Satellite target identification and tracking method and device, equipment and storage medium

Abstract

The invention relates to the field of satellite communication, and discloses a satellite target identification and tracking method and device, equipment and a storage medium, and the method comprises the steps: obtaining orbit data, carrying out the satellite tracking according to the orbit data, and obtaining the original image information; performing centroid extraction and brightness optimization on the original image information to obtain centroid coordinates and optimized image information; performing image processing on the optimized image information according to the center-of-mass coordinates to obtain light spot data; performing light spot identification on the light spot data to obtain an identification result, and confirming and implementing a tracking strategy from a preset tracking strategy pool according to the identification result; when the tracking strategy is light spot tracking, obtaining an implementation result of the tracking strategy, and generating a satellite tracking instruction according to the implementation result; by introducing a tracking strategy selection and adjustment mechanism, the most suitable tracking strategy can be selected and implemented according to different tracking situations, and the stability and accuracy of satellite tracking and recognition can still be kept in a complex and changeable environment.

Description

Technical Field

[0001] The present invention relates to the field of satellite communications, and in particular to a method, device, equipment and storage medium for identifying and tracking a satellite target. Background Art

[0002] Satellite optical communication systems are an important part of modern communication technology. Due to the continuous changes in the attitude and orbit of satellites, the establishment of space laser links has become a challenge. In this process, optical communication terminals play a vital role, responsible for aiming and capturing optical signals from satellites. Once the capture is successful, the system immediately enters the stable tracking stage of the optical signal to ensure the continuity and stability of the communication link.

[0003] In practical applications, telescopes face many complex situations when tracking satellites. First, since the satellite reflects sunlight, multiple light spots will be formed in the detector, and the telescope needs to accurately identify the target satellite in these light spots; second, the target may be lost during the tracking process. Once the target is lost, the system needs to re-capture and track. However, existing technologies often lack flexible and effective response strategies when facing these complex and changeable tracking situations, which seriously affects the stability and accuracy of satellite tracking and identification in complex and changeable tracking environments. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a satellite target identification and tracking method, device, equipment and storage medium. The solution of the present invention can flexibly select and implement the most appropriate tracking strategy according to the spot data in different tracking scenarios by introducing a tracking strategy selection and telescope adjustment mechanism, and can still maintain the stability and accuracy of satellite tracking and identification in a complex and changing environment.

[0005] The first aspect of the present invention provides a method for identifying and tracking satellite targets, including: acquiring orbital data, and tracking satellites according to the orbital data to obtain original image information; performing centroid extraction and brightness optimization on the original image information to obtain centroid coordinates and optimized image information; performing image processing on the optimized image information according to the centroid coordinates to obtain spot data; performing spot recognition on the spot data to obtain a recognition result, and confirming and implementing a tracking strategy from a preset tracking strategy pool according to the recognition result; when the tracking strategy is spot tracking, obtaining the implementation result of the tracking strategy, and generating a satellite tracking instruction according to the implementation result.

[0006] Optionally, in a first implementation method of the first aspect of the present invention, the acquiring of orbital data and tracking of satellites based on the orbital data to obtain original image information includes: acquiring orbital data; converting the orbital data into control data; and tracking of satellites based on the control data to obtain original image information.

[0007] Optionally, in a second implementation method of the first aspect of the present invention, the centroid extraction and brightness optimization of the original image information to obtain the centroid coordinates and optimized image information includes: extracting the centroid of the original image information to obtain the centroid coordinates; extracting a grayscale value judgment area from the original image information according to the centroid coordinates; calculating the grayscale value of the grayscale value judgment area to obtain grayscale value data; judging the grayscale value data and preset judgment data to obtain a judgment result; if the judgment result is that the grayscale value is qualified, marking the original image information as optimized image information; if the judgment result is that the grayscale value is unqualified, obtaining optimized control data based on the grayscale value data, and using the optimized control data to perform satellite tracking to obtain optimized image information.

[0008] Optionally, in a third implementation method of the first aspect of the present invention, the image processing is performed on the optimized image information according to the centroid coordinates to obtain the spot data, including: screening the detection area of ​​the optimized image information according to the centroid coordinates to obtain the detection area data; performing noise interference filtering on the detection area data to obtain first processed data; performing morphological processing on the first processed data to obtain second processed data; performing stray light spot filtering on the second processed data to obtain spot data.

