Method and device for determining telescope rotation path

Abstract

The present invention provides a method and device for determining the rotation path of a telescope, which relates to the technical field of telescope control and aims to solve the technical problems in the prior art that the telescope is prone to damage due to the limit device and the observation efficiency is low. The method includes: obtaining the current pointing position of the telescope and the target trajectory to be observed; according to the current pointing position and the target trajectory, using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position; screening out the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the minimum arc segment loss of the telescope observing the target trajectory and the least time required for the telescope to reach the target position from the current pointing position; and driving the telescope to perform tracking observation on the target according to the optimal rotation path.

Description

Technical Field

[0001] The present invention relates to the technical field of telescope control, and more specifically, to a method and device for determining a telescope rotation path. Background Art

[0002] Currently, many telescope designs allow forward and reverse movements, and their rotation ranges exceed 360 degrees. This design enables the telescope to have multiple paths to choose from when switching and tracking targets. For example, 90 degrees and -270 degrees represent the same position in space. Therefore, if the telescope is at 0 degrees and needs to rotate to 90 degrees, it can go from 0 degrees forward to 90 degrees, or from 0 degrees backward to -270 degrees.

[0003] However, telescopes usually have internal wire winding problems, so limit devices are equipped to prevent the telescope from rotating indefinitely and protect the device from damage. The existence of the limit device means that among the multiple possible rotation paths, although some paths can quickly switch to the target trajectory, due to the limitation of the limit, it may not be able to observe the entire arc segment of the target completely, and thus be forced to stop when approaching the limit, and even may hit the limit, affecting the observation in the short term and possibly causing device damage such as wire breakage and runaway in the long term. On the contrary, although some paths can complete the trajectory completely, they may need to take a detour, which also increases the rotation time and causes loss of arc segment observation time. Therefore, it is particularly important to develop a method that can plan the optimal path, ensure efficient and safe target switching and tracking observation. Summary of the Invention

[0004] In view of this, the present invention provides a method and device for determining a telescope rotation path, aiming to solve the technical problems in the prior art that the telescope is easily damaged due to the limit device and the observation efficiency is low.

[0005] One aspect of the present invention provides a method for determining a telescope rotation path, including: obtaining the current pointing position of the telescope and the target trajectory to be observed; according to the current pointing position and the target trajectory, using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position; screening out the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the minimum loss of the arc segment of the telescope observing the target trajectory and the minimum time required for the telescope to reach the target position from the current pointing position; driving the telescope to track and observe the target according to the optimal rotation path.

[0006] According to an embodiment of the present invention, searching for all possible rotation paths that the telescope can reach the target position from the current pointing position based on the current pointing position and the target trajectory using a path search model includes: determining the number of ambiguous arc segments that can represent the target position according to the rotation range of the telescope; calculating each position of the target arc segment by adding or subtracting n times 360 degrees in sequence to form multiple potential ambiguous arc segments; calculating all possible rotation paths based on the multiple potential ambiguous arc segments.

[0007] According to an embodiment of the present invention, screening out the optimal rotation path from all possible rotation paths includes: evaluating the resource consumption of each possible rotation path based on the loss caused by the path switching duration and the loss of the observation duration caused by hitting the limit; screening out the optimal rotation path according to the evaluation result.

[0008] According to an embodiment of the present invention, evaluating the resource consumption of each potential ambiguous arc segment based on the loss caused by the path switching duration and the loss of the observation duration caused by hitting the limit includes: calculating the lost time of each potential ambiguous arc segment under the condition of not meeting the limit condition according to the limit position of the telescope; removing the arc segments that do not meet the limit condition to obtain the remaining valid arc segments that meet the limit condition; dynamically iteratively solving the lost time for switching from the current time position to the starting time position of the valid arc segment in sequence.

[0009] According to an embodiment of the present invention, dynamically iteratively solving the lost time for switching from the current time position to the starting time position of the valid arc segment in sequence includes: calculating the difference between the time corresponding to the i-th point of the target arc segment and the current time ; calculating the switching time from the current pointing position to the position of the i-th point of the target arc segment ; in response to ≤ , then the final lost time for switching from the current time position to the starting time position of the valid arc segment , t step represents the time step, and exit the iterative loop; otherwise, i = i + 1, continue to iterate the next point of the target arc segment, and repeat the above operations; update the path, and use the i-th point as the starting time and position of the valid observation of the path.

