown.

[0031] like Figure 1 As shown, the telescope tracking blind spot detection method may include operations S110 to S140.

[0032] In operation S110, orbital parameters of a space target at a target orbital altitude are acquired.

[0033] The orbital parameters of the space target at the target orbital altitude can be directly queried through existing historical data, or obtained indirectly through calculation, and are not specifically limited in this embodiment.

[0034] In operation S120, first trajectory data of the telescope passing through the zenith at the target orbit altitude is generated according to the orbit parameters, and the first trajectory data is used to guide the telescope to perform tracking.

[0035] The first trajectory data can be used as a predicted tracking trajectory of the telescope to guide the telescope to track, such as rotating or moving. The telescope can be a horizontal telescope, and its blind area appears near the zenith.

[0036] In operation S130, second trajectory data generated by the telescope when tracking the first trajectory data is acquired, where the second trajectory data is actually measured by the telescope.

[0037] The second trajectory data can be acquired in real time through an encoder on the telescope, for example.

[0038] In operation S140, a tracking blind area of ​​the telescope at a target orbit height is determined according to error data between the first trajectory data and the second trajectory data.

[0039] For a horizontal telescope, its tracking blind area can be obtained by determining the maximum elevation angle of the telescope through error data, for example.

[0040] This embodiment generates a predicted tracking trajectory for guiding the telescope to pass the zenith according to the orbital parameters of the space target at the target orbital altitude. When the initial moment of the predicted tracking trajectory is set as the current moment, the telescope is started to track along the predicted trajectory. The actual trajectory data can be obtained through the real-time reading of the telescope encoder, and the actual trajectory data and the predicted trajectory data are compared for error, and the size of the blind area of ​​the telescope is determined according to the error. The detection method is simple and feasible. Compared with the blind area of ​​the telescope obtained by theoretical calculation, the present invention takes into account the interference factors in the actual observation process of the telescope and can obtain a more accurate blind area size.

[0041] Further, based on the above embodiment, the above operation S110 may include: obtaining the double-row orbital elements of the space target, the space target including a near-circular orbit space target; modifying the horizontal motion speed parameters in the double-row orbital elements according to the target orbital height to obtain the orbital parameters.

[0042] When selecting a target for telescope observation, the usual practice is to select from more than 20,000 space targets whose orbits have been published, and after a large number of repeated calculations, find a suitable target to detect the blind spot of the telescope. However, the space targets usually selected may not have transit conditions, or the transit does not meet the detection conditions (the target cannot approach the zenith of the horizontal telescope), resulting in low detection efficiency. To this end, this embodiment provides a method for modifying the orbital parameters of the space target based on the orbital motion law of the space target, which can quickly obtain space targets that can be used for detection at different orbital altitudes, and let the telescope track them, so as to obtain the blind spot range of the telescope at different orbital altitudes. In this way, it is possible to perform comprehensive coverage detection on targets on any orbit without relying on the selection of actual targets and transit conditions on the orbit, thereby improving detection efficiency.

[0043] In this embodiment, the space target may be a low-altitude orbit target that has been observed and recorded, and its two-line orbit elements (TLE) may be queried from a publicly available database. The two-line orbit elements include orbital parameter data of the space target during its actual operation on the orbit, such as horizontal motion velocity parameters. According to the set target orbital altitude, the orbital parameters of the space target at different target orbital altitudes may be obtained based on the actual orbital parameters of the space target. In other words, orbital parameters at other altitudes, including high-altitude orbital parameters, may be quickly obtained based on the orbital parameters of the low-orbit space target. The space target may be a near-circular orbit space target, which ensures that when the orbital parameters are modified, the angles in the parameters will not be greatly affected.

[0044] When modifying the orbital parameters, set the target orbital height h to be detected, and the horizontal motion speed n0 of the space target D can be obtained according to the following formula, and then modify the horizontal motion speed parameter in the double-row orbital root number of the object D;

[0045]

[0046] Where r0 is the radius of the Earth and μ is the Kepler constant.

[0047] Based on the above embodiment, the above operation S120 may include: generating multiple transit trajectories of the space target according to the station site of the telescope; traversing the right ascension of the ascending node of the space target from the orbital parameters to obtain the minimum zenith angle of each transit trajectory; and determining the data of the transit trajectory corresponding to the smallest zenith angle among the multiple minimum zenith angles as the first trajectory data.

[0048] As an example, the maximum pitch angle on the statistical trajectory , we can get the minimum zenith angle of the trajectory . Ascending node right ascension .

