Astronomical positioning measurement system and method based on composite theodolite

Abstract

The invention discloses an astronomical positioning measurement system and method based on a composite theodolite. The measurement system comprises a theodolite body, a main control board group, a telescope system, a driving device, a Beidou system and a north-seeking system, the telescope system is used for measuring satellites, the telescope system is electrically connected with the main control board group, and the telescope system can rotate to adjust an azimuth angle and a pitch angle; the driving device drives the telescope system to rotate to adjust the azimuth angle and the pitch angle; the Beidou system is used for providing time and position coordinate information data of a current test point and realizing time service and time synchronization, and the Beidou system is electrically connected with the main control board group; and the north-seeking system is used for seeking the due north direction of the current test point and is electrically connected with the main control board group. The measuring system can realize all-day observation of a fixed star on the ground, can measure and record angle coordinate information calculation of the fixed star at different moments, realizes positioning measurement in an inertial coordinate system, can automatically control the measuring process, and can realize automatic measurement.

Description

Technical Field

[0001] The present invention relates to the technical field of astronomical measurement, and in particular to an astronomical positioning measurement system and a measurement method based on a composite theodolite. Background Art

[0002] Theodolite is a high-precision spatial angle measuring instrument that can measure horizontal and vertical angles through high-precision absolute value encoding. Currently, theodolites are mainly used for geographical surveying and mapping such as bridge construction and the installation of industrial parts. By combining image target recognition technology, target tracking measurement can be achieved.

[0003] The astronomical positioning and navigation technology that measures the position of stars and calculates the observation coordinates has the characteristics of high precision and strong autonomy, and has a very broad application prospect. It uses the position of stars in the celestial (universe) coordinate system, and determines the direction of the visual axis by measuring stars day and night, so as to determine the coordinates of the current position in the inertial coordinate system and spatial attitude and other information. At present, it is mainly used for positioning and measurement of high-altitude satellites and spacecraft due to the limitation of the magnitude and number of observed stars. On the surface of the earth, due to the complex observation environment and the influence of atmospheric background noise, it is difficult to directly observe stars during the day, and positioning and measurement are limited throughout the day. Summary of the invention

[0004] The purpose of the present invention is to provide an astronomical positioning and measuring system based on a composite theodolite which can realize all-day observation of stars on the ground in view of the deficiencies in the prior art.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] An astronomical positioning measurement system based on a composite theodolite includes a theodolite body and further includes:

[0007] A main control panel assembly, arranged on the theodolite body;

[0008] A telescope system, used for star measurement, the telescope system is arranged on the theodolite body and is electrically connected to the main control panel assembly, and the telescope system can be rotated to adjust the azimuth and elevation angles;

[0009] A driving device, arranged on the theodolite body, for driving the telescope system to rotate and adjust the azimuth and elevation angles;

[0010] Beidou system, used to provide the time and position coordinate information data of the current test point to achieve time service and time synchronization. The Beidou system is set on the theodolite body and is electrically connected to the main control panel group;

[0011] The north-finding system is used to find the true north direction of the current test point. The north-finding system is arranged on the theodolite body and is electrically connected to the main control panel assembly.

[0012] In some embodiments, the telescope system includes a lens barrel and an optical system arranged in the lens barrel, the optical system includes an objective lens group, a focusing lens group, a beam splitter prism, a graticule, an eyepiece group, a bandpass filter and an infrared camera, the objective lens group, the focusing lens group, the beam splitter prism, the graticule and the eyepiece group are arranged in sequence from the object plane to the image plane along a first direction, the infrared camera, the bandpass filter and the beam splitter prism are arranged in sequence along a second direction, the first direction is perpendicular to the second direction, the beam splitter film of the beam splitter prism reflects the infrared part and cuts off the visible light, the transmissive part of the beam splitter prism transmits the visible light and cuts off the infrared band, and the graticule and the infrared camera are optically cofocused.

[0013] In some embodiments, the measuring system further includes a focusing device for driving the focusing lens group to move along a first direction, the focusing device including a focusing motor for driving the focusing lens group to move along the first direction and a focusing hand wheel for rotating a focusing hand wheel provided on the theodolite body, the focusing motor is electrically connected to the main control board group, and the focusing motor is activated by rotating the focusing hand wheel or sending a signal to the main control board group through a control program.

[0014] In some embodiments, the focusing device further comprises two Hall sensors for positioning the focusing lens group, one of the Hall sensors is disposed close to the objective lens group, and the other Hall sensor is disposed close to the beam splitter prism.

