CN101004349A - Method for recognising not gauged star map - Google Patents
Method for recognising not gauged star map Download PDFInfo
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Abstract
A non-labeled identifying method of star atlas includes picking up character rector of navigation star, setting up navigation star mode library according to grille storage, picking up character vector of observed star when star atlas identification is carried out, carrying out match in navigation star mode library according to picked up character vector to confirm star to be selected, grouping stars to be selected and confirming visual filed direction according to attribution of star to be selected.
Description
Technical field
The present invention relates to the importance in star map recognition technology, relate in particular to a kind of method for recognising star map of non-demarcation.
Background technology
Star sensor is the attitude measurement parts that extensively adopt in the aerospacecraft, realizes the identification to the observation star chart, is the important step of star sensor work.So-called importance in star map recognition is exactly that the star chart of star sensor observation and the navigational star chart in the existing navigational star table are mated, to determine the corresponding relation of observation star and nautical star.Existing star Pattern Recognition Algorithm must rely on the imaging model of star sensor and the parameter of imaging system, for example: present popular recognizer based on angular distance, be to utilize the principal point position of the lens of star sensor focal length and the plane of delineation to calculate angular distance, this just requires focal length value and two parameters of principal point positional value must be accurately.But, in the star sensor operational process, the focal length of camera lens can change, and the image that is become also can zoom in or out, if these two parameter calibrations are inaccurate, or star sensor changes in flight course, so, the angular distance value of Ji Suaning will occur than mistake on this basis, and then must enlarge the hunting zone of navigational route database when identification, so will increase computation burden and recognition time, recognition accuracy also can reduce simultaneously.
Equally, at present popular grid algorithm also will be used calibrating parameters such as focal length when dividing grid, otherwise deviation can appear in the grid of dividing, and proper vector changes thereupon, thereby can't correctly discern.If star sensor runs into emergency case awing, focal length changes, and then the grid algorithm can be subjected to very big influence.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of method for recognising star map of non-demarcation, can discern accurately and rapidly on the basis that does not rely on calibrating parameters.
For achieving the above object, the technical scheme of the non-demarcation method for recognising star map of the present invention is achieved in that
A kind of method for recognising star map of non-demarcation mainly comprises:
A, extraction nautical star proper vector are set up the nautical star library according to the grid storage;
B, when carrying out importance in star map recognition, extract observation star proper vector, in the nautical star library, mate, determine star to be selected according to the proper vector of being extracted;
C, with all stars to be selected groupings, determine that according to the ownership of star to be selected the visual field points to.
Wherein, described proper vector is radially feature and hoop feature.
Extracting proper vector described in the steps A further comprises:
A11, in star chart, determine primary, and will be apart from the nearest adjacent star of primary as the location star;
A12, with the ratio of each adjacent star to the distance of primary and location star to the primary distance respectively as the radially feature of each adjacent star;
A13, be the benchmark image rotating with the location star, order location championship is in the horizontal right side of primary, calculates link to each other with primary angle on direction and the horizontal direction of each adjacent star, with the angle that the calculates hoop feature as each adjacent star; Wherein, described primary is a nautical star when structure nautical star library, is the observation star during identification.
The nautical star library of setting up described in the steps A according to the grid storage further comprises:
A21, star chart is divided into M * N grid, and for each grid is provided with a storage sequence, each storage sequence is provided with a counter; Wherein, M, N are positive integer;
A22, to each grid, if certain nautical star has during as primary adjacent star to exist, the sequence number of nautical star that then should neighbour's star correspondence is recorded in the sequence of described grid correspondence, the counter with described sequence adds 1 simultaneously.
Determine described in the step B that star to be selected further comprises: for each nautical star distributes a counter, to each primary, define the grid that adjacent star exists, read the sequence of grid correspondence described in the navigation mode storehouse, and the counter of all nautical star correspondences in the described row added 1, scan the whole adjacent star of current primary, afterwards, search the maximal value in all counters, with the nautical star of maximal value correspondence as star to be selected.