[0010] According to an embodiment of the present invention, screening out the optimal rotation path according to the evaluation result includes: in response to the total loss time being the smallest, selecting the corresponding rotation path as the optimal rotation path, where the total loss time is the sum of the lost time under the condition of not meeting the limit condition and the lost time for switching from the current time position to the starting time position of the valid arc segment.

[0011] Another aspect of the present invention provides a telescope rotation path determination device, comprising: an acquisition module for acquiring the current pointing position of the telescope and the target trajectory to be observed; a search module for searching, according to the current pointing position and the target trajectory, all possible rotation paths that the telescope can reach the target position from the current pointing position by using a path search model; a screening module for screening out the optimal rotation path from all possible rotation paths, wherein the optimal rotation path represents the minimum arc segment loss for the telescope to observe the target trajectory and the minimum time required for the telescope to reach the target position from the current pointing position; and a driving module for driving the telescope to perform tracking observation on the target according to the optimal rotation path.

[0012] Another aspect of the present invention provides an electronic device, comprising: one or more processors; 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 are caused to implement the method as described above.

[0013] Another aspect of the present invention provides a computer-readable storage medium storing computer-executable instructions that are used to implement the method as described above when executed.

[0014] Another aspect of the present invention provides a computer program product comprising computer-executable instructions that are used to implement the method as described above when executed.

[0015] Compared with the prior art, the telescope rotation path determination method and device provided by the present invention have at least the following beneficial effects:

[0016] The telescope rotation path determination method and device provided by the embodiments of the present invention, under the consideration of the limitations of the limit device, search out all possible rotation paths through an algorithm, evaluate each path, and screen out the path with the least arc segment loss and the fastest rotation speed, ensuring that the telescope can quickly and effectively switch to the target position and perform observation without hitting the limit, avoiding equipment damage caused by hitting the limit, extending the service life of the telescope and improving the operation safety. At the same time, since the optimized path reduces the unnecessary observation arc segment loss, the continuity of the observation data and the observation efficiency are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Through the following description of the embodiments of the present invention with reference to the drawings, the above and other objects, features and advantages of the present invention will become clearer. In the drawings:

[0018] Figure 1 Schematically shows a flowchart of the telescope rotation path determination method according to an embodiment of the present invention;

[0019] Figure 2 A structural block diagram of a telescope rotation path determination device according to an embodiment of the present invention is schematically shown;

[0020] Figure 3 A structural block diagram of an electronic device suitable for implementing a telescope rotation path determination method according to an embodiment of the present invention is schematically shown. Detailed implementation manners

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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 not be 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).

[0025] In the embodiments of the present invention, in terms of 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), they all comply with the provisions of relevant laws and regulations, are used for legal purposes, and do 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 maintain the security of user personal information and network security.

[0026] Currently, many telescope designs allow for forward and reverse movements with a rotational range exceeding 360 degrees. This design enables the telescope to have multiple paths to choose from when switching and tracking targets. For example, 90 degrees and -270 degrees represent the same position in space. So, if the telescope is at 0 degrees and needs to turn to 90 degrees, it can go from 0 degrees forward to 90 degrees or from 0 degrees backward to -270 degrees.

[0027] However, telescopes usually have internal wire winding problems, so limit devices are equipped to prevent the telescope from rotating indefinitely and protect the equipment from damage. The existence of limit devices means that among the multiple possible rotation paths, although some paths can quickly switch to the target trajectory, due to the limitation of the limits, it may not be able to observe the entire arc segment of the target completely, and thus be forced to stop when approaching the limit, and even may hit the limit, which affects the observation in the short term and may cause equipment damage such as wire breakage and runaway in the long term. On the contrary, although some paths can complete the trajectory, they may need to take a detour, which also increases the rotation time and causes loss of the arc segment observation time. Therefore, it is particularly important to develop a method that can plan the optimal path, ensure efficient and safe target switching and tracking observation.

[0028] Based on this, the embodiments of the present invention provide a method and device for determining the rotation path of a telescope, aiming to solve the technical problems in the prior art that the telescope is prone to damage due to the limit device and the observation efficiency is low.