[0015] In some embodiments, the theodolite body includes a base and a shell, a vertical axis extending in the up-down direction is fixedly provided on the shell, a horizontal axis extending in the horizontal direction is rotatably provided on the shell, the vertical axis is rotatably provided on the base around its own axis, the horizontal axis is rotatable around its own axis relative to the shell, the telescope system is fixedly provided on the horizontal axis, the driving device includes a vertical axis motor driving the vertical axis to rotate, and a horizontal axis motor driving the horizontal axis to rotate, and both the vertical axis motor and the horizontal axis motor are electrically connected to the main control board assembly;

[0016] The driving device further comprises a transverse-axis micro-handwheel and a vertical-axis micro-handwheel, and the transverse-axis micro-handwheel and the vertical-axis micro-handwheel are both rotatably arranged on the housing;

[0017] The horizontal axis motor is activated by rotating the horizontal axis micro-handle or sending a signal to the main control board group through a control program;

[0018] The vertical axis motor is activated by rotating the vertical axis micro-hand wheel or sending a signal to the main control panel group through a control program.

[0019] In some embodiments, the north-seeking system includes a geomagnetic module and a MEMS module respectively disposed on the theodolite body, and the geomagnetic module and the MEMS module are respectively electrically connected to the main control board group.

[0020] In some embodiments, the measurement system also includes an interface board disposed on the theodolite body, and the main control board group, the telescope system, the Beidou system and the north-seeking system are electrically connected to the interface board respectively.

[0021] The present invention also provides an astronomical positioning measurement method based on a composite theodolite, and measurement is performed based on any of the measurement systems described above, and the measurement method comprises:

[0022] S1, realizes timing and time synchronization, including:

[0023] (1) The BeiDou system accurately locates the geographical location of the current test point;

[0024] (2) high-precision time synchronization is performed through the BeiDou system;

[0025] (3) updating the timing of the high-precision atomic clock built into the Beidou system;

[0026] (4) Calculate the solar pitch angle, optimal star observation angle and pitch angle of the observation position in real time based on the current position and time information for subsequent input;

[0027] S2, the north-seeking system seeks north and performs initial coordinate positioning calculation, including:

[0028] (1) according to the positioning information determined in step S1, the north-seeking system is started to seek north, and the azimuth and elevation angles are adjusted by the driving device to rotate the telescope system in combination with the optimal observation angle;

[0029] (2) according to the positioning information and north-finding result determined in step S1, observe and photograph the North Star through the telescope system, identify the North Star, record the current observation angle and elevation angle information, analyze and calculate the coordinates of the current observation position, and establish a spatial coordinate system;

[0030] (3) calculating the best observation angle information of other stars based on the current information, driving the telescope system to rotate by the driving device, observing, photographing and identifying the star, and driving the telescope system to rotate by the driving device to track the star in real time, calculating the star coordinates, and synchronously updating the observation coordinate system;

[0031] (4) Update the magnitude and optimal observation angle of other observable stars based on the quality of the current observation image, and perform multiple iterative measurements.

[0032] In some embodiments, when accurately locating the geographic location information of the current test point in step S1, signals from at least four satellites are received, and the signal from each satellite includes a unique timestamp.

[0033] In some embodiments, when seeking north in step S2, the geomagnetic module is first started to seek north, and in combination with the optimal observation angle, the telescope system is driven by the driving device to rotate and adjust the azimuth and pitch angles; then the MEMS module is started to seek north, and in combination with the optimal observation angle, the telescope system is driven by the driving device to rotate and adjust the azimuth and pitch angles.

[0034] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art: the astronomical positioning measurement system based on the composite theodolite of the present invention can realize the observation of stars all day long on the ground. The measurement system can measure and record the angle coordinate information calculation of stars at different times, realize the positioning measurement in the inertial coordinate system, and the measurement process can be automatically controlled to realize automatic measurement. The measurement system has high-precision time synchronization, can realize the functions of star catalog generation, observation and star search, recording, data solution, various error correction, etc., and can be used for high-precision positioning of ground targets in the future, including ship-borne, airborne, navigation, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Attached Figure 1 is a cross-sectional schematic diagram of an astronomical positioning measurement system based on a composite theodolite of this embodiment;

[0036] Attached Figure 2 is a schematic structural diagram of the telescope optical system of this embodiment;

[0037] Attached Figure 3 This is a schematic diagram of the structure in which the horizontal axis motor drives the horizontal axis to rotate in this embodiment;

[0038] Attached Figure 4 This is a measurement flow chart of the astronomical positioning measurement system based on the composite theodolite of this embodiment.