[0009] Optionally, in a fourth implementation method of the first aspect of the present invention, the spot recognition is performed on the spot data to obtain a recognition result, and the tracking strategy is confirmed and implemented from a preset tracking strategy pool according to the recognition result, including: performing spot recognition on the spot data to obtain a recognition result; if the recognition result is that there is no qualified spot, confirming from the preset tracking strategy pool that the tracking strategy is track tracking, and implementing the tracking strategy according to the track data; if the recognition result is a single qualified spot, confirming from the preset tracking strategy pool that the tracking strategy is spot tracking, and implementing the tracking strategy according to the spot data; if the recognition result is multiple qualified spots, confirming from the preset tracking strategy pool that the tracking strategy is spot tracking, and performing optimal processing on the spot data to obtain preferred spot data, and implementing the tracking strategy according to the preferred spot data.

[0010] Optionally, in a fifth implementation method of the first aspect of the present invention, when the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained, and a satellite tracking instruction is generated based on the implementation result, including: when the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained; if the implementation result is stable tracking, the satellite position information is obtained based on the spot data, and a satellite tracking instruction is generated based on the satellite position information; if the implementation result is lost tracking, the inferred position information is obtained based on the spot data, and a satellite tracking instruction is generated based on the inferred position information; if the implementation result is unstable tracking, the tracking strategy is adjusted to orbital tracking, the satellite position information is obtained based on the orbital data, and the satellite tracking instruction is generated based on the satellite position information.

[0011] Optionally, in a sixth implementation method of the first aspect of the present invention, the light spot data is subjected to light spot recognition to obtain a recognition result, and then a tracking strategy is confirmed and implemented from a preset tracking strategy pool based on the recognition result, including: when the tracking strategy is orbital tracking, the satellite position information is obtained based on the orbital data, and a satellite tracking instruction is generated based on the satellite position information.

[0012] The second aspect of the present invention provides a satellite target identification and tracking device, including: an acquisition module, used to acquire orbit data, and perform satellite tracking based on the orbit data to obtain original image information; an optimization module, used to perform centroid extraction and brightness optimization on the original image information to obtain centroid coordinates and optimized image information; a processing module, used to perform image processing on the optimized image information based on the centroid coordinates to obtain spot data; an identification module, used to perform spot identification on the spot data to obtain an identification result, and confirm and implement the tracking strategy from a preset tracking strategy pool based on the identification result; a tracking module, used to obtain the implementation result of the tracking strategy when the tracking strategy is spot tracking, and generate a satellite tracking instruction based on the implementation result.

[0013] A third aspect of the present invention provides a satellite target identification and tracking device, the satellite target identification and tracking device comprising: a memory and at least one processor, the memory storing instructions; at least one of the processors calls the instructions in the memory so that the satellite target identification and tracking device performs each step of the satellite target identification and tracking method described in any one of the above items.

[0014] A fourth aspect of the present invention provides a computer-readable storage medium having instructions stored thereon, wherein when the instructions are executed by a processor, the various steps of any of the above-mentioned satellite target identification and tracking methods are implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0016] Figure 1 A first flow chart of a satellite target identification and tracking method provided by an embodiment of the present invention;

[0017] Figure 2 A second flow chart of the satellite target identification and tracking method provided by an embodiment of the present invention;

[0018] Figure 3 A third flow chart of the satellite target identification and tracking method provided by an embodiment of the present invention;

[0019] Figure 4 A fourth flow chart of the satellite target identification and tracking method provided by an embodiment of the present invention;

[0020] Figure 5 A fifth flow chart of the satellite target identification and tracking method provided by the embodiment of the present invention;

[0021] Figure 6 A sixth flow chart of the satellite target identification and tracking method provided by an embodiment of the present invention;

[0022] Figure 7 A seventh flow chart of a satellite target identification and tracking method provided by an embodiment of the present invention;

[0023] Figure 8 A schematic diagram of the structure of a satellite target identification and tracking device provided by an embodiment of the present invention;

