Track determination method and device for telescope switching observation target

Abstract

The invention provides a trajectory determination method and device for switching observation targets by a telescope, relates to the technical field of astronomical observation, and aims to solve the technical problems of low observation data accuracy caused by servo sudden stop and sudden start phenomena and low observation efficiency caused by incapability of accurately estimating in-place time in the prior art. The method comprises the following steps: determining the time, direction and speed corresponding to the last point of a current observation target arc section as starting points, and determining the time, direction and speed corresponding to the first point of a next observation target arc section as ending points; inputting the starting point and the ending point into an S-shaped curve model to determine a parking position and calculating a first movement track from the parking position to the ending point; calculating a second motion track from the starting point to the parking position; determining the stopping time according to the time required by the first movement track and the second movement track and the constraint time of the observation task; and according to the first and second motion tracks and the motion track corresponding to the stop time, determining a total motion track of the telescope switching observation target.

Description

Technical Field

[0001] The present invention relates to the technical field of astronomical observation, and more specifically, to a method and device for determining the trajectory of a telescope to switch observation targets. Background Art

[0002] With the continuous deepening of astronomical research, the requirements for the observation accuracy and efficiency of telescopes are also getting higher and higher. When conducting astronomical observations, especially for fast-moving targets such as space debris, it is often necessary to quickly and accurately observe multiple targets. However, the existing telescope control systems have some limitations when switching targets, which seriously affect the efficiency and quality of observations.

[0003] First of all, traditional telescope control systems usually adopt the method of directly sending the target position for control, that is, fixed-point motion, so that the telescope runs to the specified position at the maximum speed and acceleration. Although this method can quickly reach the target position, due to the non-smooth motion trajectory, it is easy to cause the phenomenon of servo sudden stop and sudden start, impacting the servo, resulting in unstable telescope tracking. Especially at the beginning of the target arc segment, although the telescope has reached the specified position, the speed has not been adjusted to the speed required for tracking the target, resulting in poor stability of the initial few frames of images and affecting the accuracy and reliability of the observed data.

[0004] Secondly, the fixed-point motion method cannot accurately estimate the arrival time, which causes certain difficulties in formulating the observation plan. Since it is impossible to reserve an appropriate time for target switching, the formulation of the observation plan is often not precise enough, thereby leading to a reduction in the observation efficiency. Summary of the Invention

[0005] In view of this, the present invention provides a method and device for determining the trajectory of a telescope to switch observation targets, aiming to solve the technical problems that the accuracy of the observed data is low due to the phenomenon of servo sudden stop and sudden start in the prior art, and the observation efficiency is low due to the inability to accurately estimate the arrival time.

[0006] An aspect of the present invention provides a method for determining the trajectory of a telescope to switch observation targets, including: determining the time, pointing, and velocity corresponding to the last point of the current observation target arc segment as the starting point, and determining the time, pointing, and velocity corresponding to the first point of the next observation target arc segment as the ending point; inputting the starting point and the ending point into the S-shaped curve model, and performing the following operations: determining a docking position between the starting point and the ending point, and calculating a first motion trajectory from the docking position to the ending point, where the docking position is used to smooth the motion trajectory of the telescope from the starting point to the ending point; calculating a second motion trajectory from the starting point to the docking position; determining a docking time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task; and determining the total motion trajectory of the telescope to switch observation targets according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the docking time.

[0007] According to an embodiment of the present invention, the whole process of the S-shaped curve model includes: a positive acceleration increasing stage, a constant acceleration stage, a positive acceleration decreasing stage, a constant velocity stage, a negative acceleration increasing stage, a constant deceleration stage, and a negative acceleration decreasing stage; wherein, the time of the positive acceleration increasing stage is equal to the time of the positive acceleration decreasing stage, and the time of the negative acceleration increasing stage is equal to the time of the negative acceleration decreasing stage.

[0008] According to an embodiment of the present invention, determining a docking position between the starting point and the ending point, and calculating a first motion trajectory from the docking position to the ending point includes: extracting the motion trajectory of the acceleration stage in the S-shaped curve model, and setting the time corresponding to the constant velocity stage, the negative acceleration increasing stage, the constant deceleration stage, and the negative acceleration decreasing stage to zero, where the acceleration stage in the S-shaped curve model includes the positive acceleration increasing stage, the constant acceleration stage, and the positive acceleration decreasing stage; obtaining the precision-preserving control parameters of the two axes of the telescope, where the precision-preserving control parameters include the precision-preserving velocity, the precision-preserving acceleration, and the precision-preserving jerk; determining the time required for the acceleration stage in the S-shaped curve model based on the precision-preserving control parameters; determining the docking position according to the time required for the acceleration stage in the S-shaped curve model; and calculating a first motion trajectory from the docking position to the ending point based on the docking position.

[0009] According to an embodiment of the present invention, determining the time required for the acceleration stage in the S-shaped curve model based on the precision-preserving control parameters includes: determining whether the acceleration stage in the S-shaped curve model reaches the maximum acceleration based on the precision-preserving control parameters; in response to reaching the maximum acceleration, determining the time required for the acceleration stage in the S-shaped curve model based on the time corresponding to the positive acceleration increasing stage; and in response to not reaching the maximum acceleration, jointly determining the time required for the acceleration stage in the S-shaped curve model based on the time of the positive acceleration increasing stage, the velocity reached in the acceleration stage, and the precision-preserving jerk.

