CN103175526B - A kind of high dynamically lower fixed star star image restoration methods - Google Patents

A kind of high dynamically lower fixed star star image restoration methods Download PDF

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CN103175526B
CN103175526B CN201310053071.3A CN201310053071A CN103175526B CN 103175526 B CN103175526 B CN 103175526B CN 201310053071 A CN201310053071 A CN 201310053071A CN 103175526 B CN103175526 B CN 103175526B
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CN103175526A (en
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王常虹
李葆华
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Harbin Institute of Technology
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Harbin Institute of Technology
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Abstract

The present invention relates to a kind of high dynamically lower fixed star star image restoration methods, as follows: first according to the attitude of the attitude information prediction present frame of front cross frame, the right ascension under the attitude of prediction present frame and fixed star celestial sphere and the star image center of declination calculating fixed star present frame; Secondly the optical axis calculated respectively according to the attitude of present frame and the attitude of former frame points to, and calculates the angle of these two optical axises sensings, utilizes formula (FOV is star sensor visual field, PIX is star sensor imageing sensor face battle array size, η is the angle between optical axis points to) calculate fixed star star image distribution radius R, to calculate fixed star star image center, within the scope of fixed star star image distribution radius, the distribution of fixed star star image " translation " one-tenth " continuously ", after fixed star star image " translation ", the obedience dimensional Gaussian distribution of fixed star star image, can adopt two-dimensional Gaussian function to represent; Gravity model appoach is finally adopted to extract fixed star star image coordinate.Invention increases the sensitivity of star sensor, improve the precision of fixed star star image coordinate simultaneously.

Description

A kind of high dynamically lower fixed star star image restoration methods
Technical field
The present invention relates to a kind of high dynamically lower fixed star star image restoration methods.
Background technology
Star sensor is with known exact space position, indestructible fixed star for benchmark, and by photovoltaic passive detection position of heavenly body, through resolving the information such as longitude, latitude, course and attitude determining measurement point place platform.Star sensor is the attitude sensor part being carried out calculating aircraft attitude by the orientation of measurement fixed star.Star sensor have in numerous attitude sensor precision high, lightweight, low in energy consumption, without drift and the advantage such as working method is various.
The detector sensitivity that early stage star sensor uses is poor, and noise is large, visual field is little.For ensureing that fixed star star image energy enough has to arrange longer integral time, small field of view also causes star catalogue large, and algorithm is complicated, and data processing is too consuming time, and these factors all cause the dynamic property of product not high.
The CCD star sensor of external development have passed through to fly in a large number and has used and validating in orbit at present, and dynamic property have also been developed a higher stage, generally all lower than 2 °/s, turnover rate 5-10Hz.As China's satellite uses the ASTR0-10 of more German Jena-Optronik company, this product can be followed the tracks of by star when 2 °/s, and precision is not high.Although APS star sensor achieves very much progress in Optical System Design, dynamic algorithm research etc., because APS detection sensitivity is not high, noise is comparatively large, adopts the star sensor dynamic property of APS detector development not high.Nearly 2 years, there is a kind of scheme adopting bull to design abroad, the visual field of further expansion star sensor, allow in visual field and have more bright star, thus the overall detectivity improving star sensor, reduce the requirement to single detector limit detection ability, star catalogue can be reduced further simultaneously, improve importance in star map recognition speed, substantially increase the dynamic property of star sensor.As the HYDRA of French SODERN company development, adopt the APS detecting strategy of three probes, expand combination visual field, add available star number, by excellent Software for Design and information fusion, make APS star sensor also obtain high dynamic performance.
Star sensor stellar magnitude detectivity refers to the ability of the responsive starlight signal of star sensor Photodetection system, and comprise in limiting magnitude detectivity and visual field the average star number that can detect, this is the prerequisite of star sensor work.Every photoelectric parameter of star sensor is all carry out designing on the basis of stellar magnitude detectivity analysis.Under high dynamic condition, there is " pixel drags " in fixed star star image, power dissipation, if stellar magnitude detectivity does not reach requirement, will cause available fixed star quantity in visual field inadequate.The analysis of stellar magnitude detectivity relates to each sensing link of Photodetection system, and Photodetection system is made up of optical lens, detector, detection driving and treatment circuit.