[0024] Fig. 9 A schematic diagram of the structure of a satellite target identification and tracking device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The present invention provides a satellite target recognition and tracking method, device, equipment and storage medium. First, the orbit data of the satellite is obtained to control the telescope to perform preliminary satellite tracking, so as to capture the original image information. Then, the centroid is extracted and the brightness is optimized for the original image information to obtain more accurate centroid coordinates and optimized images. The optimized image is further processed based on the centroid coordinates to extract the spot data. Then, the spot data is recognized, and a suitable tracking strategy is selected and implemented from the preset tracking strategies according to the recognition result. If the spot tracking strategy is selected, the tracking of the telescope is dynamically adjusted according to the implementation result to ensure stable tracking of the satellite. If the tracking is unstable or the qualified spot is not recognized, the spot tracking strategy is switched back to the orbit tracking strategy. The solution of the present invention can flexibly select and implement the most suitable tracking strategy according to the spot data in different tracking scenarios by introducing the tracking strategy selection and telescope adjustment mechanism, so as to maintain the stability and accuracy of satellite tracking and recognition in a complex and changeable environment.

[0026] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0028] 101. Acquire orbital data, and perform satellite tracking based on the orbital data to obtain original image information;

[0029] In this embodiment, the orbital data of the satellite is first obtained from the official website of the satellite or the government space agency. The orbital data includes information such as GPS time, altitude, azimuth and angle. The orbital data is then preliminarily processed and converted into telescope control data for controlling the azimuth and angle of the telescope. The telescope is then controlled to track the satellite based on the control data. The detector on the telescope obtains original image information by collecting satellite images.

[0030] 102. Extract the centroid and optimize the brightness of the original image information to obtain the centroid coordinates and optimized image information;

[0031] In this embodiment, the original image information is transmitted to the FPGA, and the computing power of the FPGA is used to perform image processing. First, the centroid extraction algorithm is used to extract the centroid of the light spot in the image to obtain the centroid coordinates; then the DN value (grayscale value) of the image attached to the centroid coordinates is obtained, and the DN value is judged according to the preset brightness information. If the judgment is qualified, it is considered that the brightness of the original image meets the requirements, and the original image information is marked as optimized image information output; if the judgment is unqualified, the parameters of the detector on the telescope, such as exposure time, gain, etc., are adjusted according to the preset brightness range, and the optimized image information is obtained using the adjusted telescope; finally, the FPGA transmits the optimized image information and the centroid coordinates to the subsequent processing module.

[0032] 103. Perform image processing on the optimized image information according to the centroid coordinates to obtain spot data;

[0033] In this embodiment, the light spot information in the optimized image information is first located according to the centroid coordinates, and then the light spot information is subjected to binarization processing, morphological processing, light spot screening processing, etc., to finally obtain clear and accurate light spot data.

[0034] 104. Performing spot recognition on the spot data to obtain a recognition result, and confirming and implementing a tracking strategy from a preset tracking strategy pool according to the recognition result;

[0035] In this embodiment, the spot data is first identified, and then an effective strategy is confirmed and implemented from a preset tracking strategy pool based on the identification result; the identification result includes three situations: no qualified spot, a single qualified spot, and multiple qualified spots, and the tracking strategy pool corresponds to an orbit tracking strategy and a spot tracking strategy; different tracking strategies are selected according to different identification results, and the telescope is adjusted according to the tracking strategy to implement satellite tracking.

[0036] 105. When the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained, and a satellite tracking instruction is generated according to the implementation result;

[0037] In this embodiment, when the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained in real time, and based on the implementation result, it is determined whether the telescope is stably tracking the target spot; if it is stably tracking, the spot data received during the tracking period is obtained to infer the satellite position information, and a satellite tracking instruction is generated based on the satellite position information, and the telescope is controlled to track the satellite according to the satellite tracking instruction; if it is not stably tracking, the tracking strategy is changed to an orbital tracking strategy, the satellite position information is calculated based on the orbital data, and the corresponding satellite tracking instruction is generated based on the satellite position information, and the telescope is controlled to track the satellite according to the satellite tracking instruction.

