Method and device for determining trajectory of telescope switching observation target

Abstract

The present invention provides a method and device for determining the trajectory of a telescope switching an observation target, which relates to the field of astronomical observation technology and aims to solve the technical problems in the prior art of low accuracy of observation data due to the phenomenon of sudden stop and start of servo, and low observation efficiency due to the inability to accurately estimate the arrival time. The method comprises: determining the time, direction and speed corresponding to the last point of the current observation target arc as the starting point, and determining the time, direction and speed corresponding to the first point of the next observation target arc as the end point; inputting the starting point and the end point into an S-shaped curve model to determine the docking position and calculating the first motion trajectory from the docking position to the end point; calculating the second motion trajectory from the starting point to the docking position; determining the docking time based on the time required for the first motion trajectory and the second motion trajectory and the constraint time of the observation task; and determining the total motion trajectory of the telescope switching the observation target based on the first and second motion trajectories and the motion trajectory corresponding to the docking time.

Description

Technical Field

[0001] The present invention relates to the field of astronomical observation technology, and more particularly to a method and device for determining a trajectory of a telescope switching an observation target. Background Art

[0002] As astronomical research continues to deepen, the requirements for telescope observation accuracy and efficiency are becoming increasingly stringent. Astronomical observations, especially those of fast-moving objects such as space debris, often require rapid and precise observation of multiple targets. However, existing telescope control systems have limitations when switching targets, which severely impact the efficiency and quality of observations.

[0003] First, traditional telescope control systems typically use a method of directly sending the target position for control, i.e., fixed-point motion, which causes the telescope to move to the specified position at maximum speed and acceleration. While this method can quickly reach the target position, the motion trajectory is not smooth enough, which can easily cause the servo to suddenly stop and start, impacting the servo and causing unstable telescope tracking. This is especially true at the beginning of the target arc. Although the telescope has reached the specified position, its speed has not yet adjusted to the required tracking speed. This results in poor image stability in the first few frames, affecting the accuracy and reliability of the observation data.

[0004] Secondly, the fixed-point motion method cannot accurately estimate the arrival time, which creates certain difficulties when formulating observation plans. Because it is impossible to reserve appropriate time for target switching, observation plans are often not precise enough, which in turn reduces 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 switching observation targets, aiming to solve the technical problems in the prior art of low accuracy of observation data due to the servo sudden stop and start phenomenon, and low observation efficiency due to the inability to accurately estimate the arrival time.

[0006] One aspect of the present invention provides a method for determining the trajectory of a telescope switching an observation target, comprising: determining the time, direction, and speed corresponding to the last point of the current observation target arc as a starting point, and determining the time, direction, and speed corresponding to the first point of the next observation target arc as an end point; inputting the starting point and the end point into an S-shaped curve model, and performing the following operations: determining a docking position between the starting point and the end point, and calculating a first motion trajectory from the docking position to the end point, wherein the docking position is used to smooth the motion trajectory of the telescope from the starting point to the end point; calculating a second motion trajectory from the starting point to the docking position; determining a 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; and determining the total motion trajectory of the telescope switching the observation target based on 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 entire process of the S-shaped curve model includes: an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration / deceleration stage; wherein, the time of the acceleration stage is equal to the time of the deceleration stage, and the time of the acceleration / deceleration stage is equal to the time of the deceleration / deceleration stage.

[0008] According to an embodiment of the present invention, determining a docking position between a starting point and an end point, and calculating a first motion trajectory of the docking position reaching the end point include: extracting the motion trajectory of the acceleration phase in an S-shaped curve model, and setting the times corresponding to the uniform speed phase, the acceleration and deceleration phase, the uniform deceleration phase, and the deceleration and deceleration phase to zero, wherein the acceleration phase in the S-shaped curve model includes the acceleration phase, the uniform acceleration phase, and the deceleration phase; obtaining precision control parameters of two axes of the telescope, wherein the precision control parameters include precision speed, precision acceleration, and precision jerk; determining the time required for the acceleration phase in the S-shaped curve model based on the precision control parameters; determining the docking position based on the time required for the acceleration phase in the S-shaped curve model; and calculating the first motion trajectory of the docking position reaching the end point based on the docking position.