Fixed star starlight collects on detector pixel through camera lens, consider all factors affecting fixed star imaging, the detectivity of detector depends on single pixel energy response function, from response function, integral time is long, and light spot energy is concentrated, the light transmission rate of camera lens is high, detective quantum efficiency is high, and optics clear aperature area is large, then the magnitude detectivity of system is strong.The quantum efficiency of detector reflects the luminous sensitivity of detector.In fact, the performance parameter of detector and optical system parameter are mutually related, and independently can not go design.
Due under high dynamic condition, stellar energy disperses, in order to improve the detection sensitivity of star sensor further, major part raising optical aperture angle increases the stellar energy by camera lens, but the aperture of camera lens can not arbitrarily increase, relevant with focal length, simultaneously along with the increase of lens opening, the quality of star sensor also increases, the distortion of camera lens also increases, therefore, in order to improve the detectivity of star sensor under high dynamic condition, have to increase integral time of star sensor, but along with the increase of integral time, fixed star star image energy is overstepping the bounds of propriety loose, " pixel drags " degree is larger, fixed star star image is caused to disobey Gaussian distribution, now can not directly adopt gravity model appoach to extract fixed star star image coordinate, otherwise the fixed star star image coordinate extracted is incorrect.
Summary of the invention
Based on above weak point, it is as follows that the present invention proposes a kind of high dynamically lower fixed star star image restoration methods:
1: utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', the optical axis calculating present frame star sensor points to point to the optical axis of upper frame star sensor
2: utilization orientation vector frame T before calculating star sensor 1with upper frame T 2between optical axis points to
3: utilize formula (2), calculate fixed star star image distribution radius R;
R = η × FOV PIX - - - ( 2 )
Wherein FOV is star sensor visual field, and PIX is star sensor imageing sensor face battle array size;
4: utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', calculate the attitude maneuver four element Δ q between this two moment;
5: utilize present frame hypercomplex number q and attitude maneuver four element Δ q, frame T under calculating star sensor 3the attitude quaternion q ' in moment ";
6: utilize attitude quaternion q ' ", frame T under calculating star sensor 3the optical axis in moment points to (A, D) and roll angle θ;
7: according to celestial coordinates (α, δ) and optical axis sensing (A, D) and the roll angle θ of current field fixed star, calculate this fixed star at lower frame T 3time be engraved in star sensor as fixed star star image center in plane (x ', y ');
8: centered by fixed star star image center (x ', y '), with in the scope of fixed star star image distribution radius R, search for all continuous print fixed star pixels;
9: if fixed star pixel fixed star star image center (x ', y ') the left side, judge whether be backdrop pels, if background if on the right of this fixed star pixel, closing on pixel, this fixed star star image unit is moved to right, until it is not backdrop pels that pixel is closed on the right of this pixel;
10: if fixed star pixel fixed star star image center (x ', y ') the right, whether be backdrop pels, if background if judging that pixel is closed on this fixed star pixel left side, this fixed star star image unit is moved to left, until it is not backdrop pels that pixel is closed on the left side of this pixel;
11: if fixed star pixel fixed star star image center (x ', y ') top, whether be backdrop pels, if background if judging that this fixed star pixel closes on pixel below, this fixed star star image unit is moved down, until the pixel that closes on below of this pixel is not backdrop pels;
12: if fixed star pixel fixed star star image center (x ', y ') following, whether be backdrop pels, if background if judging that pixel is closed in this fixed star pixel top, move in this fixed star star image unit, until it is not backdrop pels that pixel is closed in the top of this pixel;
13: if fixed star pixel fixed star star image center (x ', y ') limit, upper left, whether be backdrop pels, if background if judging that pixel is closed on this limit, fixed star pixel bottom right, this fixed star star image unit bottom right is moved, until it is not backdrop pels that pixel is closed on the limit, bottom right of this pixel;
14: if fixed star pixel fixed star star image center (x ', y ') left lower side, whether be backdrop pels, if background if judging that this fixed star pixel top right-hand side closes on pixel, this fixed star star image unit upper right is moved, until it is not backdrop pels that the top right-hand side of this pixel closes on pixel;
15: if fixed star pixel fixed star star image center (x ', y ') limit, bottom right, whether be backdrop pels, if background if judging that pixel is closed on this limit, fixed star pixel upper left, this fixed star star image unit upper left is moved, until it is not backdrop pels that pixel is closed on the limit, upper left of this pixel;
16: if fixed star pixel fixed star star image center (x ', y ') top right-hand side, whether be backdrop pels, if background if judging that this fixed star pixel left lower side closes on pixel, this fixed star star image unit lower-left is moved, until it is not backdrop pels that the left lower side of this pixel closes on pixel;
17: adopt gravity model appoach to extract this fixed star star image coordinate.