[0038] In an embodiment of the present invention, the telescope is first controlled to perform preliminary satellite tracking by acquiring the orbital data of the satellite, thereby capturing the original image information, and then the centroid extraction and brightness optimization are performed on the original image information to obtain more accurate centroid coordinates and optimized images; the optimized image is further processed based on the centroid coordinates to extract the spot data; the spot data is then identified, and a suitable tracking strategy is selected and implemented from the preset tracking strategies according to the identification result; if the spot tracking strategy is selected, the corresponding satellite tracking instruction is generated according to the implementation result to adjust the telescope to ensure that the telescope stably tracks the satellite; if the tracking is unstable or the qualified spot is not identified, the spot tracking strategy is switched to the orbit tracking strategy; the solution of the present invention can flexibly select and implement the most suitable tracking strategy according to the spot data in different tracking scenarios by introducing the tracking strategy selection and telescope adjustment mechanism, and can still maintain the stability and accuracy of satellite tracking and identification in complex and changeable environments.

[0039] See also Figure 2 , a second embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0040] 201. Obtain orbital data;

[0041] In this embodiment, the orbit data of the satellite is firstly obtained from the official website of the satellite or the government space agency. The orbit data includes information such as GPS time, altitude, azimuth and angle.

[0042] 202. Converting orbital data into control data;

[0043] In this embodiment, the cubic spline interpolation method is first used to expand the acquired orbital data from 1 second to 50*20 milliseconds, that is, the data is expanded to 50 data points per second to ensure that the telescope equipment has high-frequency rapid maneuverability and response capabilities. Then, based on the orbital data and combined with the current equipment status of the telescope, the preset azimuth and pitch angle of the telescope are calculated to obtain the control data.

[0044] 203. Track the satellite according to the control data to obtain original image information;

[0045] In this embodiment, the control data is used to control the telescope to start real-time tracking of the satellite according to the preset azimuth and pitch angles. The detector on the telescope collects the original image information in real time and transmits the original image information to the subsequent processing module.

[0046] See also Figure 3 A third embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0047] 301. Extract the centroid of the original image information to obtain the centroid coordinates;

[0048] In this embodiment, centroid extraction is a preliminary step in image processing, which is used to determine the center position of the target light spot in the satellite image. After receiving the original image information, the FPGA first extracts the centroid of the original image to obtain the centroid coordinates.

[0049] 302. Extracting grayscale values ​​from the original image information according to the centroid coordinates to determine the region;

[0050] In this embodiment, in view of the weather influences such as the light spot being blocked by clouds or the sudden change of ambient brightness during the experiment, the light spot may appear too bright or too dark, which is not conducive to the recognition of the target, and it is necessary to first perform brightness recognition and optimization on the original image information; specifically, first determine a grayscale value judgment area with a specific size and shape centered on the center of mass according to the center of mass coordinates, and then crop the grayscale value judgment area from the original image information for subsequent grayscale value calculation.

[0051] 303. Calculate the gray value of the gray value judgment area to obtain gray value data;

[0052] In this embodiment, the gray value of each pixel in the gray value determination area is calculated to obtain the gray value data of the area.

[0053] 304. The gray value data and the preset judgment data are judged to obtain a judgment result;

[0054] In this embodiment, the gray value data is compared with the preset judgment data to evaluate whether the image quality is qualified; first, according to the requirements of satellite image recognition, the judgment standard of the gray value (such as gray value range, average value, standard deviation, etc.) is set to obtain the judgment data; then the gray value data is compared with the judgment data to obtain the judgment result.

[0055] 305. If the grayscale value is qualified as determined by the judgment result, the original image information is marked as optimized image information;

[0056] In this embodiment, for images with qualified grayscale values, they are directly marked as optimized image information and transmitted to subsequent processing modules as needed.

[0057] 306. If the grayscale value is judged to be unqualified, optimized control data is obtained according to the grayscale value data, and the optimized control data is used to track the satellite to obtain optimized image information;

[0058] In this embodiment, for images with unqualified grayscale values, it is necessary to adjust the control parameters of the telescope to obtain better quality images; first, based on the grayscale value data and a preset optimization strategy (such as adjusting the exposure time, gain, etc.), the optimized control data is calculated, and then the telescope is driven to perform a new satellite tracking operation using the optimized control data, the original image information is recollected, and processing steps such as centroid extraction and grayscale value calculation are performed until optimized image information with qualified grayscale values ​​is obtained.