[0010] According to an embodiment of the present invention, calculating a first motion trajectory from a docking position to an end point includes: based on the docking position, according to the time of the jounce acceleration stage, the speed reached in the acceleration stage, and the jerk for precision preservation, using the trajectory equation of the acceleration stage in the S-shaped curve model, calculating the first motion trajectory from the docking position to the end point.

[0011] According to an embodiment of the present invention, calculating a second motion trajectory from a starting point to a docking position includes: obtaining the maximum precision preservation control parameters of the two axes of the telescope; according to the maximum precision preservation control parameters, determining the total time required for the jounce acceleration stage, the uniform acceleration stage, the deceleration stage, the uniform speed stage, the acceleration and deceleration stage, the uniform deceleration stage, and the deceleration stage in the S-shaped curve model; according to the total time, using the trajectory equation of the entire stage in the S-shaped curve model, calculating the second motion trajectory from the starting point to the docking position.

[0012] According to an embodiment of the present invention, determining a docking time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task includes: in response to the sum of the time required for the first motion trajectory and the time required for the second motion trajectory being less than or equal to the constraint time of the observation task, the docking time is the constraint time of the observation task minus the sum of the time required for the first motion trajectory and the time required for the second motion trajectory.

[0013] Another aspect of the present invention provides a device for determining a trajectory for a telescope to switch observation targets, including: a first determination module, configured to determine the time, pointing, and speed corresponding to the last point of the current observation target arc segment as the starting point, and determine the time, pointing, and speed corresponding to the first point of the next observation target arc segment as the end point; an execution module, configured to input the starting point and the end point into the S-shaped curve model and perform the following operations: determine a docking position between the starting point and the end point, and calculate a first motion trajectory from the docking position to the end point, where the docking position is used to smooth the motion trajectory of the telescope from the starting point to the end point; calculate a second motion trajectory from the starting point to the docking position; a second determination module, configured to determine a docking time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task; a third determination module, configured to determine the total motion trajectory of the telescope to switch observation targets according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the docking time.

[0014] Another aspect of the present invention provides an electronic device, including: one or more processors; a memory, configured to store one or more programs, where when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the method as described above.

[0015] Another aspect of the present invention provides a computer-readable storage medium, storing computer-executable instructions, where the instructions, when executed, are used to implement the method as described above.

[0016] Another aspect of the present invention provides a computer program product, the computer program product comprising computer executable instructions, and the instructions are used to implement the above method when being executed.

[0017] Compared with the prior art, the method and device for determining the trajectory of a telescope switching an observation target provided by the present invention have at least the following beneficial effects:

[0018] (1) The method and device for determining the trajectory of switching the observation target of the telescope provided in the embodiment of the present invention, by using the S-curve model and reasonable parameter control, determines the stop position between the starting point and the end point of the target arc segment, and the stop time corresponding to the stop position, and then generates the total motion trajectory based on the motion trajectory from the stop position to the end point (first motion trajectory), the motion trajectory from the start point to the stop position (second motion trajectory), and the motion trajectory corresponding to the stop time (third motion trajectory). Since a stop trajectory is planned at the stop position, the impact of the servo emergency stop and start on the servo timing system is avoided, the smoothness of the switching trajectory is improved, and the loss of observation efficiency caused by switching targets is reduced.

[0019] (2) The method and device for determining the trajectory of switching observation targets of a telescope provided in an embodiment of the present invention determine the stop time under the time constraints of the observation task, ensuring that the telescope smoothly switches to the next observation target at the specified time, specified position, and specified speed. The method is simple and easy to implement, and through precise trajectory planning and time control, the telescope can achieve fast and smooth switching between observation targets, thereby improving observation efficiency and image quality.

[0020] (3) According to the method and device for determining the trajectory of a telescope switching an observation target provided by the embodiment of the present invention, during the docking time, the position of the telescope remains unchanged, the speed is zero, and the servo system does not work, thereby reducing resource consumption and achieving energy saving.

[0021] (4) The method and device for determining the trajectory of a telescope switching an observation target provided in an embodiment of the present invention use the precision control parameters of the two axes of the telescope when planning the motion trajectory of the acceleration-uniform acceleration-deceleration stage using the S-curve model. This makes the motion (speed, acceleration, etc.) of the telescope more stable when it reaches the end point, thereby improving the imaging quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:

[0023] Figure 1 A flow chart schematically shows a method for determining a trajectory of a telescope switching an observation target according to an embodiment of the present invention;

[0024] Figure 2 Schematically shows the position - velocity curve of telescope axis 1 determined by the method for determining the trajectory of a telescope to switch an observation target according to an embodiment of the present invention;

[0025] Figure 3 Schematically shows the position - velocity curve of telescope axis 2 determined by the method for determining the trajectory of a telescope to switch an observation target according to an embodiment of the present invention;

[0026] Figure 4 Schematically shows the structural block diagram of a device for determining the trajectory of a telescope to switch an observation target according to an embodiment of the present invention;

[0027] Figure 5 Schematically shows the structural block diagram of an electronic device suitable for implementing the method for determining the trajectory of a telescope to switch an observation target according to an embodiment of the present invention. Detailed implementation manners

[0028] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and are not intended to limit the scope of the present invention. In the following detailed description, for the sake of explanation, many specific details are set forth to provide a comprehensive understanding of the embodiments of the present invention. However, obviously, one or more embodiments can also be implemented without these specific details. In addition, in the following description, descriptions of well - known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0029] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0030] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification and should not be interpreted in an idealized or overly rigid manner.