The features and advantages of the invention:
First: owing to have modified " pixel drags " phenomenon of fixed star star image, fixed star star image more " is concentrated ", thus improves the sensitivity of star sensor;
Second: owing to have modified " pixel drags " phenomenon of fixed star star image, make fixed star star image " recovery " dimensional Gaussian distribution, thus improve the precision of fixed star star image coordinate;
3rd: owing to improve the precision of fixed star star image coordinate, the attitude accuracy of calculating also improves.
Accompanying drawing explanation
Fig. 1 is fixed star star image three-dimensional plot under quiescent conditions;
Fig. 2 is fixed star star image three-dimensional plot under high dynamic condition;
Fig. 3 is fixed star star image " translation " process;
Fig. 4 is the high dynamically lower fixed star star image restoration methods workflow of a kind of employing;
Fig. 5 is the high dynamically lower fixed star star image restoration methods system semi physical experimental system block diagram of a kind of employing;
Fig. 6 directly adopts gravity model appoach to extract fixed star star image error of coordinate off-line curve under static condition;
Fig. 7 is the error off-line curve adopting high dynamically lower fixed star star image restoring method under static condition;
Fig. 8 is the error off-line curve adopting high dynamically lower fixed star star image restoring method under high dynamic condition;
Fig. 9 is a kind of embodiment figure of high dynamic lower fixed star star image restoration methods.
Embodiment
Embodiment 1
Under quiescent conditions, fixed star star image energy meets normal distribution, and fixed star star image spread function can represent with two-dimensional Gaussian function:
h ( x , y ) = 1 2 π σ PSF 2 exp ( - ( x - x c ) 2 + ( y - y c ) 2 2 σ PSF 2 ) - - - ( 1 )
In formula, (x c, y c) represent the physical location at star image center, σ pSFfor Gauss's radius, represent the encircled energy of fixed star star image spread function, fixed star star image is as Fig. 1.
Under high dynamic condition, fixed star star image no longer obeys the circular light spot of two-dimensional Gaussian function, and there will be " pixel drags " phenomenon (as Fig. 2), and when star sensor carrier movement angular velocity is larger, " pixel drags " is comparatively serious.Due to the existence of " pixel drags ", make fixed star star image energy be tending towards dispersion, thus reduce the sensitivity of star sensor.In order to improve star sensor sensitivity, often needing to sacrifice picture quality, causing star chart noise to increase, the fixed star star image power dissipation that employing and " pixel drags " due to star chart filtering algorithm are caused, cause the phenomenon of rupture of fixed star star image image.
As can be seen from Figure 2, the fixed star star image under high dynamic condition can not adopt two-dimensional Gaussian function to represent, namely disobeys dimensional Gaussian distribution, can not directly adopt gravity model appoach to extract fixed star star image coordinate.
First according to present frame T 1attitude four element q and upper frame T 2attitude four element q ', the optical axis calculating present frame star sensor points to point to the optical axis of upper frame star sensor calculating the angle η between the sensing of present frame optical axis with the sensing of upper frame optical axis:
η = a cos ( O → 1 · O → 2 ) - - - ( 3 )
According to:
R = η × FOV PIX - - - ( 4 )
Wherein FOV is star sensor visual field, and PIX is star sensor imageing sensor face battle array size, can calculate fixed star star image distribution radius R.