[0029] 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.

[0030] Figure 1 Schematically shows a flowchart of the method for determining the rotation path of a telescope according to an embodiment of the present invention.

[0031] As Figure 1 shown, the method for determining the rotation path of a telescope in this embodiment may include operations S1 to S4, for example.

[0032] In operation S1, obtain the current pointing position of the telescope and the target trajectory to be observed.

[0033] In operation S2, according to the current pointing position and the target trajectory, use the path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position.

[0034] In operation S3, screen out the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the minimum arc segment loss of the telescope observing the target trajectory and the least time required for the telescope to reach the target position from the current pointing position.

[0035] In operation S4, the telescope is driven to track and observe the target according to the optimal rotation path.

[0036] The method for determining the rotation path of the telescope provided by the embodiment of the present invention, under the consideration of the limitation of the limiting device, searches for all possible rotation paths through an algorithm, evaluates each path, and screens out the path with the least arc segment loss and the fastest rotation speed, ensuring that the telescope can quickly and effectively switch to the target position and observe without hitting the limit, avoiding equipment damage caused by hitting the limit, extending the service life of the telescope and improving the operation safety. At the same time, since the optimized path reduces unnecessary observation arc segment loss, the continuity of the observation data and the observation efficiency are improved.

[0037] According to an embodiment of the present invention, in operation S2, according to the current pointing position and the target trajectory, the path search model is used to search for all possible rotation paths that the telescope can reach the target position from the current pointing position. For example, it may include operations S21 to S23:

[0038] In operation S21, according to the rotation range [α1, α2] of the telescope, the number of ambiguous arc segments n that can represent the target position is determined, n = int(abs(α2 - α1) / 360);

[0039] In operation S22, by adding or subtracting n times 360 degrees, each position of the target arc segment is calculated in turn to form (2n + 1) potential ambiguous arc segments, providing comprehensive candidate solutions for path search;

[0040] In operation S23, according to multiple potential ambiguous arc segments, all possible rotation paths are calculated.

[0041] According to an embodiment of the present invention, in operation S3, the optimal rotation path is screened out from all possible rotation paths. For example, it may include operations S31 to S32:

[0042] In operation S31, based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit, the resource consumption of each possible rotation path is evaluated;

[0043] In operation S32, according to the evaluation result, the optimal rotation path is screened out.

[0044] According to an embodiment of the present invention, in operation S31, based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit, the resource consumption of each potential ambiguous arc segment is evaluated. For example, it may include operations S311 to S313:

[0045] In operation S311, according to the telescope limit position, calculate the time t lost for each potential ambiguous arc segment when the limit condition is not met, waste and evaluate each potential ambiguous arc segment;

[0046] In operation S312, remove the arc segments that do not meet the limit condition to obtain m valid arc segments that meet the limit condition, where m ≤ (2n + 1);

[0047] In operation S313, sequentially and dynamically iterate to solve for the time t lost when switching from the current time position to the starting time position of the valid arc segment, switch and the specific operations are as follows:

[0048] (1) Calculate the difference between the time corresponding to the i-th point of the target arc segment and the current time ;

[0049] (2) Calculate the switching time from the current pointing position to the position of the i-th point of the target arc segment ;

[0050] (3) In response to ≤ , then the finally lost time due to switching from the current time position to the starting time position of the valid arc segment , t step represents the time step, and exit the iterative loop; otherwise, i = i + 1, continue to iterate the next point of the target arc segment, and repeat operations (1) to (3);

[0051] (4) Update the path, and use the i-th point as the starting time and position of the valid path observation.

[0052] According to an embodiment of the present invention, operation S32 screens out the optimal rotation path based on the evaluation result, for example, it can be:

[0053] In response to the total loss time being the smallest, select the corresponding rotation path as the optimal rotation path, where the total loss time is the sum of the time lost when the limit condition is not met and the time lost when switching from the current time position to the starting time position of the valid arc segment.

[0054] In this embodiment, the evaluation criterion is to select the optimal path based on the principle that the total loss time t = t waste + t switch is the smallest, taking into account both the switching time and the loss of observation duration caused by the limit.

[0055] Finally, in operation S4, drive the telescope to perform tracking observation on the target according to the selected optimal rotation path.