[0031] In the case of using expressions such as "at least one of A, B, and C", generally, it should be interpreted according to the meaning commonly understood by those skilled in the art (for example, "a system having at least one of A, B, and C" should include, but is not limited to, a system having only A, only B, only C, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0032] In the embodiments of the present invention, in aspects such as the collection, update, analysis, processing, use, transmission, provision, disclosure, storage, etc. of the involved data (for example, including but not limited to user personal information), it complies with the provisions of relevant laws and regulations, is used for legal purposes, and does not violate public order and good customs. In particular, necessary measures are taken for user personal information to prevent illegal access to user personal information data and to safeguard user personal information security and network security.

[0033] With the continuous in-depth research of astronomy, the requirements for the observation accuracy and efficiency of telescopes are getting higher and higher. When conducting astronomical observations, especially when observing fast-moving targets such as space debris, it is often necessary to quickly and accurately observe multiple targets. However, there are some limitations in the existing telescope control systems when switching targets, and these limitations seriously affect the observation efficiency and quality.

[0034] First of all, traditional telescope control systems usually adopt the method of directly sending the target position for control, that is, fixed-point movement, so that the telescope runs to the specified position at the maximum speed and acceleration. Although this method can quickly reach the target position, due to the uneven movement trajectory, it is easy to cause the phenomenon of servo sudden stop and sudden start, impacting the servo and resulting in unstable telescope tracking. Especially at the beginning of the target arc segment, although the telescope has reached the specified position, the speed has not been adjusted to the speed required for tracking the target, resulting in poor stability of the initial few frames of images and affecting the accuracy and reliability of the observed data.

[0035] Secondly, the fixed-point movement method cannot accurately estimate the arrival time, which causes certain difficulties in formulating the observation plan. Since it is impossible to reserve an appropriate time for target switching, the formulation of the observation plan is often not precise enough, thereby leading to a reduction in the observation efficiency. Therefore, there is an urgent need for a technical solution that can enable the telescope to quickly switch targets while maintaining the smoothness of the movement trajectory and accurately estimating the arrival time to better plan the observation tasks.

[0036] Based on this, the embodiments of the present invention provide a method and device for determining the trajectory of a telescope to switch observation targets, aiming to solve the technical problems of low accuracy of observed data caused by the phenomenon of sudden stop and sudden start of the servo in the prior art and low observation efficiency caused by the inability to accurately estimate the arrival time.

[0037] To make the purpose, technical solution, and advantages of the present invention clearer and more understandable, the following further elaborates on the present invention in detail with reference to specific embodiments and the accompanying drawings.

[0038] Figure 1 The flowchart of the method for determining the trajectory of a telescope to switch observation targets according to the embodiments of the present invention is schematically shown.

[0039] AsFigure 1 As shown, the method for determining the trajectory of a telescope switching an observation target in this embodiment may include operations S1 to S5.

[0040] In operation S1, the time, direction and speed corresponding to the last point of the currently observed target arc are determined as the starting point, and the time, direction and speed corresponding to the first point of the next observed target arc are determined as the end point.

[0041] Input the start point and the end point into the S-curve model, and perform the following operations S2 to S3.

[0042] In operation S2, a docking position is determined between the starting point and the end point, and a first motion trajectory from the docking position to the end point is calculated, wherein the docking position is used to smooth the motion trajectory of the telescope from the starting point to the end point.

[0043] In operation S3 , a second motion trajectory from the starting point to the stop position is calculated.

[0044] In operation S4, the stop time is determined according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task.

[0045] In operation S5, a total motion trajectory of the telescope switching the observation target is determined according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the stop time.

[0046] The method for determining the trajectory of switching the observation target of the telescope provided by the embodiment of the present invention determines the stop position and the stop time corresponding to the stop position between the starting point and the end point of the target arc segment by using the S-curve model and reasonable parameter control, and then generates the total motion trajectory according to the motion trajectory from the stop position to the end point (first motion trajectory), the motion trajectory from the start point to the stop position (second motion trajectory), and the motion trajectory corresponding to the stop time (third motion trajectory). Since a stop trajectory is planned at the stop position, the impact of the servo emergency stop and start on the servo timing system is avoided, the smoothness of the switching trajectory is improved, and the loss of observation efficiency caused by switching targets is reduced.

[0047] In this embodiment, firstly, the time t corresponding to the last point of the currently observed target arc segment is start , point to start and speed v start As the starting point, the time t corresponding to the first point of the next observation target arc segment is end , point to end and speed v end As an end point.

[0048] Then, the S-curve model is used to plan the stopping points, i.e., the stopping positions, between the starting point and the ending point, and the first motion trajectory from the stopping position to the ending point is calculated.

[0049] The S-curve model, i.e., the S-curve algorithm, is a motion trajectory optimization method based on velocity curve planning, which realizes smooth motion from the starting point to the ending point through smooth velocity changes. Its core lies in adjusting the acceleration and deceleration through a mathematical model (such as a seven-segment S-curve) to meet the time constraints and dynamic constraints, thereby generating high-quality motion trajectories.