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

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

[0011] According to an embodiment of the present invention, calculating the second motion trajectory from the starting point to the docking position includes: obtaining maximum precision control parameters for two axes of the telescope; determining, based on the maximum precision control parameters, the total time required for an acceleration phase, a uniform acceleration phase, a deceleration phase, a uniform speed phase, an acceleration / deceleration phase, a uniform deceleration phase, and a deceleration / deceleration phase in an S-shaped curve model; and calculating, based on the total time, the second motion trajectory from the starting point to the docking position using trajectory equations for all phases in the S-shaped curve model.

[0012] According to an embodiment of the present invention, determining 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 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 trajectory determination device for switching observation targets of a telescope, comprising: a first determination module, configured to determine the time, direction, and speed corresponding to the last point of the current observation target arc as a starting point, and to determine the time, direction, and speed corresponding to the first point of the next observation target arc as an end point; an execution module, configured to input the starting point and the end point into an S-shaped curve model and perform the following operations: determining a docking position between the starting point and the end point, and calculating a first motion trajectory from the docking position to the end point, wherein the docking position is used to smooth the motion trajectory of the telescope from the starting point to the end point; and calculating a second motion trajectory from the starting point to the docking position; a second determination module, configured to determine a 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; and a third determination module, configured to determine the total motion trajectory of the telescope switching observation targets based on 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, comprising: one or more processors; and a memory for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the above method.

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

[0016] Another aspect of the present invention provides a computer program product, which includes computer executable instructions. When the instructions are executed, they are used to implement the above method.

[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 apparatus for determining the trajectory of a telescope switching observation targets provided in an embodiment of the present invention utilizes an S-curve model and reasonable parameter control to determine the stop position and the stop time corresponding to the stop position between the start and end points of the target arc segment. The method and apparatus then generate a total motion trajectory based on the motion trajectory from the stop position to the end point (a first motion trajectory), the motion trajectory from the start point to the stop position (a second motion trajectory), and the motion trajectory corresponding to the stop time (a third motion trajectory). Since a stop trajectory is planned at the stop position, the impact of sudden servo stops and starts 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 a telescope switching observation targets provided by the embodiments of the present invention determine the docking time within 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. This method is simple and easy to implement. Through precise trajectory planning and time control, the telescope can achieve rapid and smooth switching between observation targets, 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 conservation.

[0021] (4) The method and device for determining the trajectory of a telescope switching an observation target provided by 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 phase using the S-shaped 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 flowchart schematically illustrates 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 a position velocity curve of the telescope axis 1 determined by the method for determining the trajectory of switching the observation target of the telescope according to an embodiment of the present invention;

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

[0026] Figure 4 A block diagram schematically illustrates a structure of a device for determining a trajectory of a telescope switching an observation target according to an embodiment of the present invention;

[0027] Figure 5 The structure block diagram of an electronic device suitable for implementing a trajectory determination method for switching an observation target by a telescope according to an embodiment of the present invention is schematically shown. DETAILED DESCRIPTION

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

[0029] The terms used herein are only for describing specific embodiments and are not intended to limit the present invention. The terms "comprise", "include", etc. used herein indicate the presence of the 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] When expressions such as "at least one of A, B, and C, etc." are used, they should generally be interpreted in accordance with 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 A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.).

[0032] In the embodiments of the present invention, the collection, updating, analysis, processing, use, transmission, provision, disclosure, and storage of all data involved (including, but not limited to, user personal information) comply with relevant laws and regulations, are used for legitimate purposes, and do not violate public order and good morals. In particular, necessary measures are taken to prevent unauthorized access to user personal information data and maintain the security of user personal information and network security.

[0033] As astronomical research continues to deepen, the requirements for telescope observation accuracy and efficiency are becoming increasingly stringent. Astronomical observations, especially those of fast-moving objects such as space debris, often require rapid and precise observation of multiple targets. However, existing telescope control systems have limitations when switching targets, which severely impact the efficiency and quality of observations.