[0059] See also Figure 4 A fourth embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0060] 401. Screen the detection area of ​​the optimized image information according to the centroid coordinates to obtain detection area data;

[0061] In this embodiment, in order to narrow the processing range and improve processing efficiency, the centroid coordinates are first used to locate the approximate position of the target light spot in the optimized image information, and then a detection area including the target light spot and its surrounding environment is set in the optimized image information according to the size, shape and preset boundary range of the target light spot to obtain the detection area data.

[0062] 402. Perform noise interference filtering processing on the detection area data to obtain first processed data;

[0063] In this embodiment, a dynamic threshold method is used to binarize the image of the detection area. Specifically, the benchmark threshold is first calculated using the image benchmark threshold formula, and then the image pixel value of the detection area data is calculated. If the image pixel value is smaller than the benchmark threshold, it will be removed. If the pixel value is larger than the benchmark value, it will be retained, thereby separating the light spot and the background and suppressing background noise interference.

[0064] 403. Perform morphological processing on the first processed data to obtain second processed data;

[0065] In this embodiment, according to the shape and characteristics of the target light spot, a suitable morphological operation (such as corrosion, expansion) is selected, the selected morphological operation is applied to the first processed data to improve the image quality, and the morphologically processed data is used as the second processed data for subsequent processing.

[0066] 404. Perform stray light spot filtering processing on the second processed data to obtain spot data;

[0067] In this embodiment, since there are various factors that form the light spot, there are many differences in the shape, size, and brightness of the light spot; and light spot distortion may occur, so it is necessary to screen the stray light spot to remove the interference caused by the stray light spot; in this embodiment, the second processed data is first analyzed to obtain detailed data of the light spot, which includes the length, width, area, circularity, and average grayscale value of the light spot, and then the data are qualified according to the preset standards to identify the stray light spot, and the identified stray light spot is filtered out from the second processed data; the second processed data after filtering out the stray light spot is used as the spot data for subsequent satellite identification and tracking.

[0068] See also Figure 5 The fifth embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0069] 501. Performing spot recognition on the spot data to obtain a recognition result;

[0070] In this embodiment, during the process of tracking the satellite, the telescope may encounter various situations such as no light spot found, non-target light spot detected, multiple light spots detected, and accidental loss of the tracking target. For these situations, it is necessary to first perform light spot recognition on the acquired light spot data, and then select a subsequent tracking strategy based on the recognition result; specifically, first extract the light spot feature information from the light spot data, judge the number of qualified light spots in the light spot data based on the light spot feature information, and obtain the recognition result.

[0071] 502. If the recognition result is that there is no qualified light spot, confirm that the tracking strategy is orbit tracking from the preset tracking strategy pool, and implement the tracking strategy according to the orbit data;

[0072] In this embodiment, when the light spot recognition result is that there is no qualified light spot, it means that the current image information does not contain the light spot of the target satellite. At this time, the tracking strategy is confirmed to be orbital tracking from the preset tracking strategy pool, and then the control parameters of the telescope are obtained according to the orbital data to drive the telescope to track the satellite.

[0073] 503. If the recognition result is a single qualified light spot, confirm that the tracking strategy is light spot tracking from a preset tracking strategy pool, and implement the tracking strategy according to the light spot data;

[0074] In this embodiment, when the light spot recognition result is a single qualified light spot, it means that the light spot of the target satellite is already contained in the current image information. At this time, the tracking strategy is confirmed as light spot tracking from the preset tracking strategy pool, and the control parameters of the telescope are updated according to the latest light spot data to drive the telescope to track the satellite.

[0075] 504. If the identification result is a plurality of qualified light spots, confirming the tracking strategy as light spot tracking from a preset tracking strategy pool, performing optimal processing on the light spot data to obtain optimal light spot data, and implementing the tracking strategy according to the optimal light spot data;

[0076] In this embodiment, when the light spot recognition result is multiple qualified light spots, it means that non-target light spots and target light spots may be detected at the same time. At this time, the tracking strategy is confirmed as light spot tracking from the preset tracking strategy pool, and then it is necessary to perform optimal processing on multiple qualified light spots based on the brightness, shape, stability and other characteristics of the light spots to obtain the optimal target light spot data, and then update the control parameters of the telescope based on the preferred light spot data to drive the telescope to track satellites.