[0050] According to an embodiment of the present invention, the whole process of the S-curve model includes: the jerk-acceleration stage, the constant-acceleration stage, the deceleration-acceleration stage, the constant-velocity stage, the acceleration-deceleration stage, the constant-deceleration stage, and the jerk-deceleration stage; among them, the time of the jerk-acceleration stage is equal to the time of the deceleration-acceleration stage, and the time of the acceleration-deceleration stage is equal to the time of the jerk-deceleration stage.

[0051] According to an embodiment of the present invention, operation S2 determines the stopping position between the starting point and the ending point, and calculating the first motion trajectory from the stopping position to the ending point may include operations S21~S25:

[0052] In operation S21, the motion trajectory of the acceleration stage in the S-curve model is extracted, and the times corresponding to the constant-velocity stage, the acceleration-deceleration stage, the constant-deceleration stage, and the jerk-deceleration stage are set to zero, where the acceleration stage in the S-curve model includes the jerk-acceleration stage, the constant-acceleration stage, and the deceleration-acceleration stage.

[0053] In this embodiment, the basic input parameters of the S-curve model are the position change (q 0 →q 1 ), the velocity change (v 0 →v 1 ), and the limit parameters, such as the velocity limit v lim , the acceleration limit a lim , the jerk limit j lim , and its whole process is divided into seven stages: jerk-acceleration - constant-acceleration - deceleration-acceleration - constant-velocity - acceleration-deceleration - constant-deceleration - jerk-deceleration, and the times are respectively defined as t 1 ,t 2 ,t 3 ,t 4 ,t 5 ,t 6 ,t 7 , then the total time T a of the acceleration stage in the seven stages = t 1 + t 2 + t 3 , and the total time T d of the deceleration stage = t 5 +t 6+t 7 and set t 1 =t 3 t 5 =t 7 .

[0054] In addition, in this embodiment, operation S2 only uses the motion trajectory of the acceleration stage (i.e., the jerk-acceleration-uniform-acceleration-deceleration stage) of the S-curve model. Therefore, only the motion trajectory of the acceleration stage in the S-curve model needs to be extracted, which means that t 4 =t 5 =t 6 =t 7 =0, and the time T required for this acceleration stage final = T a =t 1 +t 2 +t 3 .

[0055] In operation S22, obtain the precision-preserving control parameters of the two axes of the telescope. Among them, the precision-preserving control parameters include precision-preserving speed, precision-preserving acceleration, and precision-preserving jerk.

[0056] In this embodiment, the input parameters of the S-curve model adopt the precision-preserving control parameters of the two axes of the telescope, including: precision-preserving speed v pre , precision-preserving acceleration a pre , and precision-preserving jerk j pre to ensure that the telescope is stable enough when switching to the next observation target.

[0057] The method for determining the trajectory of the telescope to switch observation targets provided by the embodiment of the present invention uses the precision-preserving control parameters of the two axes of the telescope when planning the motion trajectory of the jerk-acceleration-uniform-acceleration-deceleration stage by using the S-curve model. Therefore, the motion (speed, acceleration, etc.) of the telescope is more stable when it reaches the end point, thereby making the imaging quality better.

[0058] In operation S23, based on the precision-preserving control parameters, determine the time required for the acceleration stage in the S-curve model.

[0059] In this embodiment, based on the precision-preserving control parameters, the time T required for the acceleration stage can be determined final , and the docking position s p can be further determined. Specifically:

[0060] According to the embodiment of the present invention, operation S23 determining the time required for the acceleration stage in the S-curve model based on the precision-preserving control parameters may include operations S231 to S233 for example:

[0061] In operation S231, based on the precision-preserving control parameters, determine whether the acceleration stage in the S-curve model reaches the maximum acceleration;

[0062] In operation S232, in response to reaching the maximum acceleration, based on the time corresponding to the jounce phase, determine the time required for the acceleration phase in the S-curve model;

[0063] In operation S233, in response to not reaching the maximum acceleration, jointly determine the time required for the acceleration phase in the S-curve model based on the time of the jounce phase, the speed reached in the acceleration phase, and the jerk for precision preservation.

[0064] In this embodiment, first, based on the precision preservation control parameters, determine whether the maximum acceleration is reached in the acceleration phase of the S-curve model. If the maximum acceleration is reached, that is , where v end represents the speed at the end point, then the time corresponding to the jounce phase , at this time, the time required for the acceleration phase .

[0065] Conversely, if the maximum acceleration is not reached, then the time corresponding to the jounce phase , at this time, the time required for the acceleration phase .

[0066] In operation S24, determine the docking position according to the time required for the acceleration phase in the S-curve model.

[0067] In this embodiment, after determining the time T final required for the acceleration phase, the docking position s p can be calculated as follows:

[0068]

[0069] where s end represents the end position, and s final represents the distance in the acceleration phase.

[0070] In operation S25, calculate the first motion trajectory to its end point based on the docking position.

[0071] According to an embodiment of the present invention, operation S25 calculating the first motion trajectory to its end point based on the docking position may include, for example:

[0072] Based on the docking position, according to the time of the jounce phase, the speed reached in the acceleration phase, and the jerk for precision preservation, use the trajectory equation of the acceleration phase in the S-curve model to calculate the first motion trajectory from the docking position to the end point.