[0039] Among them: 1. Theodolite body; 11. Base; 12. Shell; 13. Vertical axis; 14. Horizontal axis; 15. Power module; 2. Main control board group; 3. Telescope system; 31. Objective lens group; 311. First lens of objective lens; 312. Second lens of objective lens; 313. Third lens of objective lens; 314. Fourth lens of objective lens; 32. Focusing lens group; 321. First lens of focusing lens; 322. Second lens of focusing lens; 323. Third lens of focusing lens; 33. Beam splitter prism; 34. Graticule; 35. Eyepiece group; 351. First lens of eyepiece; 352. Second lens of eyepiece; 353. Third lens of eyepiece; 35 4. The fourth lens of the eyepiece; 355. The fifth lens of the eyepiece; 36. The bandpass filter; 37. The infrared camera; S1. The object side surface of the first lens of the objective lens; S2. The image side surface of the first lens of the objective lens; S3. The object side surface of the second lens of the objective lens; S4. The image side surface of the second lens of the objective lens; S5. The object side surface of the third lens of the objective lens; S6. The image side surface of the third lens of the objective lens; S7. The object side surface of the fourth lens of the objective lens; S8. The image side surface of the fourth lens of the objective lens; S9. The object side surface of the first focusing lens; S10. The image side surface of the first focusing lens; S11. The object side surface of the second focusing lens; S12. The image side surface of the second focusing lens;

[0040] S13, object side surface of the third focusing lens; S14, image side surface of the third focusing lens; S15, object side surface of the first eyepiece lens; S16, image side surface of the first eyepiece lens; S17, object side surface of the second eyepiece lens; S18, image side surface of the second eyepiece lens; S19, object side surface of the third eyepiece lens; S20, image side surface of the third eyepiece lens; S21, object side surface of the fourth eyepiece lens; S22, image side surface of the fourth eyepiece lens; S23, object side surface of the fifth eyepiece lens; S24, image side surface of the fifth eyepiece lens; 4, focusing hand wheel; 51, vertical axis motor; 52, horizontal axis motor; 53, horizontal axis fine-tuning hand wheel; 54, vertical axis fine-tuning hand wheel; 6, Beidou system; 71, geomagnetic module; 72, MEMS module. DETAILED DESCRIPTION

[0041] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figure 1As shown, the astronomical positioning and measuring system based on the composite theodolite of the present invention comprises a theodolite body 1, a main control board group 2, a telescope system 3, a driving device, a Beidou system 6 and a north-seeking system. The main control board group 2, the telescope system 3, the driving device, the Beidou system 6 and the north-seeking system are all arranged on the theodolite body 1, and the telescope system 3, the driving device, the Beidou system 6 and the north-seeking system are all electrically connected to the main control board group 2.

[0043] The theodolite body 1 includes a base 11 and a shell 12. A vertical axis 13 extending in the up-down direction is fixedly arranged on the shell 12, and a horizontal axis 14 extending in the horizontal direction is also rotatably arranged on the shell 12. The vertical axis 13 can be rotatably arranged on the base 11 around its own axis, and the horizontal axis 14 can rotate relative to the shell 12 around its own axis. The telescope system 3 is arranged on the horizontal axis 14. When the vertical axis 13 rotates relative to the base 11 around its own axis, the telescope system 3 is driven to rotate synchronously in the horizontal plane, thereby adjusting the azimuth angle of the telescope system 3. When the horizontal axis 14 rotates relative to the shell 12 around its own axis, the telescope system 3 is driven to rotate synchronously in the vertical plane, thereby adjusting the pitch angle of the telescope system 3. In this embodiment, the pitch angle measurement range of the telescope system 3 is -30° to +80°, and the azimuth angle measurement range is 360°.

[0044] The theodolite body 1 further includes a power module 15 , through which power is supplied to components arranged on the theodolite body 1 .

[0045] The telescope system 3 is used for star measurement, and the telescope system 3 comprises a lens barrel and an optical system arranged in the lens barrel.

[0046] like Figure 2 As shown, the optical system of the telescope includes an objective lens group 31, a focusing lens group 32, a beam splitter prism 33, a graticule 34, an eyepiece group 35, a bandpass filter 36 and an infrared camera 37.