[0056] The telescope rotation path determination method provided by the embodiments of the present invention is simple and easy to implement. Through an optimized algorithm, it reduces unnecessary loss of observation arcs and rapid switching, improves the continuity and efficiency of observation data, and effectively avoids equipment damage caused by hitting the limit position.

[0057] To make the objectives, technical solutions, and advantages of the present invention clearer, a specific embodiment will be provided below in combination with actual parameters.

[0058] Taking a certain type of alt-azimuth telescope as an example, the rotation range of its azimuth axis is , and the rotation range of the elevation axis is , and the maximum rotation speed is .

[0059] As can be seen from operation S2, the elevation axis pointing has no ambiguity, so only the path conversion of the azimuth axis is considered. Assume that the current pointing of the telescope is at an azimuth of 100°, the current time is 0, and it is expected that the target can be observed after 10 s. Its position moves from 200° to 350° at a speed of 2° / s. Taking the tracking arc segment step size as 1 s, that is, the tracking duration is 75 s. From operation 2, there are 3 potential ambiguous arc segments in the tracking path of this target, that is, the paths are , , and can all achieve the observation of this target. However, due to the existence of the limit, according to operation S312, some arc segments are eliminated and the lost time is recorded. That is, the lost time of path 1 is 0 and the path remains unchanged , the lost time of path 2 is 40 s, and the path becomes , the lost time of path 3 is 75 s, and all are unobservable. This path will no longer be calculated later. Then, switching from the current pointing of 180° to the starting points of the 2 paths, the switching angles are and . For the convenience of calculation, assume that this embodiment does not consider the acceleration and deceleration time of the telescope and directly calculates according to the maximum rotation speed . According to operation S313, dynamically solve the observation time lost due to switching for each arc segment. Since the difference between the starting time and the current time is 10 s, after iterative solution and removing the time difference, the observation time lost due to switching is 18 s and 3.33 s respectively. After updating the path, the effective observation paths become and . Therefore, the total lost observation time for the 2 paths is 18 s and 43.33 s.

[0060] According to operation S3, comprehensively considering the switching time and the loss of observation duration caused by the limit, select the path with the least lost observation time as the observation path, that is, select path , which maximally guarantees the observation duration of the target and also avoids possible equipment failures caused by hitting the limit during observation.

[0061] Figure 2 Schematically shows a structural block diagram of a telescope rotation path determination device according to an embodiment of the present invention.

[0062] As Figure 2 shown, the telescope rotation path determination device 200 according to an embodiment of the present invention includes: an acquisition module 210, a search module 220, a screening module 230, and a driving module 240.

[0063] Among them, the acquisition module 210 is used to acquire the current pointing position of the telescope and the target trajectory to be observed.

[0064] The search module 220 is used to search for all possible rotation paths that the telescope can reach the target position from the current pointing position according to the current pointing position and the target trajectory by using a path search model.

[0065] The screening module 230 is used to screen out the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the minimum arc segment loss of the telescope observing the target trajectory and the least time required for the telescope to reach the target position from the current pointing position.

[0066] The driving module 240 is used to drive the telescope to perform tracking observation on the target according to the optimal rotation path.

[0067] According to an embodiment of the present invention, any multiple of the modules, sub-modules, units, and sub-units, or at least part of the functions of any of them can be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to an embodiment of the present invention can be split into multiple modules to be implemented. Any one or more of the modules, sub-modules, units, and sub-units according to an embodiment 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, or in any one of the three implementation ways of software, hardware, and firmware, or in any appropriate combination of several of them. Alternatively, one or more of the modules, sub-modules, units, and sub-units according to an embodiment 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.

[0068] For example, any combination of the acquisition module 210, the search module 220, the filtering module 230, and the driving module 240 can be integrated and implemented in one module / unit / sub-unit, or any one of the modules / units / sub-units can 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 can 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 acquisition module 210, the search module 220, the filtering module 230, and the driving module 240 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 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 an appropriate combination of any several of them. Alternatively, at least one of the acquisition module 210, the search module 220, the filtering module 230, and the driving module 240 can be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0069] It should be noted that the part of the telescope rotation path determination device in the embodiments of the present invention corresponds to the part of the telescope rotation path determination method in the embodiments of the present invention. For the description of the part of the telescope rotation path determination device, please refer to the part of the telescope rotation path determination method for details, and will not be elaborated here.