[0073] In this embodiment, the obtained time t 1 corresponding to the jounce phase, the time T final required for the acceleration phase = Ta 1. The speed v reached during the acceleration phase lim =v 1 2. The acceleration 3. And the jerk are substituted into the acceleration phase of the trajectory equation of the following S - curve model to obtain the first motion trajectory.

[0074] (1) Acceleration phase of the S - curve model

[0075]

[0076] (2) Constant - speed phase of the S - curve model

[0077]

[0078] (3) Deceleration phase of the S - curve model

[0079]

[0080] where S(t) represents the position - time function, represents the speed - time function, j maz represents the jerk, and j max represents the maximum jerk.

[0081] According to an embodiment of the present invention, the calculation of the second motion trajectory from the starting point to the docking position in operation S3 may include, for example:[[]]

[0082] Obtaining the maximum precision - maintaining control parameters of the two axes of the telescope;

[0083] According to the maximum precision - maintaining control parameters, determining the total time required for the jerk - acceleration phase, uniform - acceleration phase, deceleration - acceleration phase, constant - speed phase, acceleration - deceleration phase, uniform - deceleration phase, and deceleration - deceleration phase in the S - curve model;

[0084] According to the total time, using the trajectory equation of the entire phase in the S - curve model, calculating the second motion trajectory from the starting point to the docking position.

[0085] In this embodiment, in operation S3, the jerk - acceleration - uniform - acceleration - deceleration - acceleration - constant - speed - acceleration - deceleration - uniform - deceleration - deceleration - deceleration section is planned using the S - curve model, and the control parameters adopt the maximum control parameters of the telescope, including the maximum speed v max 2. The maximum acceleration a max 3. And the maximum jerk j max , and its specific operation process may include operations S31 to S36 for example:

[0086] In operation S31, similar to the setting in operation S21, this stage completes the calculation of the entire process section planned by the S - curve model, and the control parameters adopt the maximum control parameters of the telescope, that is, the input parameters of the S - curve model are: q0 =s start ,q 1 =s p ,v 0 =v start ,v 1 =0,v lim =v max ,a lim =a max ,j lim =j max 。

[0087] In operation S32, calculate whether the maximum acceleration is reached in the acceleration phase. If , then there is ; otherwise .

[0088] In operation S33, calculate whether the maximum acceleration is reached in the deceleration phase. If , then there is ; otherwise .

[0089] In operation S34, determine whether there is a constant-speed phase through the following formula:

[0090]

[0091] If , then there is a constant-speed phase, then .

[0092] In operation S35, on the contrary, the maximum speed required for this trajectory does not need to reach the limited maximum speed. Obtain the respective calculation parameters according to the following operations S351 to S355:

[0093] In operation S351, introduce a variable β ∈ [0, 1], and let the acceleration a max = βa max , and plan the motion trajectory by means of iterative reduction of a max .

[0094] In operation S352, calculate t 1 = t 5 = a max / j max , and calculate T a and T d according to the following formula:

[0095]

[0096] If and If it holds, exit the iteration and enter operation S36; otherwise, enter operation S353.

[0097] In operation S353, if and then there is only a deceleration section;

[0098] The respective parameters are , ,

[0099]

[0100] And exit the iteration, enter operation S36; otherwise, enter operation S354.

[0101] In operation S354, if and , then there is only an acceleration section, and the respective parameters are , ,

[0102]

[0103] And exit the iteration, enter operation S36; otherwise, enter operation S355.

[0104] In operation S355, reduce , decrease the acceleration , and loop through operations S352 to S355 until the loop exits.

[0105] In operation S36, according to the settings of the S-shaped curve model, , , , obtain the time for each stage, as well as the optimized speed and acceleration. The total time for this stage, and then substitute it into the trajectory equation for the entire stage of the S-shaped curve model in operation S25 to obtain the motion trajectory for this stage.

[0106] According to an embodiment of the present invention, operation S4 determines the docking time based on the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task. For example, it may include:

[0107] In response to the sum of the time required for the first motion trajectory and the time required for the second motion trajectory being less than or equal to the constraint time of the observation task, the docking time is the constraint time of the observation task minus the sum of the time required for the first motion trajectory and the time required for the second motion trajectory.

[0108] In this embodiment, calculate the time difference (i.e., the constraint time of the observation task) T between the end point and the start point gap :

[0109] T gap =t end -t start

[0110] When the total planned time of any axis of the telescope (the sum of the times required for the first motion trajectory and the second motion trajectory) T total =T ini +T final can all satisfy T total ≤T gap then a dwell trajectory is planned at the docking position, the position of the telescope remains unchanged, the speed is 0, and the dwell time is the constraint time of the observation task minus the sum of the times required for the first motion trajectory and the second motion trajectory, that is, T gap -T total .

[0111] The method for determining the trajectory of the telescope to switch the observation target provided by the embodiment of the present invention, within the dwell time, the position of the telescope remains unchanged, the speed is zero, and the servo system does not work, so the resource consumption is reduced and the energy is saved.

[0112] Based on the constraint time of the observation task and the times required for the planning of the two motion trajectories (the first motion trajectory and the second motion trajectory) above, after calculating the dwell time, the motion trajectory corresponding to the dwell time (that is, the third motion trajectory) can be obtained.