[0047] The objective lens group 31, the focusing lens group 32, the beam splitter prism 33, the graticule 34, and the eyepiece group 35 are arranged in sequence from the object plane to the image plane along the first direction, and the infrared camera 37, the bandpass filter 36, and the beam splitter prism 33 are arranged in sequence along the second direction, and the first direction is perpendicular to the second direction. The infrared camera 37 and the bandpass filter 36 are located in the reflection light path of the beam splitter prism 33. The beam splitter film of the beam splitter prism 33 reflects the infrared part and cuts off the visible light. The transmission part of the beam splitter prism 33 transmits the visible light and cuts off the infrared band. The graticule 34 and the infrared camera 37 are optically co-focused. In the optical path system, except for the beam splitter prism 33, other optical components are designed to be broadband anti-reflection from visible light to near infrared.

[0048] The objective lens group 31 includes an objective first lens 311, an objective second lens 312, an objective third lens 313 and an objective fourth lens 314 which are sequentially arranged along a first direction from an object plane to an image plane.

[0049] The object-side surface S1 of the first objective lens 311 is a concave or flat structure, and the image-side surface S2 thereof is a concave structure.

[0050] The object-side surface S3 of the objective second lens 312 is a convex structure, and the image-side surface S4 thereof is a convex structure.

[0051] The object-side surface S5 of the objective third lens 313 is a convex structure, and the image-side surface S6 is a concave structure.

[0052] The object-side surface S7 of the objective fourth lens 314 is a concave structure, and the image-side surface S8 thereof is a concave structure.

[0053] The first lens 311 and the second lens 312 of the objective lens form a cemented lens, and / or the third lens 313 and the fourth lens 314 of the objective lens form a cemented lens. The formation of double cemented lenses can reduce or eliminate chromatic aberration and improve imaging quality. At the same time, the double cemented lens can also improve the lens transmittance, reduce the difficulty of assembly, reduce the length of the telescope, and thus reduce the structural volume.

[0054] The focusing lens group 32 includes a first focusing lens 321 , a second focusing lens 322 and a third focusing lens 323 which are sequentially arranged along a first direction from the object plane to the image plane.

[0055] The object-side surface S9 of the first focusing lens 321 is a convex surface or a planar structure, and the image-side surface S10 thereof is a convex surface structure.

[0056] The object-side surface S11 of the second focusing lens 322 is a concave structure, and the image-side surface S12 thereof is a concave or flat structure.

[0057] The object-side surface S13 of the third focusing lens 323 is a convex structure, and the image-side surface S14 thereof is a convex or planar structure.

[0058] The first focusing lens 321 and the second focusing lens 322 form a cemented lens, which can also reduce or eliminate chromatic aberration, improve imaging quality, increase lens transmittance, reduce assembly difficulty, and reduce structural volume.

[0059] The eyepiece group 35 includes an eyepiece first lens 351, an eyepiece second lens 352, an eyepiece third lens 353, an eyepiece fourth lens 354 and an eyepiece fifth lens 355 which are sequentially arranged along a first direction from an object plane to an image plane.

[0060] The object side surface S15 of the first lens 351 of the eyepiece is convex or flat, and the image side surface S16 is concave.

[0061] The object-side surface S17 of the eyepiece second lens 352 is a convex structure, and the image-side surface S18 thereof is a convex structure.

[0062] The object-side surface S19 of the third lens 353 of the eyepiece is a convex structure, and the image-side surface S20 thereof is a convex structure.

[0063] The object-side surface S21 of the fourth lens element 354 of the eyepiece is a concave structure, and the image-side surface S22 thereof is a convex or flat structure.

[0064] The object-side surface S23 of the fifth lens 355 of the eyepiece is a convex structure, and the image-side surface S24 thereof is a convex structure.

[0065] The first eyepiece lens 351 and the second eyepiece lens 352 form a cemented lens, and / or the third eyepiece lens 353 and the fourth eyepiece lens 354 form a cemented lens. Similarly, chromatic aberration can be reduced or eliminated, imaging quality can be improved, lens transmittance can be improved, assembly difficulty can be reduced, and structural volume can be reduced.

[0066] Adding a bandpass filter 36 in the infrared part can further reduce the influence of stray light and background noise.

[0067] The optical aperture of the optical system, ie, the maximum optical aperture of the object side surface S1 of the first lens 311 of the objective lens, is not less than 50 mm, the magnification of the optical system is not less than 30 times, and the overall infrared transmittance of the optical system is greater than 80%.