[0077] See also Figure 6 The sixth embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0078] 601. When the tracking strategy is spot tracking, obtain the implementation result of the tracking strategy;

[0079] In this embodiment, it is necessary to set an evaluation standard first, and the evaluation standard is whether the telescope can maintain a relatively stable acquisition of the latest spot data within a certain period of time; the tracking state is evaluated according to the evaluation standard. If the telescope can continuously and stably acquire the latest spot data within time t, and the data quality meets the requirements, the evaluation result is qualified, and the implementation result of the tracking strategy is stable tracking; if the telescope cannot maintain a stable acquisition of spot data within time t, or the data quality does not meet the requirements, the evaluation result is unqualified, and the implementation result of the tracking strategy is unstable tracking; if the telescope temporarily loses the target, the implementation result of the tracking strategy is lost tracking. At this time, if the telescope recaptures the target satellite within time t, the implementation result is converted to stable tracking. If the telescope cannot recapture the target satellite within time t, the implementation result is converted to unstable tracking; in this embodiment, time t is set to 30 seconds, and time t can be adjusted according to actual tracking needs.

[0080] 602. If the implementation result is stable tracking, satellite position information is obtained according to the light spot data, and a satellite tracking instruction is generated according to the satellite position information;

[0081] In this embodiment, when the implementation result of the tracking strategy is stable tracking, it means that the current telescope has successfully locked and stably tracked the light spot of the target satellite. Satellite azimuth information is generated based on the real-time acquired light spot data, and satellite tracking instructions are generated based on the satellite azimuth information; the satellite tracking instructions are used to control the azimuth pitch and observation angle of the telescope, and the telescope is controlled to track the satellite according to the satellite tracking instructions.

[0082] 603. If the implementation result is that the tracking is lost, the inferred position information is obtained according to the spot data, and a satellite tracking instruction is generated according to the inferred position information;

[0083] In this embodiment, when the implementation result is lost tracking, it means that the telescope has lost the target light spot due to an unexpected situation; at this time, multiple groups of light spot data at past moments are obtained, and the motion information of the light spot is calculated based on the multiple groups of light spot data at past moments, and the Kalman filter is used to generate inference azimuth information based on the motion information of the light spot; the inference azimuth information is then used to generate satellite tracking instructions to control the telescope to track the satellite and try to recapture the satellite; it should be noted that if the telescope recaptures the satellite, it proves that the telescope has not lost the target satellite. At this time, the implementation result is re-marked as stable tracking, and the tracking strategy remains as spot tracking; if the telescope cannot capture the satellite, it proves that the telescope has lost the target satellite. At this time, the implementation result is re-marked as unstable tracking, and the current tracking strategy is adjusted from spot tracking to orbit tracking.

[0084] 604. If the implementation result is unstable tracking, obtain satellite position information according to the orbit data, and generate a satellite tracking instruction according to the satellite position information;

[0085] In this embodiment, when the implementation result of the tracking strategy is unstable tracking, it means that the current telescope cannot stably track the light spot of the target satellite or has lost the light spot of the target satellite. At this time, the current tracking strategy is adjusted from light spot tracking to orbit tracking, and the satellite position information is calculated according to the orbit data, and a satellite tracking instruction is generated according to the satellite position information; the satellite tracking instruction is used to control the azimuth pitch and observation angle of the telescope, and the telescope is controlled to track satellites according to the satellite tracking instruction.

[0086] See also Figure 7 The seventh embodiment of the satellite target identification and tracking method in the embodiment of the present invention includes:

[0087] 701. When the tracking strategy is orbit tracking, satellite position information is obtained according to the orbit data, and a satellite tracking instruction is generated according to the satellite position information;

[0088] In this embodiment, when the tracking strategy is orbital tracking, the satellite position information at the current moment is calculated based on the orbital data, and a satellite tracking instruction is generated based on the satellite position information. The satellite tracking instruction is used to control the azimuth pitch and observation angle of the telescope. The telescope is controlled to track the satellite according to the satellite tracking instruction. During the satellite tracking process, light spot identification is continuously performed, and when a qualified light spot is found, the tracking strategy is adjusted to light spot tracking.