[0070] Figure 3 Schematically shows a structural block diagram of an electronic device suitable for implementing the telescope rotation path determination method according to an embodiment of the present invention. Figure 3 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.

[0071] As Figure 3 shown, the electronic device 300 according to an embodiment of the present invention includes a processor 301, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 302 or the program loaded from the storage part 308 into the random access memory (RAM) 303. The processor 301 can include, for example, a general 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)), etc. The processor 301 can also include on-board memory for caching purposes. The processor 301 can include a single processing unit or multiple processing units for performing different actions of the method flow according to the embodiments of the present invention.

[0072] In the storage section 308, various programs and data required for the operation of the electronic device 300 are stored. The processor 301, the ROM 302, and the storage section 308 are connected to each other via a bus 304. The processor 301 performs various operations of the method flow according to the embodiments of the present invention by executing the programs in the ROM 302 and / or the storage section 308. It should be noted that the programs may also be stored in one or more memories other than the ROM 302 and the storage section 308. The processor 301 may also perform various operations of the method flow according to the embodiments of the present invention by executing the programs stored in the one or more memories.

[0073] According to an embodiment of the present invention, the electronic device 300 may further include an input / output (I / O) interface 305, and the input / output (I / O) interface 305 is also connected to the bus 304. The electronic device 300 may further include one or more of the following components connected to the input / output (I / O) interface 305: an input section 306 including a keyboard, a mouse, etc.; an output section 307 including, for example, a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage section 308 including a hard disk, etc.; and a communication section 309 including a network interface card such as a LAN card, a modem, etc. The communication section 309 performs communication processing via a network such as the Internet. A drive 310 is also connected to the input / output (I / O) interface 305 as needed. A removable medium 311, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 310 as needed so that a computer program read from it can be installed into the storage section 308 as needed.

[0074] According to an embodiment of the present invention, the method flow according to the embodiments of the present invention may 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 codes for performing the method shown in the flowchart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section 309, and / or installed from the removable medium 311. When the computer program is executed by the processor 301, the above functions defined in the system according to the embodiments of the present invention are executed. According to an embodiment of the present invention, the above-described system, device, apparatus, module, unit, etc. may be implemented by computer program modules.

[0075] 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 alone 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 embodiments of the present invention is implemented.

[0076] 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 this program can be used by or combined with an instruction execution system, apparatus, or device.

[0077] For example, according to an embodiment of the present invention, the computer-readable storage medium may include the above-described ROM 302 and / or storage section 308 and / or one or more memories other than ROM 302 and storage section 308.

[0078] An embodiment of the present invention further includes a computer program product, which includes a computer program that contains program code for executing the method provided by the embodiments 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 embodiments of the present invention.

[0079] When the computer program is executed by the processor 301, the above functions defined in the system / apparatus of the embodiments of the present invention are executed. According to an embodiment of the present invention, the above-described systems, apparatuses, modules, units, etc. may be implemented by computer program modules.

[0080] 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 be downloaded and installed through the communication section 309, and / or be installed from the removable medium 311. The program code included in the computer program can be transmitted by any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0081] In accordance with embodiments of the present invention, program code for executing the computer programs provided by the embodiments of the present invention can be written in any combination of one or more programming languages. Specifically, these computing programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. The programming languages include, but are not limited to, programming languages such as Java, C++, Python, the "C" language, or similar programming languages. The program code can be executed entirely on the user's computing device, partially on the user's 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 can be connected to the user's computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., by connecting through the Internet using an Internet service provider).

[0082] 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 portion of code that contains one or more executable instructions for implementing a 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 that 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 combinations of blocks in the block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified functions or operations, or can be implemented using 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.

[0083] The above describes the 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 the embodiments are described separately above, this does not mean that the measures in the various embodiments 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 all such substitutions and modifications should fall within the scope of the present invention.

