CN110926501B - Automatic calibration method and system for optical measurement equipment and terminal equipment - Google Patents
Automatic calibration method and system for optical measurement equipment and terminal equipment Download PDFInfo
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Abstract
The invention belongs to the technical field of optical measurement equipment, and provides an automatic calibration method, a system and terminal equipment of optical measurement equipment, wherein the automatic calibration method comprises the following steps: acquiring the field angle and the detection capability of optical measurement equipment to screen a to-be-detected star library to obtain a detection star target; calculating the azimuth value and the height value of the detected star target in the spherical coordinate system of the current equipment to draw a three-dimensional simulation star map of the detected star target; error correction is carried out on an encoder of the optical equipment through a known star target; and calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting the system error and the single error to obtain a calibration result. The process changes the existing calibration mode and operation experience, optimizes star map display, and is convenient for a user to observe the whole calibration process and plan a calibration strategy; meanwhile, full-automatic calibration control is provided, the processing flow is simple, and the actual combat capability of the equipment is improved.
Description
Technical Field
The invention relates to the technical field of optical measurement equipment, in particular to an automatic calibration method and system of optical measurement equipment and terminal equipment.
Background
The optical measurement equipment completes the space positioning of the measured target mainly through angle measurement and intersection processing. The measurement data of the photometric device generally contains systematic errors, and the size of the angle measurement error directly affects the positioning accuracy. Therefore, before the device executes a task, the device must calibrate the system error, and correct the calibration result through real-time or post-measurement data to ensure the accuracy of the measurement data. The star calibration is the most main mode of external field calibration of optical measurement equipment, and the star calibration function of most of the existing equipment has two defects: one aspect is poor user interaction experience. The equipment or the interactive interface lacking the star calibration only provides a data interface, and a user cannot understand the whole calibration process in use; or a simplified two-dimensional star map schematic diagram is provided, the size of the star map is limited to be fixed, interaction between star drawing and star selection is limited, and great defects exist in the aspects of usability and practicability. On the other hand, the degree of automation is not high. The traditional calibration process usually requires a user to monitor in the whole process, a star target is manually selected to conduct guide measurement, a star screening process according to the self capacity of equipment is lacked, and the accuracy rate and the efficiency are very low. With the increasingly urgent need for automation, a more efficient automatic calibration control is still lacking to realize one-key calibration and correction functions of the optical measurement device.
In view of the above requirements, at present, there are many solutions at home and abroad, such as first taking a selected star, calculating an azimuth angle and a pitch angle for guiding the theodolite by a computer according to time and longitude and latitude, tracking and measuring the star by a measuring television on the theodolite for 30 times, and performing data processing. The method has some problems that (1) the automation degree of the calibration process is not high, and the automation of satellite selection and satellite change is not realized; (2) the efficiency of star introduction measurement is not high due to lack of screening of a star bank; the automated control adopted in the literature "automatic calibration of stars for theodolites" is similar to "research on automatic calibration of electro-optic theodolites and techniques for measuring stars in the daytime", and although screening conditions are proposed for the distribution of stars, the method lacks pertinence and does not consider the relationship between the equipment conditions and the screening of the star database. Meanwhile, the automatic control is only limited to the calculation automation of star measurement, and the complete calibration process control is not provided.
Most star map simulation schemes take image simulation injection as a starting point, and achieve the function of replacing actual image acquisition of equipment by simulating images acquired by a detector as much as possible, and star sky simulated by the schemes has errors with the reality and is not suitable for equipment calibration scenes.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The embodiment of the invention provides an automatic calibration method and system for optical measurement equipment and terminal equipment, and aims to solve the problems of poor user interaction experience and low automation degree and accuracy in the conventional calibration method.
A first aspect of an embodiment of the present invention provides an automatic calibration method for optical measurement equipment, where the automatic calibration method includes:
acquiring the field angle and the detection capability of optical measurement equipment to screen a to-be-detected star library to obtain a detection star target;
calculating the azimuth value and the height value of the detected star target in the spherical coordinate system of the current equipment to draw a three-dimensional simulation star map of the detected star target;
error correction is carried out on an encoder of the optical equipment through a known star target;
and calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting the system error and the single error to obtain a calibration result.
Optionally, the acquiring the field angle and the detection capability of the photometric device includes:
acquiring equipment information and environment information of the optical measurement equipment;
and calculating the field angle and the detection capability of the optical measurement equipment according to the equipment information and the environment information.
Optionally, the screening the to-be-detected star database to obtain the detected star target includes:
calculating the signal-to-noise ratio SNR of imaging of star targets such as the stars and the like as Mv on the detector according to the field angle and the detection capability:
wherein S is an incident light signal, B is a number of solar photons, Q is a quantum efficiency of the optical measurement device itself, and I0Photon flux density of 0 star target outside atmosphere, d is entrance pupil diameter, and tauoptIs the optical system transmittance, τatomIs the atmospheric permeability, KCCDIs the duty ratio of the CCD, t is the integration time, K is the number of pixels occupied by the target on the CCD, Ib0Photon flow density of sky background, Mvb is sky background brightness, s is pixel size, f is optical system focal length, D is dark current electron number per second of each pixel, N isRIs the maximum value of the readout noise;
and if the signal-to-noise ratio of the detection star target is not less than 5, the detection star target is reserved.