According to present frame T 1attitude four element q and upper frame T 2attitude four element q ', calculate the attitude maneuver four element Δ q between this two moment.
Δq＝q -1q′(5)
Utilize
q′″＝qΔq(6)
Frame T under star sensor can be predicted 3attitude quaternion q ' ".
Utilize q ' and " can calculate tthe optical axis of 3 moment star sensors points to the roll angle θ of (A, D) and star sensor:
A = arctg ( 2 * ( q 2 ′ ′ ′ q 3 ′ ′ ′ - q 1 ′ ′ ′ q 4 ′ ′ ′ ) 2 * ( q 1 ′ ′ ′ q 3 ′ ′ ′ + q 2 ′ ′ ′ q 4 ′ ′ ′ ) ) - - - ( 7 )
D＝arcsin(-q′″ 1q′″ 1-q′″ 2q′″ 2+q′″ 3q′″ 3+q′″ 4q′″ 4)
θ = arctg ( - 2 ( q 1 ′ ′ ′ q 2 ′ ′ ′ - q 3 ′ ′ ′ q 4 ′ ′ ′ ) - q 1 ′ ′ ′ q 1 ′ ′ ′ + q 2 ′ ′ ′ q 2 ′ ′ ′ - q 3 ′ ′ ′ q 3 ′ ′ ′ ′ + q 4 ′ ′ ′ q 4 ′ ′ ′ ) - - - ( 8 )
Wherein A ∈ [0,2 π), D ∈ [-pi/2, pi/2], θ ∈ [0 °, 360 °).
Frame T under fixed star can be calculated in star sensor visual field 3time be engraved in star sensor as fixed star star image center in plane:
x = cos δ sin ( α - A ) sin δ sin D + cos δ cos D cos ( α - A ) (9)
y = sin δ cos D - cos δ sin D cos ( α - A ) sin δ sin D + cos δ cos D cos ( α - A )
So
x′＝xcosθ-ysinθ(10)
y′＝xsinθ+ycosθ
Wherein (x ', y ') for fixed star is at lower frame T 3the fixed star star image center in moment, (α, δ) is the right ascension of corresponding fixed star under J2000.0 coordinate system and declination, and α ∈ [0,2 π),
According to fixed star star image center, within the scope of fixed star star image distribution radius, fixed star star image is become to be scattered in the distribution of " continuously " fixed star star image " translation ", fixed star star image " translation " afterwards (as Fig. 3), the obedience dimensional Gaussian distribution of fixed star star image, two-dimensional Gaussian function can be adopted represent, gravity model appoach therefore can be adopted to extract fixed star star image coordinate.