Claims

1. A method for determining the rotation path of a telescope, characterized in that, The method includes: Obtaining the current pointing position of the telescope and the target trajectory to be observed; According to the current pointing position and the target trajectory, using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position; Among them, the step of using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position according to the current pointing position and the target trajectory includes: Determining the number of ambiguous arcs that can represent the target position according to the rotation range of the telescope; By adding or subtracting n times 360 degrees, calculating each position of the target arc in turn to form multiple potential ambiguous arcs; Calculating all possible rotation paths based on the multiple potential ambiguous arcs; Selecting the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the minimum arc loss of the telescope observing the target trajectory and the minimum time required for the telescope to reach the target position from the current pointing position; Among them, the step of selecting the optimal rotation path from all possible rotation paths includes: Evaluating the resource consumption of each possible rotation path based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit; Selecting the optimal rotation path according to the evaluation result; Among them, the step of evaluating the resource consumption of each possible rotation path based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit includes: Calculating the lost time of each potential ambiguous arc when not meeting the limit condition according to the limit position of the telescope; Removing the arcs that do not meet the limit condition to obtain the remaining valid arcs that meet the limit condition; Dynamically and iteratively solving the lost time for switching from the current time position to the starting time position of the valid arc in turn; Among them, the step of selecting the optimal rotation path according to the evaluation result includes: Responding to the minimum total loss time, selecting the corresponding rotation path as the optimal rotation path, where the total loss time is equal to the sum of the lost time when not meeting the limit condition and the lost time for switching from the current time position to the starting time position of the valid arc; Driving the telescope to perform tracking observation on the target according to the optimal rotation path.

2. The method according to claim 1, characterized in that, The step of dynamically and iteratively solving the lost time for switching from the current time position to the starting time position of the valid arc in turn includes: Calculate the difference between the time corresponding to the i-th point of the target arc segment and the current time ; Calculate the switching time from the current pointing position to the position of the i-th point of the target arc segment ; In response to ≤ , the time finally lost due to switching from the current time position to the starting time position of the effective arc segment , t step represents the time step, and exit the iterative loop; otherwise, i = i + 1, continue to iterate the next point of the target arc segment, and repeat the above operations; Updating the path and taking the i-th point as the starting time and position of the effective observation of the path.

3. A device for determining the rotation path of a telescope, characterized in that The device includes: An acquisition module for obtaining the current pointing position of the telescope and the target trajectory to be observed; A search module for using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position according to the current pointing position and the target trajectory; Among them, the step of using a path search model to search for all possible rotation paths that the telescope can reach the target position from the current pointing position according to the current pointing position and the target trajectory includes: Determine the number of ambiguous arc segments that can represent the target position according to the rotation range of the telescope; Calculate each position of the target arc segment in turn by adding or subtracting n times 360 degrees to form multiple potential ambiguous arc segments; Calculate all possible rotation paths based on the multiple potential ambiguous arc segments; A screening module for screening out the optimal rotation path from all possible rotation paths, where the optimal rotation path represents the least resource consumption required for the telescope to reach the target position from the current pointing position; Among them, screening out the optimal rotation path from all possible rotation paths includes: Evaluating the resource consumption of each possible rotation path based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit; According to the evaluation results, screen out the optimal rotation path; Among them, evaluating the resource consumption of each possible rotation path based on the loss caused by the path switching duration and the observation duration loss caused by hitting the limit includes: Calculate the lost time of each potential ambiguous arc segment when the limit condition is not met according to the telescope limit position; Remove the arc segments that do not meet the limit conditions to obtain the remaining valid arc segments that meet the limit conditions; Dynamically iterate and solve the lost time for switching from the current time position to the starting time position of the valid arc segment in turn; Among them, according to the evaluation results, screening out the optimal rotation path includes: In response to the total loss time being the smallest, select the corresponding rotation path as the optimal rotation path, where the total loss time is equal to the sum of the time lost when the limit condition is not met and the time lost for switching from the current time position to the starting time position of the valid arc segment; A driving module for driving the telescope to perform tracking observation on the target according to the optimal rotation path.

4. An electronic device, characterized in that, Includes: One or more processors; A storage device for storing one or more programs; Among them, when the one or more programs are executed by the one or more processors, the one or more processors are caused to execute the method according to any one of claims 1 to 2.

5. A computer-readable storage medium having executable instructions stored thereon, characterized in that, When the instruction is executed by the processor, the processor is caused to execute the method according to any one of claims 1 to 2.

6. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instruction is executed by the processor, the method according to any one of claims 1 to 2 is implemented.

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