Step C is described further to be comprised star grouping to be selected: celestial sphere is divided into 6 * n * n sub-piece, for each sub-piece distributes a counter; Determine the affiliated sub-piece of all stars to be selected, and corresponding counter is added 1, the value of each counter is the star number amount to be selected in the corresponding sub block zone.Described ownership according to star to be selected determines that the visual field is oriented to: the maximum sub-piece of star to be selected is carried out ken constraint.
This method further comprises: checking drops on the star to be selected in the adjacent sub-blocks.
Non-demarcation method for recognising star map provided by the present invention has following advantage and characteristics:
1) the present invention introduces radially feature of scaled distance conduct in identifying, angle is as the hoop feature, these two kinds of features do not rely on any optical system parameters such as focal length, principal point position, and are only relevant with the asterism position on the plane of delineation, of no use to any imaging system parameter.When imaging parameters changes, still keep higher importance in star map recognition rate.
2) the present invention is when making up the nautical star library, according to the situation canned data of dividing grid, compare according to whole nautical star quantity and set up database, need canned data to want much less, reduced storage space greatly, thus reduced to hardware resource take and to the requirement of hardware configuration.
3) because the calculated amount of scaled distance less than the calculated amount of angular distance, and has adopted the method for quick grouping, therefore can accelerate the speed and the efficient of importance in star map recognition.
4) under the inaccurate situation of imaging system parameter, the recognition result of this method can be demarcated at rail for aircraft foundation is provided.
Description of drawings
Fig. 1 is the realization flow figure of method for recognising star map of the present invention;
Fig. 2 is a star chart schema construction procedure chart;
Fig. 3 is the figure as a result behind observation star chart and the rasterizing thereof;
Fig. 4 is the perspective view on the navigational star chart of observation star chart after dividing sub-piece.
Embodiment
The present invention is further illustrated below in conjunction with accompanying drawing.
Main thought of the present invention is: extract the proper vector of nautical star, set up a nautical star library according to the raster data storage; The observation star chart is extracted proper vector according to the pattern of nautical star, initial matching result according to observation star chart and nautical star library determines star to be selected then, even division methods according to celestial sphere is divided into groups star to be selected, determines the visual field sensing according to the sub-piece ownership of star to be selected.
Wherein, the proper vector of described extraction star chart mainly is to have used radially feature and hoop feature.
Fig. 1 is the realization flow figure of method for recognising star map of the present invention, wherein, makes up the nautical star library and specifically comprises following two steps:
Steps A: the proper vector that makes up nautical star.
With Fig. 2 is the example explanation, and among Fig. 2, coordinate system is set up in last figure expression, determines the position of nautical star, and figure below is represented the star chart rasterizing behind the coordinatograph.Referring to shown in Figure 2, at first, in navigational star chart, select any nautical star s to make primary, search s star adjacent nautical star in radius is the R neighborhood, be the adjacent star of primary s as the star 1 in last figure left side among Fig. 2, star 2, star 3 etc.Then, seek apart from the nearest adjacent star of primary s as the location star.The location is more close in the space, and two stars that rotate mutually, claims that generally two such stars are double star.If so that wherein a star is as the location star, then Guan Ce result will produce very big error.Generally, for fear of the influence of double star, improve the precision of positioning of rotating, can not select the too near nautical star that may become double star to make the location star, understand nautical star outside the chosen distance primary certain distance usually as the location star.Here, the ultimate range of certain distance for having greater than all double stars.After determining the location star, star chart is reorientated and rasterizing, shown in figure below right side among Fig. 2, determine the number of grid according to the information such as quantity of star in accuracy of observation and the view, represent grid matrix with M and N, general M, N get positive integer.Star chart after reorientating is divided into M * N grid, makes up the proper vector of primary s, promptly introduce radially feature of scaled distance conduct.Be exactly specifically: during the construction feature vector, the adjacent star 3 to primary s air line distance R in the plane that first computed range primary s is nearest
b, calculate the distance R of other adjacent star respectively to primary
i, with R
iWith R
bRatio R
RiAs the distance of this neighbour's star, be called scaled distance to primary.Because scaled distance is a relative value, therefore in image generation convergent-divergent, this value can't change, and is a convergent-divergent invariant.On angle direction, with the nearest adjacent star 3 of distance primary s as benchmark, with the rotation of the image behind the coordinatograph, make arest neighbors star 3 in the level of primary to right.To be rotated counterclockwise direction be positive dirction to regulation simultaneously, calculates the angle on each adjacent star and the vector sum horizontal direction that primary s links to each other respectively, and this angle is as the hoop coordinate of this neighbour's star.