Therefore, the detailed process following (as Fig. 4) of high dynamically lower fixed star star image restoration methods is adopted:
1: utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', the optical axis calculating present frame star sensor points to point to the optical axis of upper frame star sensor
2: utilization orientation vector with frame T before calculating star sensor 1with upper frame T 2angle between optical axis points to;
3: utilize formula (2), calculate fixed star star image distribution radius R;
4: utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', calculate the attitude maneuver four element Δ q between this two moment;
5: utilize present frame hypercomplex number q and attitude maneuver four element Δ q, frame T under calculating star sensor 3the attitude quaternion q ' in moment ";
6: utilize attitude quaternion q ' ", frame T under calculating star sensor 3the optical axis in moment points to (A, D) and roll angle θ;
7: according to celestial coordinates (α, δ) and optical axis sensing (A, D) and the roll angle θ of current field fixed star, calculate this fixed star at lower frame T 3time be engraved in star sensor as fixed star star image center in plane (x ', y ');
8: centered by fixed star star image center (x ', y '), with in the scope of fixed star star image distribution radius R, search for all continuous print fixed star pixels;
9: if fixed star pixel fixed star star image center (x ', y ') the left side, judge whether be backdrop pels, if background if on the right of this fixed star pixel, closing on pixel, this fixed star star image unit is moved to right, until it is not backdrop pels that pixel is closed on the right of this pixel;
10: if fixed star pixel fixed star star image center (x ', y ') the right, whether be backdrop pels, if background if judging that pixel is closed on this fixed star pixel left side, this fixed star star image unit is moved to left, until it is not backdrop pels that pixel is closed on the left side of this pixel;
11: if fixed star pixel fixed star star image center (x ', y ') top, whether be backdrop pels, if background if judging that this fixed star pixel closes on pixel below, this fixed star star image unit is moved down, until the pixel that closes on below of this pixel is not backdrop pels;
12: if fixed star pixel fixed star star image center (x ', y ') following, whether be backdrop pels, if background if judging that pixel is closed in this fixed star pixel top, move in this fixed star star image unit, until it is not backdrop pels that pixel is closed in the top of this pixel;
13: if fixed star pixel fixed star star image center (x ', y ') limit, upper left, whether be backdrop pels, if background if judging that pixel is closed on this limit, fixed star pixel bottom right, this fixed star star image unit bottom right is moved, until it is not backdrop pels that pixel is closed on the limit, bottom right of this pixel;
14: if fixed star pixel fixed star star image center (x ', y ') left lower side, whether be backdrop pels, if background if judging that this fixed star pixel top right-hand side closes on pixel, this fixed star star image unit upper right is moved, until it is not backdrop pels that the top right-hand side of this pixel closes on pixel;
15: if fixed star pixel fixed star star image center (x ', y ') limit, bottom right, whether be backdrop pels, if background if judging that pixel is closed on this limit, fixed star pixel upper left, this fixed star star image unit upper left is moved, until it is not backdrop pels that pixel is closed on the limit, upper left of this pixel;
16: if fixed star pixel fixed star star image center (x ', y ') top right-hand side, whether be backdrop pels, if background if judging that this fixed star pixel left lower side closes on pixel, this fixed star star image unit lower-left is moved, until it is not backdrop pels that the left lower side of this pixel closes on pixel;
17: adopt gravity model appoach to extract this fixed star star image coordinate.
Embodiment 2
Star sensor main performance index:
Visual field: 14 ° × 14 °
Face battle array: 1024 × 1024
Detection magnitude: 6Mv
Data updating rate: 8Hz
In order to verify the high dynamically lower fixed star star image restoration methods of checking further, carrying out semi-physical system and testing, the validity, accuracy, robustness etc. of semi-physical simulation result verification method.Semi-physical simulation process is as follows: star sensor is placed into experiment porch, connect the power supply of star sensor, star sensor and host computer adopt RS422 serial ports to be connected, before many fixed stars simulator being put into the camera lens of star sensor, many fixed stars simulator is according to orbit parameter and star sensor parameter, real-time display star chart, the star chart of star sensor shooting display in real time, and fixed star star image coordinate is extracted from the star chart of shooting, and fixed star star image coordinate is sent to host computer by RS422 in real time, upper computer software shows fixed star star image error of coordinate at once after receiving star image coordinate, and preserve fixed star star image error of coordinate (as Fig. 5) in real time.Experiment is divided into two steps, and the first step utilizes still image test result, and second step utilizes dynamic image test result.
1. still image test result
The three-axis attitude of star simulator is set at random, star simulator searches out institute's any stars in visual field according to three-axis attitude, and calculate these fixed stars as planimetric coordinates, according to these stellar magnitudes, image is shown on star simulator, the image freeze of now star simulator display is motionless, the image of star sensor shooting star simulator display, adopt direct gravity model appoach respectively and utilize high dynamically lower fixed star star image restoring method, institute's any stars star image coordinate in visual field is extracted from the star chart of shooting, host computer is sent to by RS422, host computer is poor with actual coordinate after receiving fixed star star image coordinate, the error of real-time display fixed star star image coordinate, and preserve the error of fixed star star image coordinate in real time, Fig. 6 directly adopts gravity model appoach to extract fixed star star image error of coordinate off-line curve, Fig. 7 adopts the error off-line curve graph of errors of certain fixed star star image coordinate (in the random selecting visual field) of high dynamically lower fixed star star image restoring method.