[0034] First, traditional telescope control systems typically use a method of directly sending the target position for control, i.e., fixed-point motion, which causes the telescope to move to the specified position at maximum speed and acceleration. While this method can quickly reach the target position, the motion trajectory is not smooth enough, which can easily cause the servo to suddenly stop and start, impacting the servo and causing unstable telescope tracking. This is especially true at the beginning of the target arc. Although the telescope has reached the specified position, its speed has not yet adjusted to the required tracking speed. This results in poor image stability in the first few frames, affecting the accuracy and reliability of the observation data.

[0035] Secondly, the fixed-point motion method cannot accurately estimate the arrival time, which creates certain difficulties when formulating observation plans. Without the ability to reserve appropriate time for target switching, observation plans are often imprecise, resulting in reduced observation efficiency. Therefore, a technical solution is urgently needed that can achieve rapid target switching while maintaining smooth motion trajectory and accurately estimating arrival time, thereby improving the planning of observation missions.

[0036] Based on this, an embodiment of the present invention provides a method and device for determining the trajectory of a telescope switching an observation target, aiming to solve the technical problems in the prior art of low observation data accuracy due to the servo sudden stop and start phenomenon, and low observation efficiency due to the inability to accurately estimate the arrival time.

[0037] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0038] Figure 1 The flowchart of the method for determining the trajectory of a telescope switching an observation target according to an embodiment of the present invention is schematically shown.

[0039] like Figure 1 As shown, the method for determining the trajectory of the telescope switching the 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 current observation target arc are determined as the starting point, and the time, direction and speed corresponding to the first point of the next observation target arc are determined as the end point.

[0041] Input the start point and 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 a starting point and an 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 , a stop time is determined according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the time constraint of the observation task.

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

[0046] The method for determining a trajectory for switching observation targets for a telescope, provided by an embodiment of the present invention, utilizes an S-curve model and appropriate parameter control to determine a stopping position between the start and end points of a target arc segment, as well as the corresponding stopping time. The method then generates a final trajectory based on the motion trajectory from the stopping position to the end point (a first trajectory), the motion trajectory from the start point to the stopping position (a second trajectory), and the motion trajectory corresponding to the stopping time (a third trajectory). By planning a stopping trajectory at the stopping position, the impact of sudden servo stops and starts 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 current observation target arc segment is start , point to s 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 s end and speed v end As the end point.

[0048] Then, the S-shaped curve model is used to plan the stop point between the starting point and the end point, that is, the stop position, and the first motion trajectory from the stop position to the end point is calculated.

[0049] The S-curve model, also known as the S-curve algorithm, is a motion trajectory optimization method based on velocity profile planning. It achieves smooth motion from the starting point to the end point through smooth velocity changes. Its core is to adjust acceleration and deceleration using mathematical models (such as the seven-segment S-curve) to meet time and dynamic constraints, thereby generating high-quality motion trajectories.

[0050] According to an embodiment of the present invention, the entire process of the S-shaped curve model includes: an acceleration stage, a uniform acceleration stage, a deceleration stage, a uniform speed stage, an acceleration / deceleration stage, a uniform deceleration stage, and a deceleration / deceleration stage; wherein, the time of the acceleration stage is equal to the time of the deceleration stage, and the time of the acceleration / deceleration stage is equal to the time of the deceleration / deceleration stage.

[0051] According to an embodiment of the present invention, operation S2 of determining a stop position between a starting point and an end point and calculating a first motion trajectory from the stop position to the end point may include operations S21 to S25:

[0052] In operation S21, the motion trajectory of the acceleration phase in the S-shaped curve model is extracted, and the times corresponding to the uniform speed phase, the acceleration and deceleration phase, the uniform deceleration phase, and the deceleration and deceleration phase are set to zero, wherein the acceleration phase in the S-shaped curve model includes the acceleration phase, the uniform acceleration phase, and the deceleration phase.

[0053] In this embodiment, the basic input parameters of the S-curve model are position change (q0→q1), speed change (v0→v1), and limit parameters, such as speed limit v lim , acceleration limit a lim , jerk limit j lim The whole process is divided into seven stages: acceleration-uniform acceleration-deceleration-uniform speed-acceleration-deceleration-uniform deceleration-deceleration. The time is defined as t1, t2, t3, t4, t5, t6, and t7 respectively. The total time of the acceleration stage in the seven stages is T a = t1+ t2+ t3, the total time of the deceleration phase T d = t5+t6+t7, and set t1=t3, t5=t7.