[0068] Since the telescope system 3 can realize star measurement all day long, and stray light elimination measures are required for star measurement during the day, the telescope system 3 also includes a light shield, which is illuminated on the outside of the objective lens group 31, and the signal-to-noise ratio of the telescope optical system 3 is improved by the light shield. The lens barrel is provided with a mounting interface at the position of the objective lens group 31, and the light shield is installed to the mounting interface.

[0069] The focusing lens group 32 can be moved along the first direction to adjust the position so as to adjust the focal length. Since the telescope system 3 works at an infinite position when measuring stars and works at a finite position when observing ground targets, in order to facilitate rapid focusing and consistency with the calibration parameters of the infrared camera 37, the telescope system 3 also includes a Hall sensor, which monitors the position of the focusing lens group 32 through the Hall sensor to quickly locate the focusing lens group 32. Two Hall sensors are provided, and both Hall sensors are arranged in the lens barrel. One Hall sensor is arranged near the objective lens group 31 to monitor the infinite position. The other Hall sensor is arranged near the dichroic prism 33 to monitor the nearest focusing position.

[0070] The working principle of the telescope system 3 is as follows:

[0071] When the telescope system 3 is working, external light enters the telescope barrel from the objective lens group 31, and visible light passes through the objective lens group 31, the focusing lens group 32, and the beam splitter prism 33, and finally forms an image on the reticle 34 for human observation. Infrared light also passes through the objective lens group 31, the focusing lens group 32, is split by the beam splitter prism 33, and forms an image on the infrared camera 37 after passing through the bandpass filter 36.

[0072] The measuring system further comprises a focusing device, which is used to drive the focusing lens group 32 to move along a first direction. The focusing device comprises a focusing motor and a focusing hand wheel 4. The focusing motor is used to drive the focusing lens group 32 to move along the first direction, and the focusing motor is arranged on the lens barrel. The focusing hand wheel 4 is rotatably arranged on the housing 12.

[0073] The focus motor is electrically connected to the main control board group 2 , so that the main control board group 2 sends a control instruction to drive the focus motor to start.

[0074] The focus hand wheel 4 can be manually rotated to send a signal to the main control panel group 2, and the main control panel group 2 controls the focus motor to start. A signal can also be sent to the main control panel group 2 through a control program, and the main control panel group 2 controls the focus motor to start.

[0075] The driving device is disposed on the housing 12 , and is used to drive the telescope system 3 to rotate, thereby adjusting the azimuth angle and the pitch angle.

[0076] The driving device includes a vertical axis motor 51 and a horizontal axis motor 52 . The vertical axis motor 51 is used to drive the vertical axis 13 to rotate around its own axis relative to the base 11 . The horizontal axis motor 52 is used to drive the horizontal axis 14 to rotate around its own axis relative to the shell 12 .

[0077] The structure of the vertical axis motor 51 driving the vertical axis 13 to rotate is the same as that of the horizontal axis motor 52 driving the horizontal axis 14 to rotate. Taking the horizontal axis motor 52 driving the horizontal axis 14 to rotate as an example, the specific structure is:

[0078] like Figure 1 and Figure 3 As shown, the horizontal axis motor 52 includes an inner ring 521 and an outer ring 522, wherein the inner ring 521 is fixedly connected to the horizontal axis 14 and the outer ring 522 is fixedly connected to the housing 12. When the horizontal axis motor 52 is started, the inner ring 521 rotates relative to the outer ring 522, thereby causing the horizontal axis 14 to rotate relative to the housing 12.

[0079] The vertical axis motor 51 and the horizontal axis motor 52 are both electrically connected to the main control board group 2 , so that the main control board group 2 sends a control instruction to drive the vertical axis motor 51 and the horizontal axis motor 52 to start.

[0080] The driving device further includes a transverse-axis fine-tune hand wheel 53 and a vertical-axis fine-tune hand wheel 54 . Both the transverse-axis fine-tune hand wheel 53 and the vertical-axis fine-tune hand wheel 54 are rotatably disposed on the housing 12 .

[0081] The horizontal axis micro-hand wheel 53 can be manually rotated to send a signal to the main control panel group 2, and the main control panel group 2 controls the horizontal axis motor 52 to start. Alternatively, a signal can be sent to the main control panel group 2 through a control program, and the main control panel group 2 controls the horizontal axis motor 52 to start. That is, the horizontal axis motor 52 can be controlled manually or automatically through a control program.