[0089] The above describes the satellite target recognition and tracking method in the embodiment of the present invention. The following describes the satellite target recognition and tracking device in the embodiment of the present invention. Figure 8 , the embodiment of the satellite target identification and tracking device in the embodiment of the present invention includes:

[0090] The acquisition module 801 is used to acquire orbit data and perform satellite tracking according to the orbit data to obtain original image information;

[0091] The optimization module 802 is used to extract the centroid and optimize the brightness of the original image information to obtain the centroid coordinates and optimized image information;

[0092] The processing module 803 is used to perform image processing on the optimized image information according to the centroid coordinates to obtain spot data;

[0093] The recognition module 804 is used to perform spot recognition on the spot data to obtain a recognition result, and confirm and implement a tracking strategy from a preset tracking strategy pool according to the recognition result;

[0094] The tracking module 805 is used to obtain the implementation result of the tracking strategy when the tracking strategy is spot tracking, and generate a satellite tracking instruction according to the implementation result.

[0095] In this embodiment, the satellite's orbital data is first acquired by the acquisition module 801 to control the telescope to perform preliminary satellite tracking, thereby capturing the original image information, and then the optimization module 802 performs centroid extraction and brightness optimization on the original image information to obtain more accurate centroid coordinates and optimized images; the processing module 803 further processes the optimized image based on the centroid coordinates to extract the spot data; the recognition module 804 recognizes the spot data, and selects and implements a suitable tracking strategy from the preset tracking strategies according to the recognition result; finally, the tracking module 805 controls the telescope to track the satellite according to the tracking strategy. If the spot tracking strategy is selected, the tracking module 805 obtains the implementation result of the tracking strategy, and generates a satellite tracking instruction according to the implementation result to adjust the telescope to ensure that the telescope can stably track the satellite; the solution of the present invention can flexibly select and implement the most suitable tracking strategy according to the spot data in different tracking scenarios by introducing the tracking strategy selection and telescope adjustment mechanism, and can still maintain the stability and accuracy of satellite tracking and identification in complex and changing environments.

[0096] above Figure 8 The satellite target identification and tracking device in the embodiment of the present invention is described in detail from the perspective of modular functional entities. The satellite target identification and tracking device in the embodiment of the present invention is described in detail from the perspective of hardware processing.

[0097] Fig. 91 is a schematic diagram of the structure of a satellite target identification and tracking device provided by an embodiment of the present invention. The satellite target identification and tracking device 900 may have relatively large differences due to different configurations or performances, and may include one or more processors (central processing units, CPU) 910 (for example, one or more processors) and a memory 920, and one or more storage media 930 (for example, one or more mass storage devices) storing application programs 933 or data 932. Among them, the memory 920 and the storage medium 930 can be short-term storage or permanent storage. The program stored in the storage medium 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the satellite target identification and tracking device 900. Furthermore, the processor 910 may be configured to communicate with the storage medium 930, and execute a series of instruction operations in the storage medium 930 on the satellite target identification and tracking device 900 to implement the steps of the satellite target identification and tracking method provided by the above-mentioned various method embodiments.

[0098] The satellite target identification and tracking device 900 may also include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input and output interfaces 960, and / or one or more operating systems 931, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Fig. 9 The structure of the satellite target identification and tracking device 900 shown does not constitute a limitation on the satellite target identification and tracking device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0099] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of a method for identifying and tracking satellite targets.

[0100] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device, or unit can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0101] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0102] Finally, it should be noted that the above description is only a preferred example of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for identifying and tracking a satellite target, characterized in that: include: Obtain orbital data, and track satellites based on the orbital data to obtain original image information; Extract the centroid and optimize the brightness of the original image information to obtain the centroid coordinates and optimized image information; Perform image processing on the optimized image information according to the centroid coordinates to obtain spot data; Perform spot recognition on the spot data to obtain a recognition result, and confirm and implement a tracking strategy from a preset tracking strategy pool according to the recognition result; When the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained, and a satellite tracking instruction is generated according to the implementation result.

2. The satellite target identification and tracking method according to claim 1, characterized in that: The obtaining of orbital data and tracking of satellites according to the orbital data to obtain original image information includes: Get orbital data; Convert orbital data into steering data; Satellite tracking is performed based on the control data to obtain original image information.