2. dynamic image test result
Preliminary orbit parameter and the angular velocity of star simulator are set, the angular velocity that star simulator is run is 6 °/s, star simulator is according to preliminary orbit parameter, real-time calculating current orbit parameter, institute's any stars in visual field is searched out according to current orbit parameter, and calculate these fixed stars as planimetric coordinates, according to these stellar magnitudes, image is shown on star simulator, the angular velocity of the image of now star simulator display is 6 °/s, the image of star sensor shooting star simulator display, adopt direct gravity model appoach respectively and utilize high dynamically lower fixed star star image restoring method, institute's any stars star image coordinate in visual field is extracted from the star chart of shooting, host computer is sent to by RS422, host computer is poor with actual coordinate after receiving fixed star star image coordinate, the error of real-time display fixed star star image coordinate, and preserve the error of fixed star star image coordinate in real time, the angular velocity run due to star simulator is 6 °/s, there is " pixel drags " phenomenon in the fixed star star image of now star sensor shooting, direct employing gravity model appoach extracts less than fixed star star image coordinate at all, Fig. 8 adopts the error off-line curve graph of errors of certain fixed star star image coordinate (in the random selecting visual field) of high dynamically lower fixed star star image restoring method.
When static star chart or star sensor angular velocity little, the fixed star star image energy of star sensor shooting meets normal distribution, fixed star star image spread function can represent with two-dimensional Gaussian function, therefore, gravity model appoach no matter is directly adopted still to adopt the high dynamically fixed star star image coordinate that lower fixed star star image restoring method is extracted all to have very high precision, as can be seen from Figures 6 and 7, when star sensor takes static star chart, the fixed star star image error of coordinate that direct employing gravity model appoach extracts and the fixed star star image error of coordinate that the high dynamically lower fixed star star image restoration methods of employing is extracted are all within 0.1 pixel.
Due under high dynamic condition, stellar energy disperses, there is " pixel drags " phenomenon in fixed star star image, fixed star star image is caused to disobey Gaussian distribution, due to the existence of " pixel drags ", fixed star star image energy is made to be tending towards dispersion, thus reduce the sensitivity of star sensor, because fixed star star image " is flooded " in the background of star chart, direct employing gravity model appoach can not extract fixed star star image coordinate at all, first first must need the judgement carrying out breakpoint, then carry out breakpoint joint, the detection of breakpoint, growth all adopt and are similar to Mathematical Morphology Method and carry out.And adopt method of the present invention just in time detect and revise, therefore fixed star star image coordinate can correctly be extracted, as can be seen in Figure 8, the angular velocity run when star simulator is that 6 °/s is (after namely star sensor is installed to aircraft, the angular velocity of aircraft is 6 °/s) when, adopt the inventive method not only can extract fixed star star image coordinate, and the fixed star star image error of coordinate extracted still can meet within 0.1 pixel.。
Embodiment 3
As the embodiment that Fig. 9 is a kind of high dynamic lower fixed star star image restoration methods, wherein the CCD of star sensor adopts CCD48-20, CCD drives and barycenter extraction algorithm realizes in FPGA, and the interface RS422 between host computer adopts MAX490 to realize, optical system adopts COMPUTAR company model to be MP2514 camera lens, star simulator utilizes notebook computer to replace, wherein there is star field simulation software in notebook computer, the image of star field simulation software display shows in notebook computer screen, and before notebook computer being placed into the camera lens of star sensor, position between adjustment lens of star sensor and notebook computer, the optical axis of lens of star sensor is pointed at notebook computer screen center, adjust the distance between lens of star sensor and notebook computer simultaneously, make star sensor can cover notebook computer screen completely, user soft orbit parameter can change the operation angular velocity of fixed star by the star field simulation arranging notebook computer, the image of star sensor captured in real-time notebook computer display is as star chart, star sensor extracts institute's any stars star image coordinate from the star chart of shooting, and the fixed star star image coordinate extracted sends to host computer by RS422, upper computer software shows in real time after receiving coordinate and preserves, user can utilize MATLAB software to carry out these data of playback.