[0113] Finally, perform operation S5. According to these three motion trajectories, the total motion trajectory of the telescope to switch the observation target can be obtained. The complete switching trajectory includes: the motion trajectory from the starting point to the docking point, the motion trajectory during docking, and the motion trajectory from the docking point to the end point, ensuring that the telescope smoothly switches to the next observation target according to the specified time, specified position, and specified speed.

[0114] In addition, in this embodiment, when any motion trajectory cannot be calculated in operation S3, for example, in operations S2 and S3, the input parameters cannot be calculated to obtain a result, or the total planned time of one axis of the telescope does not satisfy T total ≤T gap then the time, pointing, and speed corresponding to the second point of the observation target arc segment are selected as the end point, and the operations of S2 to S5 are repeated.

[0115] The method for determining the trajectory of the telescope to switch the observation target provided by the embodiment of the present invention determines the dwell time under the constraint time of the observation task, ensuring that the telescope smoothly switches to the next observation target according to the specified time, specified position, and specified speed. This method is simple and easy to implement. Through precise trajectory planning and time control, it realizes the fast and smooth switching of the telescope between observation targets, improving the observation efficiency and image quality.

[0116] To make the objectives, technical solutions, and advantages of the present invention more clear and understandable, a specific embodiment will be provided below in combination with actual parameters.

[0117] Select a certain type of telescope, and the maximum control parameters of its two axes are v max = 8 ° / s, a max = 4 ° / s 2 , j max = 10 ° / s 3 , and the precision-preserving control parameters are v pre = 4 ° / s, a pre = 2 ° / s 2 , j pre = 5 ° / s 3 , assuming that the two-axis positions of the last point of the current target arc segment of the telescope are (0 ° , 30 ° ) and the speeds are (1 ° / s, 2 ° / s), and the position of the first point of the next target to be switched to is (50 ° , 5 ° ), and the speeds are (-1 ° / s, 3 ° / s), and the time requirement is to complete the switch within 10 s. The calculation results are as follows:

[0118] According to operation S2, the docking point of the first axis is calculated as s p = 50.45°, T final = 0.9 s, where the acceleration section time t 1 = 0.4 s. Secondly, according to operation S3, the times t of each stage are obtained 1 = 0.4 s, t 2 = 1.35 s, t 3 = 0.4 s, t 4 = 3.896875 s, t 5 = 0.4 s, t 6 = 1.6 s, t 7 = 0.4 s.

[0119] Similarly, according to operation S2, the docking point of the other axis is calculated as s p = 7.15°, T final = 1.9 s, where the acceleration section time t 1 = 0.4 s. Secondly, according to operation S3, the times t of each section are obtained 1 = 0.4 s, t 2 = 2.1 s, t3 = 0.4s, t 4 = 0.56875s, t 5 = 0.4s, t 6 = 1.6s, t 7 = 0.4s。

[0120] According to the calculation results, the switching time of axis 1 is 9.346875s, and the switching time of axis 2 is 7.76875s. Both are less than the constraint time of 10s. Therefore, according to operation S4, the docking times are planned for the two axes, which are 0.653125s and 2.23125s respectively. The final trajectories of the two axes are as Figure 2 and Figure 3 shown.

[0121] Figure 2 Schematically shows the position - velocity curve of telescope axis 1 determined by the method for determining the trajectory of a telescope for switching observation targets according to an embodiment of the present invention.

[0122] Figure 3 Schematically shows the position - velocity curve of telescope axis 2 determined by the method for determining the trajectory of a telescope for switching observation targets according to an embodiment of the present invention.

[0123] As Figure 2 and Figure 3 shown, the method for determining the trajectory of a telescope for switching observation targets provided by the embodiment of the present invention successfully completes the switching between two target points. Within the stipulated 10s, it reaches the first point of the next target arc segment, and both the position and velocity meet the tracking requirements. There is no inflection point in the position - velocity throughout the process, ensuring the smooth movement of the entire trajectory and facilitating the efficient use of observation data.

[0124] Figure 4 Schematically shows the structural block diagram of the device for determining the trajectory of a telescope for switching observation targets according to an embodiment of the present invention.

[0125] As Figure 4 shown, the device 400 for determining the trajectory of a telescope for switching observation targets according to an embodiment of the present invention includes: a first determination module 410, an execution module 420, a second determination module 430, and a third determination module 440.

[0126] Among them, the first determination module 410 is used to determine the time, pointing, and velocity corresponding to the last point of the current observation target arc segment as the starting point, and determine the time, pointing, and velocity corresponding to the first point of the next observation target arc segment as the ending point.

[0127] The execution module 420 is used to input the starting point and the ending point into the S - curve model and perform the following operations:

[0128] Determine a docking position between the starting point and the ending point, and calculate a first motion trajectory from the docking position to the ending point, where the docking position is used to smooth the motion trajectory of the telescope from the starting point to the ending point;

[0129] Calculate a second motion trajectory from the starting point to the docking position.

[0130] The second determination module 430 is configured to determine a docking time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task.

[0131] The third determination module 440 is configured to determine the total motion trajectory for the telescope to switch the observation target according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the docking time.

