17 results about "Celestial coordinate system" patented technology

The invention discloses a method and a system for positioning in a transformer substation based on Beidou and video deep fusion, and relates to the technical field of intelligent safety management and control of power system transformer substations. Firstly, three-dimensional point cloud data and a plurality of ground control point world coordinates of a target transformer substation are acquired, and the control point world coordinates are used as constraints; and registering the three-dimensional point cloud data to an east-north-sky coordinate system, and constructing a unified space reference model. And synchronously acquiring real-time video streams of the transformer substation and Beidou world positioning data of the target object, and positioning and resolving the video streams based on the reference model to obtain video world positioning data. And performing space-time alignment on the two types of positioning data, optimizing Beidou data through adaptive correction, combining video positioning data and adopting Kalman filtering to complete deep fusion, and finally converting fused data into standardized world positioning data and performing visual output. The method effectively solves the problems of poor positioning continuity and unstable precision in the complex environment of the transformer substation in the prior art, and gives consideration to the positioning reliability and practicability.

This application relates to the field of orbital dynamics design and simulation technology, and provides a method and apparatus for free transformation between spatial coordinate systems for solar system spacecraft design and simulation. This method transforms the position and velocity of different coordinate systems to the celestial coordinate system for origin transformation, and then rotates to the target coordinate system. This allows position and velocity to be arbitrarily transformed between coordinate systems included in the coordinate transformation model library. Furthermore, when expanding to a new coordinate system, only the transformation function between the new coordinate system and the co-centered celestial coordinate system is needed, without having to calculate the transformation functions between the new coordinate system and all other coordinate systems separately. This achieves effective organization of scattered coordinate system transformation relationships, facilitating the design and simulation of spacecraft missions and reducing the workload generated by transformations between multiple spatial coordinate systems.

The invention belongs to the technical field of inter-satellite laser link establishment pointing, and provides an inter-satellite laser link establishment pointing method and system suitable for a low-orbit mobile communication constellation in order to solve the problem that an existing azimuth angle and pitch angle pointing technology based on an east-north-sky coordinate system has defects. According to an inter-satellite laser communication ephemeris mutual transmission mechanism, a mathematical model of inter-satellite laser link establishment angle pointing requirements is established, and azimuth angle and pitch angle calculation formulas of laser link establishment of two adjacent satellites in a constellation orbital plane, satellites in the orbital plane and satellites in two adjacent orbital planes are deduced. On one hand, by introducing an orbital coordinate system, an inter-satellite azimuth angle and a pitch angle are defined; on the other hand, a mathematical model of an inter-satellite laser link establishment pointing angle is obtained based on a positioning orbit determination ephemeris data source of an on-satellite GPS. And the inter-satellite laser link establishment pointing technology can be realized through a two-dimensional rotating mechanism of the laser. The method can be widely applied to an inter-satellite laser link establishment pointing scene of a low-orbit mobile communication constellation.

The application provides a simplified attitude distribution cooperative control method for a directed communication leader-follower spacecraft formation, which comprises the following steps: firstly, describing the simplified attitude motion of the spacecraft in a unit celestial coordinate system, and converting the simplified attitude motion into a translation of the terminal point of a pointing vector on a unit celestial sphere; secondly, designing a distributed cooperative virtual control quantity under a directed communication topology according to the consistency theory, so as to ensure that the pointing vector of the follower spacecraft converges to a fixed pointing direction in the inertial space determined by the pointing vector of the leader spacecraft, and then calculating an ideal angular velocity vector of the follower spacecraft according to the virtual control quantity; thirdly, taking the difference between the angular velocity vector of the follower spacecraft and the ideal angular velocity vector as a sliding mode variable, and designing a sliding mode surface; and finally, designing a distributed cooperative control law for the follower spacecraft based on a super-twisting second-order sliding mode control method. The application can ensure that the pointing vector of the follower spacecraft in the directed communication formation converges to the pointing vector of the leader spacecraft fixed in the inertial space under a disturbance environment, and reduces the communication amount of the formation.