3. The satellite target identification and tracking method according to claim 1, characterized in that: The centroid extraction and brightness optimization of the original image information to obtain the centroid coordinates and optimized image information includes: Extract the centroid of the original image information to obtain the centroid coordinates; Extracting grayscale values ​​from the original image information according to the centroid coordinates to determine the region; Calculate the gray value of the gray value judgment area to obtain gray value data; The gray value data and the preset judgment data are judged to obtain a judgment result; If the grayscale value is qualified, the original image information is marked as optimized image information; if the grayscale value is unqualified, optimized control data is obtained according to the grayscale value data, and the optimized control data is used to track the satellite to obtain optimized image information.

4. The satellite target identification and tracking method according to claim 1, characterized in that: The step of performing image processing on the optimized image information according to the centroid coordinates to obtain the spot data includes: Screening the detection area of ​​the optimized image information according to the centroid coordinates to obtain detection area data; performing noise interference filtering processing on the detection area data to obtain first processed data; Performing morphological processing on the first processed data to obtain second processed data; The second processed data is subjected to stray light spot filtering processing to obtain spot data.

5. The satellite target identification and tracking method according to claim 1, characterized in that: The step of performing spot recognition on the spot data to obtain a recognition result, and confirming and implementing a tracking strategy from a preset tracking strategy pool according to the recognition result includes: Performing spot recognition on the spot data to obtain a recognition result; If the recognition result is that there is no qualified light spot, the tracking strategy is confirmed to be orbital tracking from the preset tracking strategy pool, and the tracking strategy is implemented according to the orbital data; If the recognition result is a single qualified light spot, the tracking strategy is confirmed to be light spot tracking from the preset tracking strategy pool, and the tracking strategy is implemented according to the light spot data; If the identification result is a plurality of qualified light spots, the tracking strategy is confirmed as light spot tracking from the preset tracking strategy pool, and the light spot data is optimally processed to obtain optimal light spot data, and the tracking strategy is implemented according to the optimal light spot data.

6. The satellite target identification and tracking method according to claim 1, characterized in that: When the tracking strategy is spot tracking, the implementation result of the tracking strategy is obtained, and a satellite tracking instruction is generated according to the implementation result, including: When the tracking strategy is spot tracking, obtaining the implementation result of the tracking strategy; If the implementation result is stable tracking, the satellite position information is obtained according to the spot data, and a satellite tracking instruction is generated according to the satellite position information; If the implementation result is that the tracking is lost, the inferred azimuth information is obtained according to the spot data, and a satellite tracking instruction is generated according to the inferred azimuth information; If the implementation result is unstable tracking, the tracking strategy is adjusted to orbit tracking, and the satellite position information is obtained according to the orbit data, and the satellite tracking instruction is generated according to the satellite position information.

7. The satellite target identification and tracking method according to claim 1, characterized in that: The step of performing spot recognition on the spot data to obtain a recognition result, and then confirming and implementing a tracking strategy from a preset tracking strategy pool according to the recognition result, comprises: When the tracking strategy is orbit tracking, the satellite position information is obtained according to the orbit data, and a satellite tracking instruction is generated according to the satellite position information.

8. A satellite target identification and tracking device, characterized in that: include: The acquisition module is used to acquire orbit data, and to track satellites based on the orbit data to obtain original image information; An optimization module is used to extract the centroid and optimize the brightness of the original image information to obtain the centroid coordinates and optimized image information; A processing module, used for performing image processing on the optimized image information according to the centroid coordinates to obtain spot data; The recognition module is used to perform spot recognition on the spot data to obtain a recognition result, and confirm and implement a tracking strategy from a preset tracking strategy pool according to the recognition result; The tracking module is used to obtain the implementation result of the tracking strategy when the tracking strategy is spot tracking, and generate a satellite tracking instruction according to the implementation result.

9. A satellite target identification and tracking device, characterized in that: The satellite target identification and tracking device includes: a memory and at least one processor, wherein instructions are stored in the memory; at least one of the processors calls the instructions in the memory so that the satellite target identification and tracking device performs each step of the satellite target identification and tracking method as described in any one of claims 1 to 7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the various steps of the satellite target identification and tracking method as described in any one of claims 1-7 are implemented.

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