[0132] According to embodiments of the present invention, any multiple of the modules, sub-modules, units, and sub-units, or at least part of the functions of any multiple of them can be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present invention can be split into multiple modules for implementation. Any one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present invention can be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on substrate, a system on package, an application specific integrated circuit (ASIC), or can be implemented by any other reasonable way of integrating or packaging circuits in hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in an appropriate combination of any several of them. Alternatively, one or more of the modules, sub-modules, units, and sub-units according to embodiments of the present invention can be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding functions can be executed.

[0133] For example, any combination of the first determination module 410, the execution module 420, the second determination module 430, and the third determination module 440 may be combined and implemented in one module / unit / sub-unit, or any one of the modules / units / sub-units may be split into multiple modules / units / sub-units. Alternatively, at least part of the functions of one or more of these modules / units / sub-units may be combined with at least part of the functions of other modules / units / sub-units and implemented in one module / unit / sub-unit. According to an embodiment of the present invention, at least one of the first determination module 410, the execution module 420, the second determination module 430, and the third determination module 440 may be at least partially implemented as a hardware circuit, such as a field programmable gate array (FPGA), a programmable logic array (PLA), a system on chip, a system on substrate, a system on package, an application specific integrated circuit (ASIC), or any other reasonable way of integrating or packaging circuits, etc., implemented by hardware or firmware, or implemented in any one of the three implementation manners of software, hardware, and firmware, or in any suitable combination of several of them. Alternatively, at least one of the first determination module 410, the execution module 420, the second determination module 430, and the third determination module 440 may be at least partially implemented as a computer program module, and when the computer program module is run, the corresponding functions may be executed.

[0134] It should be noted that the part of the telescope target-switching trajectory determination device in the embodiments of the present invention corresponds to the part of the telescope target-switching trajectory determination method in the embodiments of the present invention. For the description of the telescope target-switching trajectory determination device part, please refer to the part of the telescope target-switching trajectory determination method for details, and will not be elaborated here.

[0135] Figure 5 Schematically shows a structural block diagram of an electronic device suitable for implementing the telescope target-switching trajectory determination method according to an embodiment of the present invention. Figure 5 The shown electronic device is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present invention.

[0136] Such as Figure 5As shown, an electronic device 500 according to an embodiment of the present invention includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage section 508 into a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (such as a CPU), an instruction set processor, and / or a related chipset, and / or a dedicated microprocessor (such as an application-specific integrated circuit (ASIC)), and so on. The processor 501 may also include on-board memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of a method flow according to an embodiment of the present invention.

[0137] In the storage section 508, various programs and data required for the operation of the electronic device 500 are stored. The processor 501, the ROM 502, and the storage section 508 are connected to each other via a bus 504. The processor 501 performs various operations of a method flow according to an embodiment of the present invention by executing a program in the ROM 502 and / or the storage section 508. It should be noted that the program may also be stored in one or more memories other than the ROM 502 and the storage section 508. The processor 501 may also perform various operations of a method flow according to an embodiment of the present invention by executing a program stored in one or more memories.

[0138] According to an embodiment of the present invention, the electronic device 500 may further include an input / output (I / O) interface 505, and the input / output (I / O) interface 505 is also connected to the bus 504. The electronic device 500 may further include one or more of the following components connected to the input / output (I / O) interface 505: an input section 506 including a keyboard, a mouse, etc.; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the input / output (I / O) interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed so that a computer program read from it can be installed into the storage section 508 as needed.

[0139] According to an embodiment of the present invention, the method flow according to the embodiment of the present invention can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable storage medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 509, and / or installed from the removable medium 511. When the computer program is executed by the processor 501, the above functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the above-described systems, devices, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0140] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiment; or may exist separately without being assembled into the device / apparatus / system. The above computer-readable storage medium carries one or more programs, and when the above one or more programs are executed, the method according to the embodiment of the present invention is implemented.

[0141] According to an embodiment of the present invention, the computer-readable storage medium may be a non-volatile computer-readable storage medium. For example, it may include but is not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In the present invention, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program can be used by or in combination with an instruction execution system, apparatus, or device.

[0142] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the above-described ROM 502 and / or the storage part 508 and / or one or more memories other than the ROM 502 and the storage part 508.

[0143] An embodiment of the present invention also includes a computer program product, which includes a computer program, and the computer program includes program code for executing the method provided by the embodiment of the present invention. When the computer program product runs on an electronic device, the program code is used to cause the electronic device to implement the method provided by the embodiment of the present invention.

[0144] When the computer program is executed by the processor 501, the above functions defined in the system / apparatus of the embodiment of the present invention are executed. According to an embodiment of the present invention, the above-described systems, apparatuses, modules, units, etc. can be implemented by computer program modules.

[0145] In one embodiment, the computer program may rely on tangible storage media such as optical storage devices and magnetic storage devices. In another embodiment, the computer program may also be transmitted and distributed in the form of a signal on a network medium, and downloaded and installed through the communication section 509, and / or installed from the removable medium 511. The program code included in the computer program may be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0146] According to embodiments of the present invention, the program code for executing the computer program provided by the embodiments of the present invention may be written in any combination of one or more programming languages. Specifically, these computing programs may be implemented using high-level procedures and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages include but are not limited to, such as Java, C++, python, the "C" language, or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code, and the above-mentioned module, program segment, or part of code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram or flowchart, and the combination of blocks in the block diagram or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions. Those skilled in the art can understand that the features described in the various embodiments of the present invention can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in the present invention. In particular, without departing from the spirit and teachings of the present invention, the features described in the various embodiments of the present invention can be combined and / or combined in various ways. All such combinations and / or combinations fall within the scope of the present invention.