Make up after the proper vector of primary s, every nautical star is all handled as primary, make up the proper vector of every nautical star.
Step B: set up the nautical star library.
The various information that comprise the bright star that astronomical sight arrives in the navigational star table, for example the right ascension of fixed star, declination, magnitude, spectral type, voluntarily, the radial velocity etc.Because the working method of star sensor only needs right ascension (α), declination (δ) and the magnitude (magnitude) of fixed star at present, so only extract the need of work that these information just can satisfy star sensor.In addition, the star sensor observation sidereal time, responsive fixed star limited in one's ability can only be responsive to the above fixed star of certain magnitude.So the information of the fixed star that a navigational star table stored energy observes on the star sensor, these fixed stars are subclass of all stars in the celestial sphere.
In order to discern fixed star, need to extract the feature of this star of unique identification.Generally speaking, the fixed star feature in the nautical star library can precompute, and is saved in the storer of star sensor, and direct reading of data gets final product during identification.This working method can reduce star sensor calculated amount in orbit, improves the attitude output frequency.When making up the nautical star library, need the fixed star in the traversal navigational star table, with orderly the storing of the feature of all stars, easy-to-look-up.Every width of cloth star chart has M * N grid after dividing, and for the space that reduces to store, can a storage sequence be set for each grid, total like this M * N sequence.Simultaneously, for each sequence is provided with a counter, be used for writing down this sequence has the primary of adjacent star in this grid number, the initial value of counter is 0.Each grid is represented a position of nautical star peripheral region, if certain nautical star has adjacent star to exist on certain position, so, just the sequence number with this nautical star records in the sequence of this grid correspondence, and the counter of this sequence adds 1 simultaneously.Table one is the grid sequence table, and wherein, Number represents to have in this grid the number of the nautical star of adjacent star, and Star Index represents that there is the numbering of the nautical star of adjacent star in this zone.
| Number | Star Index |
| 24 | 472 1077 1117 1214... |
| 27 | 62 474 1154 1302... |
| 21 | 660 1265 1296 1340... |
Table one
The method for recognising star map that the present invention proposes, mainly be divided into two steps and finish, its basic thought is: find out and observe the star to be selected of star coupling earlier with initial matching, the hunting zone is limited to a less magnitude, utilize the ken (FOV) constraint screening then, up to obtaining final correct coupling.As shown in Figure 1, step 11～12 are initial matching, and step 13～15 are packet authentication.
The step of concrete initial matching comprises:
Step 11: make up the proper vector when every star is primary in the observation star chart.
As shown in Figure 3, choose primary in the observation star chart, when choosing primary, pay the utmost attention near the observation star of picture centre, because the adjacent star great majority around its can both appear in the image, the proper vector of structure is more complete.Be positioned at the star of image border, the situation of proper vector excalation then can occur.Then, according to the method identical, make up the proper vector of primary in the observation star chart with steps A.Because scaled distance is to be benchmark with primary with the distance of locating between the star, so, in Fig. 3, represent to locate the distance of star to primary with unit 1.It is the proper vector of primary with every star that this step will make up in the observation star chart, uses in order to initial matching.
Step 12: find out the nautical star that mates with every observation star, as star to be selected.
During initial matching, because without any prior imformation, the screening scope is a nautical star all in the navigational star table.For every nautical star distributes a counter, the counter initial value is 0.If certain primary has adjacent star to exist in i grid, read the capable data of i in the navigation mode storehouse so, with i capable in the pairing counter of all fixed stars add 1.The rest may be inferred, and every adjacent star of this primary is done screening, counting operation, scanned the whole adjacent star of this primary after, search the maximal value in the individual count device, the nautical star of maximal value correspondence is the star to be selected with primary coupling.