[0054] In addition, in this embodiment, operation S2 only uses the motion trajectory of the acceleration phase (i.e., acceleration-uniform acceleration-deceleration phase) of the S-shaped curve model. Therefore, it is only necessary to extract the motion trajectory of the acceleration phase of the S-shaped curve model, which means t4=t5=t6=t7=0. The time required for the acceleration phase is T final = T a = t1+t2+t3.

[0055] In operation S22 , precision control parameters of the two axes of the telescope are acquired, wherein the precision control parameters include precision velocity, precision acceleration, and precision jerk.

[0056] In this embodiment, the input parameters of the S-curve model are the precision control parameters of the two axes of the telescope, including: precision speed v pre , essence-preserving acceleration a pre , precision 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 a telescope switching observation targets provided in an embodiment of the present invention utilizes precision control parameters for the two axes of the telescope when planning the motion trajectory of the acceleration-uniform acceleration-deceleration phase using an S-shaped curve model. This makes the motion (speed, acceleration, etc.) of the telescope more stable when it reaches the endpoint, thereby improving imaging quality.

[0058] In operation S23 , the time required for the acceleration phase in the S-curve model is determined based on the precision-maintaining control parameters.

[0059] In this embodiment, based on the precision control parameter, the time required for the acceleration phase T can be determined. final , and further determine the docking position s p , specifically:

[0060] According to an embodiment of the present invention, operation S23 of determining the time required for the acceleration phase in the S-shaped curve model based on the precision-maintaining control parameter may include operations S231 to S233:

[0061] In operation S231 , based on the precision-maintaining control parameter, it is determined whether the acceleration phase in the S-curve model reaches the maximum acceleration;

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

[0063] In operation S233 , in response to the maximum acceleration not being reached, the time required for the acceleration phase in the S-curve model is determined based on the time of the jerk phase, the speed reached during the acceleration phase, and the precision jerk.

[0064] In this embodiment, firstly, based on the precision control parameters, it is determined whether the acceleration phase in the S-curve model reaches the maximum acceleration. If the maximum acceleration is reached, that is, , where v end Represents the speed of the end point, then the time corresponding to the acceleration stage , at this time, the time required for the acceleration phase .

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

[0066] In operation S24 , a parking position is determined based on the time required for the acceleration phase in the S-curve model.

[0067] In this embodiment, the time required for the acceleration phase is determined as T final After that, the stop position s can be calculated p :

[0068]

[0069] Among them, s end Indicates the end position, s final Indicates the distance during the acceleration phase.

[0070] In operation S25 , a first motion trajectory of the vehicle reaching the end point is calculated based on the docking position.

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

[0072] Based on the docking position, the first motion trajectory from the docking position to the end point is calculated using the trajectory equation of the acceleration phase in the S-curve model according to the time of the acceleration phase, the speed achieved in the acceleration phase, and the precision jerk.

[0073] In this embodiment, the time t1 corresponding to the acceleration phase and the time required for the acceleration phase T final = T a , the speed v reached during the acceleration phase lim =v1, acceleration , and jerk , substitute the acceleration phase of the trajectory equation of the following S-shaped curve model to obtain the first motion trajectory.

[0074] (1) S-curve model acceleration stage

[0075]

[0076] (2) S-shaped curve model uniform speed stage

[0077]

[0078] (3) S-curve model deceleration stage

[0079]

[0080] Among them, S(t) represents the position-time function, S(t) represents the speed-time function, j maz represents the acceleration, j max Indicates the maximum jerk.

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

[0082] Get the maximum precision control parameters of the two axes of the telescope;

[0083] According to the maximum precision control parameters, the total time required for the acceleration phase, uniform acceleration phase, deceleration phase, uniform speed phase, acceleration / deceleration phase, uniform deceleration phase, and deceleration / deceleration phase in the S-shaped curve model is determined;

[0084] According to the total time, the trajectory equation of the entire stage in the S-curve model is used to calculate the second motion trajectory from the starting point to the docking position.