[0049] Based on the above embodiment, the above operation S130 may include: setting a time sequence in the first trajectory data, guiding the telescope to track the first trajectory data according to the time sequence, the first trajectory data including first azimuth axis data and first pitch axis data; recording second azimuth axis data and second pitch axis data generated by the telescope when tracking the first trajectory data according to a preset sampling frequency, to obtain second trajectory data.

[0050] The azimuth axis data and the elevation axis data of the telescope can be measured in real time by, for example, a two-axis encoder of the telescope until the telescope completes the guidance tracking of the trajectory.

[0051] In some embodiments, when the time frequency of the first trajectory data and the sampling frequency of the second trajectory data are inconsistent, the first trajectory data may be subjected to difference processing according to the sampling frequency to obtain a predicted value at the sampling time.

[0052] Based on the above embodiment, the above operation S140 may include: determining first error data between the first azimuth axis data and the second azimuth axis data, and second error data between the first pitch axis data and the second pitch axis data at each sampling moment; and determining the tracking blind area of ​​the telescope at the target orbit height based on the first error data and the second error data.

[0053] The first trajectory data can be recorded as , t i A represents the predicted tracking trajectory time, i represents the azimuth of the forecast tracking trajectory, E i The second trajectory data can be recorded as , represents the sampling time of the actual tracking trajectory, represents the azimuth of the actual tracking trajectory, represents the pitch angle of the actual tracking trajectory. The tracking error can be expressed as , represents the first error data, that is, the error data of the azimuth angle, Represents the second error data, that is, the error data of the pitch angle.

[0054] In some embodiments, determining the tracking blind area of ​​the telescope at the target orbit altitude based on the first error data and the second error data may include: calculating the root mean square (RMS) error of the first error data and the second error data in sequence according to the order of magnitude of each pitch value in the second pitch axis data; and determining the tracking blind area of ​​the telescope at the target orbit altitude based on the root mean square error and the tracking accuracy threshold of the telescope.

[0055] The root mean square error can be obtained by subtracting the first trajectory data from the second trajectory data at the sampling time. The tracking accuracy threshold can be reasonably set according to the height of the space target and the performance of the telescope, and the present invention does not specifically limit the value of the tracking accuracy threshold.

[0056] In some embodiments, the RMS error When the set tracking accuracy threshold is exceeded, the target elevation angle in the second pitch axis data can be read , the complementary angle of the target elevation angle is 90- is the size of the telescope's tracking blind area at the target orbit altitude.

[0057] Figure 2 A schematic diagram shows a zenithal top view of a 200km space target passing through the zenith of a measuring station according to an embodiment of the present invention; Figure 3 A graph schematically shows a telescope pitch angle and azimuth tracking error curve when observing a 200km orbit according to an embodiment of the present invention; Figure 4 A diagram schematically shows a telescope elevation angle and azimuth tracking error curve when observing a 500km orbit according to an embodiment of the present invention; Figure 5 A curve diagram of telescope elevation angle and azimuth tracking error when observing a 2000km orbit according to an embodiment of the present invention is schematically shown.

[0058] In the embodiment of the present invention, a low-orbit near-circular target (for example, number 25544) can be selected as an observation experiment target for detecting the tracking blind spot of the horizontal telescope. The two-line element number information of the target orbit can be expressed as follows:

[0059] 1 25544U 98067A 22213.85400208 .00004702 00000-0 89716-4 0 9995 2 25544 51.6438 110.3774 0005225 73.7715 45.3576 15.50197579352263

[0061] Select a certain horizontal telescope, design the azimuth axis precision tracking speed to be 8° / s, the pitch axis precision tracking speed to be 8° / s, and the precision tracking accuracy to be 1″. Assuming that the orbit altitude to be detected is 200km, 500km, and 2000km, make a guidance plan after changing the parameters in the root number of the above targets, and then use the plan to guide the telescope to track, and record the encoder value in real time. Figure 2 As shown, a zenithal view of a 200km target passing through the zenith of the measuring station is shown. The solid line passing through the center point of the circle in the figure represents a tracking trajectory of the telescope.

[0062] like Figure 3 , Figure 4 and Figure 5 As shown in the figure, the pitch angle and azimuth tracking error curves when observing 200km, 500km, and 2000km orbits are shown respectively. The pitch angle and azimuth tracking error (guidance value - encoder return value) curves when observing various orbital targets are shown. Since the blind area of ​​the horizontal telescope is determined by the precision speed of the azimuth axis, the error of the pitch axis is not shown. The elevation angle position when RMS>1″ in the azimuth tracking error curve is statistically analyzed, and the results are shown in the following table.