Because there is error in the asterism position in imaging process, it is incomplete perhaps to be positioned at the information that the star at edge obtains, so that counter reaches peaked nautical star is often not unique, that is to say, may have many nautical stars and mate with an observation star.In this case, the task of initial matching is dwindled range of search exactly significantly, and step was finished below coupling needed exactly.
The step of packet authentication comprises:
Step 13: star to be selected is divided into groups by affiliated sub-piece.
After obtaining preliminary matching result, calculate all stars to be selected angular distance between any two usually, promptly the angle of two stars to judge its position relation each other, obtains unique result at last.If when the angular distance of certain star to be selected and other most of stars to be selected all exceeds the FOV size, think that this star to be selected is unnecessary, can from star to be selected, delete.But this method calculated amount is very big, has prolonged identifying.Suppose to have in the star chart n star, the star to be selected of every star has m
i, so, need calculating between any two, the number of times of angular distance is
Among the present invention, can adopt the even sub-piece division methods of patent applied for.Specific practice is: celestial sphere is divided into 6 * n * n sub-piece, and wherein, n is a positive integer, and value is relevant with the field of view (FOV) of star sensor; And for each sub-piece distributes a counter, the original state of counter is zero; Determine the affiliated sub-piece of all stars to be selected, and corresponding counter is added 1; After all stars to be selected are all divided into groups, the to be selected star number amount of the value of individual count device representative in the corresponding sub block zone.The star to be selected of every nautical star can be regarded the random point that equiprobability distributes as, and all stars to be selected are randomly dispersed on the celestial sphere, and the most concentrated part of point is exactly the zone of view field observation, and the sub-piece at maximal value place is promptly represented the zone that random point is concentrated in the individual count device.
Step 14: the sub-pieces maximum to star to be selected retrain with FOV.
To the star to be selected after the grouping, use the FOV constraint again, calculated amount only is
Suppose n=10, m
1=m
2=...=m
n=5, so, the calculated amount of dividing into groups among the present invention is a classic method
Step 15: checking drops on the star to be selected in the adjacent sub-blocks.
The observation star chart may be crossed over a few height pieces, and as shown in Figure 4,41 are the navigational star chart after the even division of intercepting, and 42 is observation star chart to be identified, and observation star chart and a certain sub-piece of navigational star chart may not can overlap fully.In order to guarantee to discern accuracy, also need to verify the star to be selected that drops in the adjacent sub-blocks on every side.Because the zone and the field of view size at each sub-piece place are approaching, therefore except that adjacent sub-blocks, no longer consider the distribution situation of star to be selected in other sub-piece.
In concrete l-G simulation test, adopt database from Shi Misong astrophysics measuring platform (SAO) star catalogue, select above fixed star such as 6 grades to constitute navigational route database, have 5103.The visual field size is 10.8 ° * 10.8 °, and lens focus is 80.047mm.Pixel dimension is 0.015mm, and pixel is 1024 * 1024, and simulation process is realized on the computing machine of Pentium42.0.
Simulation results the analysis showed that the calibrated error of focal length does not influence for the inventive method, and very big to the influence of grid algorithm.For example: surpass 8 at observation star in the visual field, discrimination can reach the situation 95% or more, and when star number on an equal basis, method of the present invention has superiority.Table two is grid algorithm and the comparison of the inventive method aspect recognition time and memory space:
| The inventive method | The grid algorithm | |
| Average recognition time (ms) | 7.3 | 10.2 |
| Memory space (Kb) | 372 | 362 |
Table two
Grid algorithm compared to existing technology, the computing velocity of the inventive method is very fast, but memory space is much at one.
The above is preferred embodiment of the present invention only, is not to be used to limit protection scope of the present invention.