[0148] The embodiments of the present invention have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the present invention. Although the embodiments have been described separately above, this does not mean that the measures in each embodiment cannot be used advantageously in combination. Without departing from the scope of the present invention, those skilled in the art can make various substitutions and modifications, and these substitutions and modifications should fall within the scope of the present invention.

Claims

1. A method for determining the trajectory of a telescope switching an observation target, characterized in that: The method comprises: Determine the time, direction and speed corresponding to the last point of the current observation target arc as the starting point, and determine the time, direction and speed corresponding to the first point of the next observation target arc as the end point; The starting point and the end point are input into the S-curve model, and the following operations are performed: Determine a stop position between the starting point and the end point, and calculate a first motion trajectory from the stop position to the end point, wherein the stop position is used to smooth the motion trajectory of the telescope from the starting point to the end point; Calculate a second motion trajectory from the starting point to the stopping position; Determine the stop time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task; The total motion trajectory of the telescope switching the observation target is determined according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the stop time.

2. The method according to claim 1, characterized in that: The whole process of the S-curve model includes: Acceleration phase, uniform acceleration phase, deceleration phase, uniform speed phase, acceleration and deceleration phase, uniform deceleration phase and deceleration and deceleration phase; The time of the acceleration phase is equal to the time of the deceleration phase, and the time of the acceleration / deceleration phase is equal to the time of the deceleration / deceleration phase.

3. The method according to claim 2, characterized in that Determining a stop position between the starting point and the end point, and calculating a first motion trajectory of the stop position to reach the end point includes: Extracting the motion trajectory of the acceleration stage in the S-shaped curve model, and setting the time corresponding to the uniform speed stage, the acceleration and deceleration stage, the uniform deceleration stage and the deceleration and deceleration stage to zero, wherein the acceleration stage in the S-shaped curve model includes the acceleration stage, the uniform acceleration stage and the deceleration stage; Acquire precision control parameters of the two axes of the telescope, wherein the precision control parameters include precision speed, precision acceleration and precision jerk; Based on the precision-keeping control parameter, determining the time required for the acceleration phase in the S-curve model; Determining the parking position according to the time required for the acceleration phase in the S-curve model; Based on the docking position, a first motion trajectory from the docking position to the end point is calculated.

4. The method according to claim 3, characterized in that The step of determining the time required for the acceleration phase in the S-curve model based on the precision-keeping control parameter includes: Based on the precision-keeping control parameter, determining whether the acceleration phase in the S-curve model reaches the maximum acceleration; In response to reaching the maximum acceleration, determining a required time for the acceleration phase in the S-curve model based on a time corresponding to the acceleration phase; In response to the maximum acceleration not being reached, the required time of the acceleration phase in the S-curve model is jointly determined based on the time of the acceleration phase, the speed reached in the acceleration phase, and the precision jerk.

5. The method according to claim 4, characterized in that The calculating, based on the docking position, a first motion trajectory of the docking position reaching the end point comprises: Based on the docking position, according to the time of the acceleration phase, the speed reached in the acceleration phase, and the precision-preserving jerk, the trajectory equation of the acceleration phase in the S-curve model is used to calculate the first motion trajectory of the docking position to reach the end point.

6. The method according to claim 2, characterized in that The calculating of the second motion trajectory from the starting point to the stopping position comprises: Obtaining maximum precision control parameters of two axes of the telescope; According to the maximum precision control parameter, the total time required for the acceleration phase, the uniform acceleration phase, the deceleration phase, the uniform speed phase, the acceleration / deceleration phase, the uniform deceleration phase and the deceleration / deceleration phase in the S-shaped curve model is determined; According to the total time, a second motion trajectory from the starting point to the stop position is calculated using the trajectory equation of the entire stage in the S-curve model.

7. The method according to claim 2, characterized in that The determining of the stop time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task includes: In response to the sum of the time required for the first motion trajectory and the time required for the second motion trajectory being less than or equal to the constraint time of the observation task, the docking time is the constraint time of the observation task minus the sum of the time required for the first motion trajectory and the time required for the second motion trajectory.

8. A device for determining the trajectory of a telescope switching an observation target, characterized in that: The device comprises: The first determination module is used to determine the time, direction and speed corresponding to the last point of the current observation target arc segment as the starting point, and determine the time, direction and speed corresponding to the first point of the next observation target arc segment as the end point; An execution module is used to input the starting point and the end point into the S-shaped curve model and perform the following operations: Determine a stop position between the starting point and the end point, and calculate a first motion trajectory from the stop position to the end point, wherein the stop position is used to smooth the motion trajectory of the telescope from the starting point to the end point; Calculate a second motion trajectory from the starting point to the stopping position; A second determination module is used to determine the stop time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the constraint time of the observation task; The third determination module is used to determine the total motion trajectory of the telescope switching the observation target according to the first motion trajectory, the second motion trajectory, and the motion trajectory corresponding to the stop time.

9. An electronic device, characterized in that: include: one or more processors; A storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor executes the method according to any one of claims 1 to 7.

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