[0063] Table 1

[0064]

[0065] In Table 1, the results of the theoretical blind area are calculated according to the theoretical formula, and the actual detection blind area is detected according to the blind area detection method provided by the present invention. From the detection results, the blind area detection method provided by the present invention successfully detects the blind area of ​​the horizontal telescope for space targets on various orbits (200km, 500km, 2000km). It can be found that there is a certain deviation between the size of the blind area actually observed by the telescope and the theoretical blind area, which can provide a practical basis for the subsequent formulation of a reasonable plan for the telescope.

[0066] In summary, the present invention provides a simple and easy method for measuring the size of the blind area of ​​a horizontal telescope when observing space targets, so as to verify the actual performance of the telescope. It can perform comprehensive coverage detection on targets on any track without relying on the selection of actual targets and transit conditions on the track, thereby improving detection efficiency.

[0067] Based on the above telescope tracking blind spot detection method, the present invention also provides a telescope tracking blind spot detection device. Figure 6 The device is described in detail.

[0068] Figure 6 The structure block diagram of the telescope tracking blind area detection device according to an embodiment of the present invention is schematically shown.

[0069] like Figure 6 As shown, the telescope tracking blind spot detection device 600 of this embodiment includes a first acquisition module 610 , a generation module 620 , a second acquisition module 630 , and a determination module 640 .

[0070] The first acquisition module 610 is used to acquire the orbital parameters of the space target at the target orbital altitude. In one embodiment, the first acquisition module 610 can be used to perform the operation S110 described above, which will not be described in detail here.

[0071] The generating module 620 is used to generate first trajectory data of the telescope passing the zenith at the target orbital altitude according to the orbital parameters, and the first trajectory data is used to guide the telescope to track. In one embodiment, the generating module 620 can be used to perform the operation S120 described above, which will not be repeated here.

[0072] The second acquisition module 630 is used to acquire the second trajectory data generated by the telescope when tracking the first trajectory data, and the second trajectory data is actually measured by the telescope. In one embodiment, the second acquisition module 630 can be used to perform the operation S130 described above, which will not be repeated here.

[0073] The determination module 640 is used to determine the tracking blind area of ​​the telescope at the target orbit height according to the error data between the first trajectory data and the second trajectory data. In one embodiment, the determination module 640 can be used to perform the operation S140 described above, which will not be described in detail here.

[0074] According to an embodiment of the present invention, any multiple modules among the first acquisition module 610, the generation module 620, the second acquisition module 630, and the determination module 640 can be combined into one module for implementation, or any one of the modules can be split into multiple modules. Alternatively, at least part of the functions of one or more of these modules can be combined with at least part of the functions of other modules and implemented in one module. According to an embodiment of the present invention, at least one of the first acquisition module 610, the generation module 620, the second acquisition module 630, and the determination module 640 can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on a chip, a system on a substrate, a system on a package, an application specific integrated circuit (ASIC), or can be implemented by hardware or firmware such as any other reasonable way of integrating or packaging the circuit, or implemented in any one of the three implementation methods of software, hardware, and firmware, or in a proper combination of any of them. Alternatively, at least one of the first acquisition module 610 , the generation module 620 , the second acquisition module 630 , and the determination module 640 may be at least partially implemented as a computer program module, and when the computer program module is executed, a corresponding function may be executed.

[0075] Figure 7 A block diagram of an electronic device suitable for implementing a telescope tracking blind area detection method according to an embodiment of the present invention is schematically shown.

[0076] like Figure 7 As shown, the electronic device 700 according to an embodiment of the present invention includes a processor 701, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 702 or a program loaded from a storage part 708 to a random access memory (RAM) 703. The processor 701 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (for example, an application-specific integrated circuit (ASIC)), etc. The processor 701 may also include an onboard memory for caching purposes. The processor 701 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0077] In RAM 703, various programs and data required for the operation of electronic device 700 are stored. Processor 701, ROM 702 and RAM 703 are connected to each other via bus 704. Processor 701 performs various operations of the method flow according to the embodiment of the present invention by executing the programs in ROM 702 and / or RAM 703. It should be noted that the program can also be stored in one or more memories other than ROM 702 and RAM 703. Processor 701 can also perform various operations of the method flow according to the embodiment of the present invention by executing the programs stored in one or more memories.

[0078] According to an embodiment of the present invention, the electronic device 700 may further include an input / output (I / O) interface 705, which is also connected to the bus 704. The electronic device 700 may further include one or more of the following components connected to the input / output (I / O) interface 705: an input portion 706 including a keyboard, a mouse, etc.; an output portion 707 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage portion 708 including a hard disk, etc.; and a communication portion 709 including a network interface card such as a LAN card, a modem, etc. The communication portion 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output (I / O) interface 705 as needed. A removable medium 711, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 710 as needed, so that a computer program read therefrom is installed into the storage portion 708 as needed.