[0082] Similarly, the vertical axis micro-hand wheel 54 can be manually rotated to send a signal to the main control panel group 2, and the main control panel group 2 controls the vertical axis motor 51 to start. Alternatively, a signal can be sent to the main control panel group 2 through a control program, and the main control panel group 2 controls the vertical axis motor 51 to start. That is, the vertical axis motor 51 can be controlled manually or automatically through a control program.

[0083] The Beidou system 6 is used to provide the time and position coordinate information data of the current test point to achieve time service and time synchronization. The Beidou system 6 is set on the shell 12.

[0084] The north-finding system is used to find the true north direction of the current test point. In this embodiment, the north-finding system includes a geomagnetic module 71 and a MEMS module 72 respectively arranged on the housing 12 , and the geomagnetic module 71 and the MEMS module 72 are respectively electrically connected to the main control board group 2 .

[0085] The measurement system also includes an interface board, which is arranged on the housing 12. The main control board group 2, the telescope system 3, the Beidou system 6, the geomagnetic module 71 and the MEMS module 72 are electrically connected to the interface board respectively.

[0086] The measurement system also includes a master controller, which is electrically connected to the interface board, thereby achieving electrical connection with the main control board group 2.

[0087] The flow chart of measuring by the measuring system of the present invention is as follows Figure 4 As shown, the specific measurement method includes the following steps:

[0088] S1, realizes timing and time synchronization, including:

[0089] (1) BeiDou 6 system accurately locates the geographic location of the current test point.

[0090] The positioning process includes:

[0091] 1) Signal transmission: Positioning satellites carry high-precision atomic clocks and continuously transmit navigation signals containing time information and satellite orbit parameters to the ground.

[0092] 2) Signal propagation: The navigation signal is transmitted from the satellite to the user's receiver. During the propagation process, it will be affected by the atmosphere, resulting in a delay in the signal propagation time.

[0093] 3) Signal reception: The user receiver receives signals from at least four satellites, each of which contains a unique timestamp.

[0094] 4) Calculate pseudorange: The user receiver calculates the pseudorange from each satellite to the receiver, which is the time from the satellite to the receiver multiplied by the speed of light. Since the receiver's clock is not synchronized with the satellite's clock, this distance is "pseudo".

[0095] 5) Positioning solution: The receiver uses pseudo-range information from at least four satellites, combined with the satellite's precise orbital data and time information, to determine the receiver's position in three-dimensional space (longitude, latitude, altitude) and the receiver's clock bias.

[0096] 6) Atmospheric delay correction: Since the signal will be delayed when propagating in the atmosphere, the receiver needs to correct this delay to improve positioning accuracy.

[0097] 7) Differential positioning: To further improve positioning accuracy, differential GNSS technology can be used to correct the position of the receiver through a reference station with a known precise position.

[0098] (2) High-precision time synchronization through BeiDou system 6 synchronization.

[0099] BeiDou System 6 uses satellite-ground two-way time comparison technology to measure clock errors. By measuring the propagation time of uplink and downlink signals between ground stations and satellites, orbit errors, monitoring station coordinate errors, and common errors on the propagation path are eliminated, thereby obtaining high-precision satellite clock error measurements. Intersatellite link equipment is used to achieve mutual measurement of arc segments outside the country. Most of the intersatellite measurement propagation paths do not penetrate the atmosphere and ionosphere, so only the system errors such as gravitational delay, antenna phase center, and equipment zero value need to be corrected to achieve high-precision intersatellite relative clock error measurement. BeiDou System 6 also has independent time synchronization measurement means to obtain real-time satellite clock error measurements. Precision orbit determination processing can also obtain satellite clock error estimates for each epoch. Since the satellite clock error estimate has a certain correlation with the satellite orbit, the accuracy of the broadcast ephemeris can be improved through specific data processing methods.

[0100] (3) Update the timing of the high-precision atomic clock built into the BeiDou system 6.

[0101] After collecting satellite navigation system information, the precise time signal provided by the atomic clock carried by the Beidou satellite is received through the high-precision time synchronization protocol. These signals are synchronized through the Beidou receiving module and the high-precision atomic clock module integrated in the master controller. A network architecture is constructed by a master clock and multiple slave clocks. The master clock is responsible for providing a high-precision time reference, and the slave clock is synchronized to the time of the master clock. The master clock periodically sends timestamp information to the slave clock, which receives this information and compares it with its local time, and then adjusts it according to the difference. Finally, the deviation and delay compensation value of the slave clock are calculated to update the timing of the built-in high-precision atomic clock.