[0085] In this embodiment, in operation S3, the S-shaped curve model is used to plan the acceleration-uniform acceleration-deceleration-uniform speed-acceleration-deceleration-uniform deceleration-deceleration segment, and the control parameters adopt the maximum control parameters of the telescope, including the maximum speed v max , maximum acceleration a max and maximum jerk j max The specific operation process may include operations S31 to S36:

[0086] In operation S31, the same settings as in operation S21 are used to complete the calculation of the entire process of the S-shaped curve model planning. The control parameters adopt the maximum control parameters of the telescope, that is, the input parameters of the S-shaped curve model are: q0=s start ,q1=s p ,v0=v start ,v1=0,v lim =v max ,a lim =a max ,j lim =j max .

[0087] In operation S32, it is calculated whether the acceleration phase reaches the maximum acceleration. If , then ;on the contrary .

[0088] In operation S33, it is calculated whether the deceleration stage reaches the maximum acceleration. If , then ;on the contrary .

[0089] In operation S34, it is determined whether a uniform speed stage exists using the following formula:

[0090]

[0091] if , then there is a uniform speed stage, then .

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

[0093] In operation S351, introduce the variable β∈[0,1], let the acceleration a max =βa max , using iterative reduction a max Plan the motion trajectory in this way.

[0094] In operation S352, t1=t5=a is calculated. max / j max Calculate T according to the following formula a and T d :

[0095]

[0096] like and If yes, then exit the iteration and proceed to operation S36; otherwise, proceed to operation S353.

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

[0098] The parameters are , ,

[0099]

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

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

[0102]

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

[0104] In operation S355, the , reduce acceleration , loop operations S352 to S355 until exiting the loop.

[0105] In operation S36, according to the setting of the S-curve model, , , , get the time of each stage And the optimized speed, acceleration, and total time of this stage , and then bring into the trajectory equation of the S-shaped curve model in the whole stage in operation S25 to obtain the motion trajectory of this stage.

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

[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, the time difference between the end point and the starting point (ie, the constraint time of the observation task) T is calculated. gap :

[0109] T gap =t end -t start

[0110] When the total planning time of any axis of the telescope (the sum of the time required for the first motion trajectory and the second motion trajectory) T total =T ini +T final All can meet T total ≤T gap When , a stop trajectory is planned at the docking position, the telescope position remains unchanged, the speed is 0, and 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 second motion trajectory, that is, T gap -T total .

[0111] According to the method 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 conservation.

[0112] Based on the constraint time of the observation task and the time required to plan the two motion trajectories (the first motion trajectory and the second motion trajectory), after calculating the docking time, the motion trajectory corresponding to the docking time (i.e., the third motion trajectory) can be obtained.

[0113] Finally, operation S5 is performed. Based on these three motion trajectories, the total motion trajectory of the telescope switching observation targets can be obtained. The complete switching trajectory includes: the motion trajectory from the starting point to the stop point, the motion trajectory during the stop, and the motion trajectory from the stop point to the end point. This ensures that the telescope switches smoothly to the next observation target at the specified time, specified position, and specified speed.

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

[0115] The method for determining a telescope's trajectory for switching observation targets, provided by embodiments of the present invention, determines the docking time within the time constraints of the observation mission, ensuring that the telescope smoothly switches to the next observation target at the specified time, position, and speed. This simple and easy-to-implement method, through precise trajectory planning and time control, enables rapid and smooth switching between observation targets, improving observation efficiency and image quality.

[0116] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, a specific embodiment will be provided below in combination with actual parameters.

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

[0118] The stop point of the first axis is calculated as s according to operation S2. p =50.45°, T final =0.9s, where the acceleration time t1=0.4s. Then, according to operation S3, the time of each stage is obtained as t1=0.4s, t2=1.35s, t3=0.4s, t4=3.896875s, t5=0.4s, t6=1.6s, and t7=0.4s.