[0079] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0080] It will be appreciated by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention may be combined and / or combined in various ways. All of these combinations and / or combinations fall within the scope of the present invention.

[0081] The embodiments of the present invention are described above. However, these embodiments are only for the purpose of illustration, and are not intended to limit the scope of the present invention. Although each embodiment is described above, it does not mean that the measures in each embodiment cannot be used in combination advantageously. Without departing from the scope of the present invention, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present invention.

Claims

1. A telescope tracking blind spot detection method, characterized in that: include: Obtaining orbital parameters of a space target at a target orbital altitude; generating first trajectory data of a telescope passing through the zenith at the target orbital altitude according to the orbital parameters, wherein the first trajectory data is used to guide the telescope to perform tracking; Acquire second trajectory data generated by the telescope when tracking the first trajectory data, where the second trajectory data is actually measured by the telescope; A tracking blind area of ​​the telescope at the target orbit altitude is determined according to error data between the first trajectory data and the second trajectory data.

2. The method according to claim 1, characterized in that The step of obtaining the orbital parameters of the space target at the target orbital altitude includes: Acquiring a double-row orbit element number of the space target, wherein the space target includes a near-circular orbit space target; According to the target track height, the horizontal motion speed parameter in the double-row track element number is modified to obtain the track parameter.

3. The method according to claim 1 or 2, characterized in that: Generating first trajectory data of the telescope passing the zenith at the target orbital altitude according to the orbital parameters comprises: generating a plurality of transit trajectories of the space target according to the station location of the telescope; Traversing the right ascension of the ascending node of the space object from the orbital parameters to obtain the minimum zenith angle of each transit trajectory; The data of the transit trajectory corresponding to the smallest zenith angle among the multiple minimum zenith angles is determined as the first trajectory data.

4. The method according to claim 1, characterized in that The acquiring second trajectory data generated by the telescope when tracking the first trajectory data includes: Setting a time sequence in the first trajectory data, and guiding the telescope to track the first trajectory data according to the time sequence, wherein the first trajectory data includes first azimuth axis data and first elevation axis data; According to a preset sampling frequency, second azimuth axis data and second pitch axis data generated by the telescope when tracking the first trajectory data are recorded to obtain the second trajectory data.

5. The method according to claim 4, characterized in that The step of determining the tracking blind area of ​​the telescope at the target orbit height according to the error data between the first trajectory data and the second trajectory data comprises: Determine first error data between the first azimuth axis data and the second azimuth axis data, and second error data between the first pitch axis data and the second pitch axis data at each sampling time; A tracking blind area of ​​the telescope at the target orbit altitude is determined according to the first error data and the second error data.

6. The method according to claim 5, characterized in that Determining the tracking blind area of ​​the telescope at the target orbit height according to the first error data and the second error data includes: Calculating the root mean square error of the first error data and the second error data in sequence according to the order of the pitch values ​​in the second pitch axis data; A tracking blind area of ​​the telescope at the target orbit altitude is determined according to the root mean square error and a tracking accuracy threshold of the telescope.

7. The method according to claim 6, characterized in that The step of determining the tracking blind area of ​​the telescope at the target orbit height according to the root mean square error and the tracking accuracy threshold of the telescope includes: When the root mean square error exceeds the tracking accuracy threshold, the target elevation angle in the second pitch axis data is read, and the complementary angle of the target elevation angle is the size of the tracking blind area of ​​the telescope at the target orbit altitude.

8. The method according to claim 5, characterized in that The step of determining the tracking blind area of ​​the telescope at the target orbit height according to the error data between the first trajectory data and the second trajectory data further includes: When the time frequency of the first trajectory data is inconsistent with the sampling frequency of the second trajectory data, difference processing is performed on the first trajectory data according to the sampling frequency.

9. A telescope tracking blind spot detection device, characterized in that: include: A first acquisition module is used to acquire orbital parameters of a space target at a target orbital altitude; A generating module, configured to generate first trajectory data of a telescope passing through a zenith at the target orbital altitude according to the orbital parameters, wherein the first trajectory data is used to guide the telescope to perform tracking; A second acquisition module, used for acquiring second trajectory data generated by the telescope when tracking the first trajectory data, wherein the second trajectory data is actually measured by the telescope; A determination module is used to determine a tracking blind area of ​​the telescope at the target orbit height according to error data between the first trajectory data and the second trajectory data.

10. An electronic device comprising: one or more processors; a memory for storing one or more computer programs, It is characterized in that the one or more processors execute the one or more computer programs to implement the steps of the method according to any one of claims 1 to 8.

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