[0102] (4) The solar pitch angle, optimal star observation angle, and pitch angle of the observation position are calculated in real time based on the current position and time information. This information is compared with the current aiming state of the measurement system and used for subsequent drive input of the vertical axis motor 51 and the horizontal axis motor 52. The vertical axis motor 51 and the horizontal axis motor 52 are driven to make the measurement system aim at the desired target.

[0103] S2, the north-seeking system seeks north and performs initial coordinate positioning calculations. Specifically includes:

[0104] (1) Based on the positioning information determined in step S1, the north-seeking system is started to seek the north, and the driving device is used to drive the telescope system 3 to rotate and adjust the azimuth and elevation angles in combination with the optimal observation angle.

[0105] In this step, the geomagnetic module 71 is first started to find the north, and combined with the best observation angle, the vertical axis motor 51 is driven to start, driving the telescope system 3 to rotate in the horizontal plane to adjust the azimuth angle, and the horizontal axis motor 52 is driven to start, driving the telescope system 3 to rotate in the horizontal plane to adjust the pitch angle.

[0106] After preliminarily determining the true north direction of the current test point, start the MEMS module 72 to search for north, and combined with the optimal observation angle, drive the vertical axis motor 51 to start, drive the telescope system 3 to rotate in the horizontal plane to adjust the azimuth angle, and drive the horizontal axis motor 52 to start, drive the telescope system 3 to rotate in the horizontal plane to adjust the pitch angle, so as to accurately determine the true north direction of the current test point.

[0107] (2) Based on the positioning information determined in step S1 and the true north direction determined in step S2(1), observe and photograph the North Star through the telescope system 3, identify the North Star through the image processing algorithm built into the main controller, record the current observation angle and pitch angle information, analyze and calculate the current observation position coordinates, and establish a spatial coordinate system.

[0108] (3) Calculate the best observation angle information of other stars based on the current information, drive the telescope system 3 to rotate through the driving device, observe, photograph and identify the star, and drive the telescope system 3 to rotate through the driving device to track the star in real time, calculate the star coordinates, and synchronously update the observation coordinate system.

[0109] When photographing other stars through the telescope system 3, first manually rotate the horizontal axis fine-tune hand wheel 53 and the vertical axis fine-tune hand wheel 54, and drive the telescope system 3 to rotate through the horizontal axis motor 52 and the vertical axis motor 51 to adjust its azimuth and pitch angle. After the response of the horizontal axis motor 52 and the vertical axis motor 51 is determined, the horizontal axis motor 52 and the vertical axis motor 51 are automatically controlled by the control program to drive the telescope system 3 to rotate and track stars in real time.

[0110] (4) The magnitude and optimal observation angle of other observable stars are updated according to the quality of the currently observed image, and multiple iterative measurements are performed to achieve high-precision coordinate positioning measurement of the observation position through multiple iterations.

[0111] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An astronomical positioning measurement system based on a composite theodolite, comprising a theodolite body, characterized in that: Also includes: A main control panel assembly, arranged on the theodolite body; A telescope system, used for star measurement, the telescope system is arranged on the theodolite body and is electrically connected to the main control panel assembly, and the telescope system can be rotated to adjust the azimuth and elevation angles; A driving device, arranged on the theodolite body, for driving the telescope system to rotate and adjust the azimuth and elevation angles; Beidou system, used to provide the time and position coordinate information data of the current test point to achieve time service and time synchronization. The Beidou system is set on the theodolite body and is electrically connected to the main control panel group; The north-finding system is used to find the true north direction of the current test point. The north-finding system is arranged on the theodolite body and is electrically connected to the main control panel assembly.

2. The astronomical positioning measurement system based on the composite theodolite according to claim 1, characterized in that: The telescope system comprises a lens barrel and an optical system arranged in the lens barrel, wherein the optical system comprises an objective lens group, a focusing lens group, a beam splitter prism, a graticule, an eyepiece group, a bandpass filter and an infrared camera. The objective lens group, the focusing lens group, the beam splitter prism, the graticule and the eyepiece group are arranged in sequence from the object plane to the image plane along a first direction, the infrared camera, the bandpass filter and the beam splitter prism are arranged in sequence along a second direction, the first direction is perpendicular to the second direction, the beam splitter film of the beam splitter prism reflects the infrared part and cuts off the visible light, the transmission part of the beam splitter prism transmits the visible light and cuts off the infrared band, and the graticule and the infrared camera are optically co-focused.