[0119] Similarly, the other axis stop point s is calculated according to operation S2 p =7.15°, T final =1.9s, where the acceleration time t1=0.4s. Then, according to operation S3, the time of each segment is obtained as t1=0.4s, t2=2.1s, t3=0.4s, t4=0.56875s, t5=0.4s, t6=1.6s, and t7=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 of which are less than the constraint time of 10s. Therefore, according to operation S4, the parking times for the two axes are planned to be 0.653125s and 2.23125s respectively. The final trajectories of the two axes are as follows: Figure 2 and Figure 3 shown.

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

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

[0123] like Figure 2 and Figure 3As shown, the trajectory determination method for switching observation targets of a telescope provided by an embodiment of the present invention effectively completes the switching between two target points. Within the agreed 10 seconds, the first point of the next target arc is reached, and both the position and velocity meet the tracking requirements. There are no position and velocity inflection points in the entire process, ensuring smooth movement of the entire trajectory and facilitating the efficient use of observation data.

[0124] Figure 4 The structure block diagram of the apparatus for determining the trajectory of a telescope switching an observation target according to an embodiment of the present invention is schematically shown.

[0125] like Figure 4 As shown, the trajectory determination device 400 for switching the observation target of a telescope 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] The first determination module 410 is used to determine the time, direction and speed corresponding to the last point of the current observation target arc as the starting point, and to determine the time, direction and speed corresponding to the first point of the next observation target arc as the end point.

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

[0128] Determine a stop position between a starting point and an 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;

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

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

[0131] The third determining module 440 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.

[0132] Any number of the modules, submodules, units, and subunits according to embodiments of the present invention, or at least part of the functionality of any number of these units, can be implemented in a single module. Any one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be split into multiple modules for implementation. Any one or more of the modules, submodules, units, and subunits 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 a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or can be implemented in hardware or firmware using any other reasonable method of circuit integration or packaging, or can be implemented in any one of the three implementation methods of software, hardware, and firmware, or any appropriate combination of any of these. Alternatively, one or more of the modules, submodules, units, and subunits according to embodiments of the present invention can be at least partially implemented as a computer program module that, when executed, can perform the corresponding functionality.

[0133] For example, any multiple 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 a single module / unit / sub-unit, or any one of these modules / units / sub-units may be split into multiple modules / units / sub-units. Alternatively, at least part of the functionality of one or more of these modules / units / sub-units may be combined with at least part of the functionality of other modules / units / sub-units and implemented in a single 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 a chip, a system on a substrate, a system on a package, an application-specific integrated circuit (ASIC), or may be implemented in hardware or firmware through any other reasonable means of circuit integration or packaging, or may be implemented in any one of software, hardware, and firmware, or any appropriate combination of any of these. 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, which may perform corresponding functions when executed.

[0134] It should be noted that the portion of the device for determining the trajectory of a telescope switching an observation target in the embodiment of the present invention corresponds to the portion of the method for determining the trajectory of a telescope switching an observation target in the embodiment of the present invention. For the description of the portion of the device for determining the trajectory of a telescope switching an observation target, please refer to the portion of the method for determining the trajectory of a telescope switching an observation target, which will not be repeated here.

[0135] Figure 5 The structure block diagram of an electronic device suitable for implementing a trajectory determination method for switching an observation target by a telescope according to an embodiment of the present invention is schematically shown. Figure 5 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present invention.

[0136] like Figure 5 As 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 unit 508 into a random access memory (RAM) 503. The processor 501 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or a related chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 501 may also include onboard memory for caching purposes. The processor 501 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present invention.

[0137] The storage unit 508 stores various programs and data required for the operation of the electronic device 500. The processor 501, ROM 502, and storage unit 508 are interconnected via a bus 504. The processor 501 executes the programs stored in the ROM 502 and / or storage unit 508 to perform various operations according to the method flow of the embodiment of the present invention. It should be noted that the programs may also be stored in one or more memories other than the ROM 502 and storage unit 508. The processor 501 may also execute the programs stored in one or more memories to perform various operations according to the method flow of the embodiment of the present invention.

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

[0139] According to an embodiment of the present invention, the method flow according to an 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 a 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-mentioned functions defined in the system of the embodiment of the present invention are executed. According to an embodiment of the present invention, the system, equipment, device, module, unit, etc. described above can be implemented by a computer program module.