To measure a geometric relation between one side of an optical conjugate relation of a telescope optical system recognized as an observation visual field of a telescope and the other side of the conjugate relation recognized as a detector, a light source or the like in six degrees of freedom of translation and rotation, to specify an observation visual field direction in real time, and to contribute to improvement of definition of an image obtained by the telescope.SOLUTION: A light flux from an observation field of view or the like and a light flux emitted from a light source disposed around a detector are integrated on the same optical path using an optical element such as a cross prism, and both light fluxes are superimposed and photographed. By comparing the captured image with an arrangement pattern of an object (for example, a fixed star) whose coordinates are known, a coordinate system (for example, a celestial sphere coordinate system) to which an observation target belongs is directly associated with a detector coordinate system.SELECTED DRAWING: Figure 1

The invention provides a method, system and medium for satellite orbit extrapolation through GPU acceleration, and the method comprises the steps: generating a plurality of satellite initial orbits according to an STK simulation scene, and enabling the satellite initial orbits to be used for the initial orbit input of each thread of the GPU acceleration orbit extrapolation; constructing a mechanical model of the satellite and a motion differential equation of the satellite according to the motion characteristics of the satellite; loading the initial orbit data of each satellite, the mechanical model data and the time-space conversion parameter data to a GPU; unifying a space-time system of an initial orbit epoch and a mechanical model, converting coordinated world time into centroid dynamics, and converting the space system into a geocentric celestial coordinate system; constructing a global function by utilizing CUDA (Compute Unified Device Architecture), and transmitting a parallel computing task to a task calling unit of a GPU (Graphics Processing Unit) by utilizing the global function; and loading the orbit calculated by the task calling unit in the GPU into the CPU, and carrying out overlapping comparison on the orbit and the orbit of each satellite in the STK. The method can meet the processing requirements of a large number of satellites and mass orbit measurement data.

The application provides a microwave mobile station control method and system based on two-stage alignment, wherein the method comprises the following steps: positioning the microwave mobile station and the unmanned aerial vehicle by using a positioning system, and calculating an azimuth angle and a pitch angle according to the unmanned aerial vehicle coordinates and the microwave mobile station coordinates; driving the microwave mobile station and the unmanned aerial vehicle to move according to the unmanned aerial vehicle coordinates, and rotating the microwave antenna of the microwave mobile station according to the azimuth angle and the pitch angle to coarsely align the microwave mobile station and the microwave antenna of the unmanned aerial vehicle; and finely aligning the microwave mobile station and the microwave antenna of the unmanned aerial vehicle by using a conical scanning mode. The application coarsely aligns according to the azimuth angle and the pitch angle calculated according to the northeast celestial coordinate system, and then finely aligns by using a conical scanning mode, so that the hardware cost is much lower than that of a single-pulse measurement mode requiring multiple channels, the application can be applied to remote areas, and the application does not simply rely on the RSSI voltage of the station, so that the interference of environmental factors such as atmosphere and rainfall is reduced, and two-stage microwave antenna alignment is realized.

This invention provides an all-sky polarization sensing device and heading calculation method based on a curved surface biomimetic compound eye, relating to the fields of biomimetic navigation and optical sensing technology. The device includes: a curved substrate; several polarization imaging units fixedly arranged in a close-packed hexagonal array on the outer surface of the curved substrate; and a processing unit electrically connected to all polarization imaging units. The curved substrate includes first-level, second-level, and third-level sub-surfaces, each with a textured layer, forming a fractal moth-eye structure. The method employs an online self-calibration method based on field-of-view overlap constraints to correct the original image data acquired by each polarization imaging unit; maps all corrected image data to a virtual celestial coordinate system to generate an all-sky polarization angle distribution map; when some units are obstructed, the polarization information of the obstructed area is reconstructed using an interpolation algorithm, thereby calculating the absolute heading angle of the carrier. This invention achieves highly robust and high-precision all-weather autonomous navigation.