3. The astronomical positioning and measuring system based on the composite theodolite according to claim 2, characterized in that: The measuring system also includes a focusing device for driving the focusing lens group to move along a first direction, the focusing device includes a focusing motor for driving the focusing lens group to move along the first direction and a focusing hand wheel for rotating the theodolite body, the focusing motor is electrically connected to the main control board group, and the focusing motor is activated by rotating the focusing hand wheel or sending a signal to the main control board group through a control program.

4. The astronomical positioning and measuring system based on the composite theodolite according to claim 2, characterized in that: The focusing device further comprises two Hall sensors for positioning the focusing lens group, one of the Hall sensors is arranged close to the objective lens group, and the other Hall sensor is arranged close to the beam splitter prism.

5. The astronomical positioning and measuring system based on the composite theodolite according to claim 1, characterized in that: The theodolite body includes a base and a shell, a vertical axis extending in the up-down direction is fixedly arranged on the shell, a horizontal axis extending in the horizontal direction is rotatably arranged on the shell, the vertical axis is rotatably arranged on the base around its own axis, the horizontal axis is rotatable around its own axis relative to the shell, the telescope system is fixedly arranged on the horizontal axis, the driving device includes a vertical axis motor driving the vertical axis to rotate, and a horizontal axis motor driving the horizontal axis to rotate, and the vertical axis motor and the horizontal axis motor are both electrically connected to the main control board group; The driving device further comprises a transverse-axis micro-handwheel and a vertical-axis micro-handwheel, and the transverse-axis micro-handwheel and the vertical-axis micro-handwheel are both rotatably arranged on the housing; The horizontal axis motor is activated by rotating the horizontal axis micro-handle or sending a signal to the main control board group through a control program; The vertical axis motor is activated by rotating the vertical axis micro-hand wheel or sending a signal to the main control panel group through a control program.

6. The astronomical positioning and measuring system based on the composite theodolite according to claim 1, characterized in that: The north-seeking system includes a geomagnetic module and a MEMS module respectively arranged on the theodolite body, and the geomagnetic module and the MEMS module are respectively electrically connected to the main control board group.

7. The astronomical positioning and measuring system based on the composite theodolite according to claim 1, characterized in that: The measurement system also includes an interface board arranged on the theodolite body, and the main control board group, the telescope system, the Beidou system and the north-seeking system are electrically connected to the interface board respectively.

8. An astronomical positioning measurement method based on a composite theodolite, characterized in that: The measurement is performed based on the measurement system according to any one of claims 1 to 7, and the measurement method comprises: S1, realizes timing and time synchronization, including: (1) The BeiDou system accurately locates the geographical location of the current test point; (2) high-precision time synchronization is performed through the BeiDou system; (3) updating the timing of the high-precision atomic clock built into the Beidou system; (4) Calculate the solar pitch angle, optimal star observation angle and pitch angle of the observation position in real time based on the current position and time information for subsequent input; S2, the north-seeking system seeks north and performs initial coordinate positioning calculation, including: (1) according to the positioning information determined in step S1, the north-seeking system is started to seek north, and the azimuth and elevation angles are adjusted by the driving device to rotate the telescope system in combination with the optimal observation angle; (2) according to the positioning information and north-finding result determined in step S1, observe and photograph the North Star through the telescope system, identify the North Star, record the current observation angle and elevation angle information, analyze and calculate the coordinates of the current observation position, and establish a spatial coordinate system; (3) calculating the best observation angle information of other stars based on the current information, driving the telescope system to rotate by the driving device, observing, photographing and identifying the star, and driving the telescope system to rotate by the driving device to track the star in real time, calculating the star coordinates, and synchronously updating the observation coordinate system; (4) Update the magnitude and optimal observation angle of other observable stars based on the quality of the current observation image, and perform multiple iterative measurements.

9. The astronomical positioning measurement method based on the composite theodolite according to claim 8, characterized in that: When accurately locating the geographical location information of the current test point in step S1, signals from at least four satellites are received, and the signal from each satellite contains a unique timestamp.

10. The astronomical positioning measurement method based on a composite theodolite according to claim 8, characterized in that: When searching for north in step S2, the geomagnetic module is first started to search for north, and the telescope system is driven to rotate and adjust the azimuth and pitch angles by the driving device in combination with the optimal observation angle; then the MEMS module is started to search for north, and the telescope system is driven to rotate and adjust the azimuth and pitch angles by the driving device in combination with the optimal observation angle.

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