[0140] The present invention also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments, or may exist independently and not incorporated into the device / apparatus / system. The computer-readable storage medium carries one or more programs, which, when executed, implement the method according to the embodiments of the present invention.

[0141] According to embodiments of the present invention, a computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples include, but are not limited to, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction 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 ROM 502 and / or the storage portion 508 described above and / or one or more memories other than the ROM 502 and the storage portion 508 .

[0143] An embodiment of the present invention also includes a computer program product, which includes a computer program, which contains 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 enable 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 / device of the embodiment of the present invention are performed. According to the embodiment of the present invention, the system, device, module, unit, etc. described above can be implemented by a computer program module.

[0145] In one embodiment, the computer program may be stored on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may be transmitted and distributed in the form of a signal on a network medium, downloaded and installed via the communication portion 509, and / or installed from a removable medium 511. The program code contained in the computer program may be transmitted using any appropriate network medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0146] According to an embodiment of the present invention, the program code for executing the computer program provided by the embodiment of the present invention can be written in any combination of one or more programming languages. Specifically, these computer programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C" or similar programming languages. The program code can 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 the case of a remote computing device, the remote computing device can 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 can be connected to an external computing device (for example, using an Internet service provider to connect via the Internet).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each box in the flowchart or block diagram may represent a module, program segment, or portion of code, which 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 boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, as well as the combination of boxes in the block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions. It will be understood by those skilled in the art that the features described in the various embodiments of the present invention may be combined and / or coupled in various ways, even if such combinations or couplings are not explicitly described in the present invention. In particular, the features described in the various embodiments of the present invention may be combined and / or coupled in various ways without departing from the spirit and teachings of the present invention. All such combinations and / or combinations fall within the scope of the present invention.

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

Claims

1. A 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: Determining a stop position between the starting point and the end point, and calculating 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 docking position; Determining a stop time according to the time required for the first motion trajectory, the time required for the second motion trajectory, and the time constraint 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, wherein the constraint time represents a time difference between the end point and the starting point; 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 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 from the stop position to the end point includes: Extracting the motion trajectory of the acceleration phase in the S-shaped curve model, and setting the times corresponding to the uniform speed phase, the acceleration / deceleration phase, the uniform deceleration phase, and the deceleration / deceleration phase to zero, wherein the acceleration phase in the S-shaped curve model includes the acceleration / deceleration phase, the uniform acceleration phase, and the deceleration / deceleration phase; Acquiring precision control parameters of the two axes of the telescope, wherein the precision control parameters include precision velocity, precision acceleration, and precision jerk; Determining the time required for the acceleration phase in the S-shaped curve model based on the precision maintenance control parameter; Determining the docking position according to the time required for the acceleration phase in the S-shaped 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 determining, based on the precision-maintaining control parameter, the time required for the acceleration phase in the S-shaped curve model includes: determining, based on the precision-maintaining control parameter, whether the acceleration phase in the S-shaped curve model reaches a maximum acceleration; In response to reaching the maximum acceleration, determining a required time for the acceleration phase in the S-shaped curve model based on a time corresponding to the jerk phase; In response to the maximum acceleration not being reached, the required time of the acceleration phase in the S-curve model is determined based on the time of the jerk phase, the speed reached during 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 includes: 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 from the docking position to 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 docking position includes: Obtaining maximum precision control parameters of the two axes of the telescope; Determining 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 according to the maximum precision control parameter; According to the total time, a second motion trajectory from the starting point to the docking position is calculated using the trajectory equation of the entire stage in the S-shaped curve model.

7. 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 as the starting point, and to determine the time, direction and speed corresponding to the first point of the next observation target arc 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: Determining a stop position between the starting point and the end point, and calculating 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 docking position; The second determination module is configured to determine a stop time based on the time required for the first motion trajectory, the time required for the second motion trajectory, and the time constraint of the observation task, including: 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, wherein the constraint time represents a time difference between the end point and the starting point; The third determining module is configured to determine a 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.

8. 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 are enabled to execute the method according to any one of claims 1 to 6.

9. 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 6.

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