Claims (1)

1. a high dynamic lower fixed star star image restoration methods, it is characterized in that, method is as follows:
(1): utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', the optical axis calculating present frame star sensor points to point to the optical axis of upper frame star sensor
(2): utilization orientation vector with calculate star sensor present frame T 1with upper frame T 2angle between optical axis points to
(3) fixed star star image distribution radius R: utilize formula (2), is calculated;
R = η × F O V P I X - - - ( 2 )
Wherein FOV is star sensor visual field, and PIX is star sensor imageing sensor face battle array size;
(4): utilize present frame T 1attitude four element q and upper frame T 2attitude four element q ', calculate the attitude maneuver four element Δ q between this two moment;
(5): utilize present frame T 1attitude four element q and attitude maneuver four element Δ q, calculate frame T under star sensor 3the attitude four element q in moment " ';
(6): utilize attitude four element q " ', frame T under calculating star sensor 3the optical axis in moment points to (A, D) and roll angle θ;
(7): according to celestial coordinates (α, δ) and optical axis sensing (A, D) and the roll angle θ of current field fixed star, calculate this fixed star at lower frame T 3time be engraved in star sensor as fixed star star image center in plane (x ', y ');
(8): centered by fixed star star image center (x ', y '), with in the scope of fixed star star image distribution radius R, search for all continuous print fixed star pixels;
(9): if fixed star pixel fixed star star image center (x ', y ') the left side, judge whether be backdrop pels, if background if on the right of this fixed star pixel, closing on pixel, this fixed star star image unit is moved to right, until it is not backdrop pels that pixel is closed on the right of this pixel;
(10): if fixed star pixel fixed star star image center (x ', y ') the right, whether be backdrop pels, if background if judging that pixel is closed on this fixed star pixel left side, this fixed star star image unit is moved to left, until it is not backdrop pels that pixel is closed on the left side of this pixel;
(11): if fixed star pixel fixed star star image center (x ', y ') top, whether be backdrop pels, if background if judging that this fixed star pixel closes on pixel below, this fixed star star image unit is moved down, until the pixel that closes on below of this pixel is not backdrop pels;
(12): if fixed star pixel fixed star star image center (x ', y ') following, whether be backdrop pels, if background if judging that pixel is closed in this fixed star pixel top, move in this fixed star star image unit, until it is not backdrop pels that pixel is closed in the top of this pixel;
(13): if fixed star pixel fixed star star image center (x ', y ') limit, upper left, whether judge that pixel is closed on this limit, fixed star pixel bottom right is backdrop pels, if background, this fixed star star image unit bottom right is moved, until it is not backdrop pels that pixel is closed on the limit, bottom right of this pixel;
(14): if fixed star pixel fixed star star image center (x ', y ') left lower side, whether judge that this fixed star pixel top right-hand side closes on pixel is backdrop pels, if background, this fixed star star image unit upper right is moved, until it is not backdrop pels that the top right-hand side of this pixel closes on pixel;
(15): if fixed star pixel fixed star star image center (x ', y ') limit, bottom right, whether judge that pixel is closed on this limit, fixed star pixel upper left is backdrop pels, if background, this fixed star star image unit upper left is moved, until it is not backdrop pels that pixel is closed on the limit, upper left of this pixel;
(16): if fixed star pixel fixed star star image center (x ', y ') top right-hand side, whether judge that this fixed star pixel left lower side closes on pixel is backdrop pels, if background, this fixed star star image unit lower-left is moved, until it is not backdrop pels that the left lower side of this pixel closes on pixel;
(17): adopt gravity model appoach to extract this fixed star star image coordinate.
CN201310053071.3A 2013-02-01 2013-02-01 A kind of high dynamically lower fixed star star image restoration methods Expired - Fee Related CN103175526B (en)

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