The present application relates to the technical field of intelligent driving, and discloses a starry sky projection method, device, equipment, medium and program product of a vehicle, real-time pose information of the vehicle is acquired, and real-time environment images around the vehicle are collected; a first observation direction based on the vehicle is determined based on the real-time pose information, and celestial body coordinate information of visible celestial bodies in a celestial coordinate system is determined according to the first observation direction; the superimposed positions of the visible celestial bodies in the real-time environment images are determined by using the celestial body coordinate information; the visual features of the visible celestial bodies are rendered to the superimposed positions, an augmented reality picture is obtained, and the augmented reality picture is displayed through a display component of the vehicle. The present application calculates the corresponding positions of the visible celestial bodies in the screen by fusing the real-time pose and the real scene images of the vehicle, and the visible celestial bodies are superimposed in real time to the real scene picture outside the vehicle, so that the user can obtain stable and high-precision starry sky augmented reality navigation on the vehicle display component without holding a device.

The purpose of this system is to measure the geometric relationship between one side of the optical conjugate relationship of the telescope optical system, recognized as the telescope's observation field, and the other side of the conjugate relationship, recognized as a detector or light source, in six degrees of freedom (translation and rotation), to identify the observation field direction in real time and contribute to improving the resolution of images obtained by telescopes. [Solution] A bundle of rays from the observation field of view, etc. and a bundle of rays emitted by a light source arranged around the detector are combined on the same optical path using an optical element such as a cross prism, and both bundles of rays are superimposed and photographed. By comparing the photographed image with the arrangement pattern of an object (e.g., a star) whose coordinates are known, the coordinate system to which the observation object belongs (e.g., a celestial coordinate system) and the detector coordinate system are directly matched.

The application relates to the technical field of ship navigation positioning, and particularly discloses a small ship combined positioning method and system under GNSS failure conditions, which is applied to a ship formation comprising at least one reference ship carrying a long-time INS and at least one small ship carrying a short-time INS, and comprises the following steps: collecting reference ship positioning reference data through the long-time INS; collecting the relative distance between the small ship and the reference ship, the relative azimuth under the ship body coordinate system, and obtaining the ship body attitude data through the short-time INS; calculating the relative position and posture values under the northeast celestial coordinate system; obtaining the predicted position and speed of the small ship through track prediction; obtaining the optimal relative coordinates of the small ship relative to the reference ship through Kalman filtering fusion model and iterative solution; and calculating the position coordinates of the small ship. The high-precision long-time INS of the nearby large ship is used to realize accurate positioning of the small ship.

The invention relates to the field of information retrieval, in particular to an astronomical data index construction method and device based on an R tree and a program product. The method for constructing the astronomical data index based on the R tree comprises the steps that an astronomical star catalogue is obtained, the astronomical star catalogue comprises a plurality of data lines, and fields of the astronomical star catalogue comprise spatial positions; dividing the celestial coordinate system into a plurality of pixel blocks with different spatial codes based on a predetermined sky area division protocol, mapping the data rows to the corresponding pixel blocks based on the spatial positions of the data rows to obtain the spatial codes corresponding to the data rows, and dividing the data rows with the same spatial codes in the astronomical star catalogue into one data block to obtain a plurality of data blocks; constructing an R tree index for each data block in the plurality of data blocks based on the spatial position of the data row to obtain a block index of the data block; and performing one-to-one correspondence on each spatial code and the block index to obtain an astronomical data index. According to the method, the astronomical data retrieval efficiency is improved.

The application provides a remote sensing load geographical positioning line-of-sight starting point determination method and system, comprising the following steps: step 1, determining the position of the load line-of-sight starting point in the satellite body system; step 2, determining the accurate time of the remote sensing load detection moment; step 3, obtaining the three-axis attitude of the satellite orbit coordinate system near the load detection moment; step 4, interpolating to obtain the satellite attitude at the load detection moment; step 5, obtaining the satellite position determined by the satellite GPS system near the load detection moment; step 6, calculating the satellite position in the ephemeris celestial coordinate system; step 7, calculating the accurate position and speed of the satellite center of mass in the ephemeris celestial coordinate system at the load detection moment; step 8, calculating the accurate position of the satellite center of mass in the earth-fixed coordinate system at the load detection moment; and step 9, calculating the accurate position of the line-of-sight starting point in the earth-fixed coordinate system at the load detection moment. The method has strong robustness and can be universally applied to the accurate determination of the line-of-sight starting point of the remote sensing load geographical positioning.