Claims (8)
1, a kind of method for recognising star map of non-demarcation is characterized in that, this method may further comprise the steps:
A, extraction nautical star proper vector are set up the nautical star library according to the grid storage;
B, when carrying out importance in star map recognition, extract observation star proper vector, in the nautical star library, mate, determine star to be selected according to the proper vector of being extracted;
C, with all stars to be selected groupings, determine that according to the ownership of star to be selected the visual field points to.
2, method for recognising star map according to claim 1 is characterized in that, described proper vector is radially feature and hoop feature.
3, method for recognising star map according to claim 2 is characterized in that, extracts proper vector described in the steps A and further comprises:
A11, in star chart, determine primary, and will be apart from the nearest adjacent star of primary as the location star;
A12, with the ratio of each adjacent star to the distance of primary and location star to the primary distance respectively as the radially feature of each adjacent star;
A13, be the benchmark image rotating with the location star, order location championship is in the horizontal right side of primary, calculates link to each other with primary angle on direction and the horizontal direction of each adjacent star, with the angle that the calculates hoop feature as each adjacent star;
Described primary is nautical star or is the observation star.
According to each described method for recognising star map of claim 1 to 3, it is characterized in that 4, the nautical star library of setting up described in the steps A according to the grid storage further comprises:
A21, star chart is divided into M * N grid, and for each grid is provided with a storage sequence, each storage sequence is provided with a counter; Wherein, M, N are positive integer;
A22, to each grid, if when arbitrarily nautical star is as primary, in this grid, have adjacent star to exist, the sequence number of nautical star that then should neighbour's star correspondence is recorded in the sequence of described grid correspondence, the counter with described sequence adds 1 simultaneously.
5, according to each described method for recognising star map of claim 1 to 3, it is characterized in that, determine described in the step B that star to be selected further comprises:
For each nautical star distributes a counter, to each primary, define the grid that adjacent star exists, read the sequence of grid correspondence described in the navigation mode storehouse, and the counter of all nautical star correspondences in the described row added 1, scan the whole adjacent star of current primary, afterwards, search the maximal value in all counters, with the nautical star of maximal value correspondence as star to be selected.
6, method for recognising star map according to claim 5 is characterized in that, step C is described further to be comprised star grouping to be selected: celestial sphere is divided into 6 * n * n sub-piece, for each sub-piece distributes a counter; Determine the affiliated sub-piece of all stars to be selected, and corresponding counter is added 1, the value of each counter is the star number amount to be selected in the corresponding sub block zone, and wherein, n is a positive integer.
7, method for recognising star map according to claim 6 is characterized in that, the described ownership according to star to be selected of step C determines that the visual field is oriented to: the maximum sub-piece of star to be selected is carried out ken constraint.
8, according to each described method for recognising star map of claim 1 to 3, it is characterized in that this method further comprises: checking drops on the star to be selected in the adjacent sub-blocks.
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| CN112665579B (en) * | 2020-12-01 | 2024-02-27 | 中国人民解放军国防科技大学 | Star map identification method and device based on geometric verification |
| CN112729277A (en) * | 2020-12-29 | 2021-04-30 | 中国科学院微小卫星创新研究院 | Star sensor star map identification method based on dynamic included angle matching |
| CN112815936A (en) * | 2020-12-29 | 2021-05-18 | 中国人民解放军国防科技大学 | Rapid all-sky-domain star map identification method and system for noise robustness |
| CN112729277B (en) * | 2020-12-29 | 2023-05-26 | 中国科学院微小卫星创新研究院 | Star sensor star map identification method based on dynamic included angle matching |
| CN112985380A (en) * | 2021-05-14 | 2021-06-18 | 中国石油大学胜利学院 | Attitude and heading calculation method based on incomplete measurement vector |
| CN114396935A (en) * | 2021-12-02 | 2022-04-26 | 上海航天控制技术研究所 | Star sensor navigation star library construction method based on quadratic optimal weight |
| CN114396935B (en) * | 2021-12-02 | 2023-09-05 | 上海航天控制技术研究所 | Star sensor navigation star library construction method based on secondary optimal weight |
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