The application belongs to the technical field of unmanned aerial vehicles, and relates to an unmanned aerial vehicle target positioning method based on visual fusion and Kalman filtering, which comprises the following steps: establishing a northeast celestial coordinate system with the takeoff point of the unmanned aerial vehicle as the origin, the positive east as the x-axis, the positive north as the y-axis and the zenith as the z-axis; converting the position of the unmanned aerial vehicle from a WGS-84 coordinate system to the northeast celestial coordinate system; determining the field angle data of the monocular camera of the unmanned aerial vehicle and the position of the target center point in the image; combining the position of the target center point in the image, the height of the unmanned aerial vehicle from the ground and the field angle information of the monocular camera to calculate the target position of the target center point relative to the unmanned aerial vehicle; converting the target position into three-dimensional coordinates in the northeast celestial coordinate system; and completing the unmanned aerial vehicle target positioning after filtering the target position based on Kalman filtering. The method has the beneficial effect of realizing high-precision, high-stability and high-adaptability unmanned aerial vehicle target positioning.

The application provides a space target orbit determination precision analysis method and system based on optical observation, comprising the following steps: step S1: setting optical observation equipment parameters and observation platform parameters; step S2: calculating the position of the platform in the epoch geocentric celestial coordinate system; step S3: calculating the position of the target in the epoch geocentric celestial coordinate system; step S4: calculating the observed time period; step S5: calculating the angle measurement direction of the target relative to the platform in the epoch geocentric celestial coordinate system within the observable time; step S6: generating simulation data under multiple sets of different random noises; step S7: obtaining the target position estimation value, and comparing the target position estimation value with the actual target position to generate the average position deviation; step S8: changing the two-line data of the target orbit, repeating steps S3-S7, and statistically analyzing the results under different targets and different random noises. The application can avoid the inaccuracy of precision analysis caused by randomness, and intuitively reflects the performance that can be achieved by the orbit determination algorithm or scheme.

The application relates to the field of information retrieval, in particular to a method, device and program product for constructing an astronomical data index based on an R-tree. The method for constructing the astronomical data index based on the R-tree comprises the following steps: obtaining an astronomical star catalog, the astronomical star catalog comprising a plurality of data rows, and the fields of the astronomical star catalog comprising spatial positions; dividing a celestial coordinate system into a plurality of pixel blocks with different spatial encodings based on a predetermined sky region division protocol, mapping the data rows to corresponding pixel blocks based on the spatial positions of the data rows to obtain spatial encodings corresponding to the data rows, and dividing the data rows with the same spatial encodings in the astronomical star catalog into a data block to obtain a plurality of data blocks; constructing an R-tree index based on the spatial positions of the data rows for each data block in the plurality of data blocks to obtain a block index of the data block; and obtaining the astronomical data index after one-to-one correspondence between each spatial encoding and the block index. The application improves the retrieval efficiency of astronomical data.

The application relates to the technical field of electronic equipment, and discloses a handwriting pen and a constellation identification method, the handwriting pen comprising: a pen body and a pen tip; the pen body is internally integrated with a data acquisition module and a data processing module; the data acquisition module is electrically connected with the data processing module. The posture data, position data and time data of the handwriting pen are acquired through the data acquisition module, the handwriting pen is changed from a single input tool to a device with data acquisition and processing capabilities, the data processing module calculates the pointing vector of the handwriting pen based on the acquired posture data, position data and time data, converts the pointing vector into target coordinates in a celestial coordinate system, matches the target coordinates with a pre-stored star map database, determines the constellation information output, solves the problem that the existing handwriting pen does not have a constellation identification function, and compensates for the single-function defect of the existing handwriting pen.