Optionally, the performing error correction on the encoder of the optical device through the known star target includes:
introducing a known star target into the three-dimensional simulation star map, and calibrating the known star target through the photometric equipment;
and correcting the encoder error of the current equipment according to the difference between the calibration result of the known star target and the actual orientation of the known star target.
Optionally, the calibrating the detected star target in the three-dimensional simulated star map by using the corrected encoder, and correcting the systematic error and the single error to obtain a calibration result, including:
after the encoder is modified, automatically calibrating the detected star target according to the three-dimensional simulation star map, and recording effective calibration data;
and resolving a single error and a system error according to the effective calibration data so as to correct the error of the effective calibration data to obtain a calibration result.
Optionally, the performing error correction on the valid calibration data to obtain a calibration result includes:
calculating the corrected azimuth measurement value and the elevation measurement value by the following formulas:
A″＝Ac-g-csec Ec-b tan Ec+I sin(α-Ac)tan Ec
E″＝Ec-h-P-I cos(α-Ac)
wherein A 'is a corrected azimuth measurement value, E' is a corrected elevation measurement value, AcFor raw orientation measurements of the photometric device, EcThe method comprises the steps of taking original height measurement values of optical measurement equipment, wherein g is an orientation error, h is a zero error, alpha is an azimuth angle of vertical axis inclination, c is a visual axis error, b is a horizontal axis error, I is a vertical axis error, P is atmospheric masking difference correction, and P is0Is the current atmospheric pressure value, and T is the current ambient temperature.
Optionally, after the drawing the three-dimensional simulation star map of the probe star target, the method further comprises:
connecting the detection star targets in series through a straight line;
correspondingly, the corrected encoder is used for calibrating the detected star target in the three-dimensional simulation star map, specifically,
and calibrating the detected star targets one by one according to the series sequence of each detected star target in the three-dimensional simulation star map.
A second aspect of the embodiments of the present invention provides an automatic calibration system for optical measurement equipment, where the automatic calibration system includes:
the screening module is used for obtaining the field angle and the detection capability of the optical measurement equipment so as to screen the to-be-detected star database to obtain a detected star target;
the three-dimensional simulation star map drawing module is used for calculating the azimuth value and the height value of the detection star target in the spherical coordinate system where the current equipment is located so as to draw the three-dimensional simulation star map of the detection star target;
the encoder correction module is used for correcting errors of an encoder of the optical equipment through the known star target;
and the calibration module is used for calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting a system error and a single error to obtain a calibration result.
A third aspect of embodiments of the present invention provides a terminal device, including a computer program stored thereon, a processor, and a computer program stored on a memory and executable on the processor, where the processor executes the computer program to implement the method of any one of the first aspect.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first aspect mentioned above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the method, the detected star targets are screened, and the three-dimensional simulation star map is drawn to realize automatic star calibration, so that the existing calibration mode and operation experience are changed, star map display is optimized, a user can observe the whole calibration flow conveniently and a calibration strategy is planned; meanwhile, full-automatic calibration control is provided, the processing flow is simple, and the actual combat capability of the equipment is improved.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present invention, the drawings required in the embodiments or the prior art description are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flow chart illustrating an implementation of an automatic calibration method for optical measurement equipment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of automatic star calibration according to another embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-dimensional simulation star map interface provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic calibration system of a photometric device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a schematic flowchart of an automatic calibration method for a photometric device according to an embodiment of the present invention, where the method includes the following steps:
step S101: and acquiring the field angle and the detection capability of the optical measurement equipment to screen the to-be-detected star database to obtain the detection star target.
Step S102: and calculating the azimuth value and the height value of the detected star target in the spherical coordinate system of the current equipment to draw a three-dimensional simulation star map of the detected star target.
Step S103: and correcting errors of an encoder of the optical equipment through the known star target.
Step S104: and calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting the system error and the single error to obtain a calibration result.
The above process is described below with reference to specific examples:
as shown in fig. 2, the present application provides an automatic calibration method for a photometric device based on a three-dimensional simulation star map, including: three-dimensional simulation star maps and automatic flow control. The three-dimensional simulation star map is used for interacting with a user and simultaneously displaying the execution of the automatic process in a visual mode.
In the application, the three-dimensional simulation star map is firstly drawn, and the drawing process comprises the following steps: screening process of stars and the like:
the optical measurement equipment has different detection capabilities on spatial targets in the sky due to different parameters such as the clear aperture, the focal length, the pixel size of a detector and the like. Firstly, according to basic parameter information (equipment information and environment information) of equipment preset by a user, the field angle, the star detection capability and the like of the current equipment are calculated, and then the star targets in the star library are screened. The device information mainly includes: index parameters of a detector of the optical measurement equipment, and design parameters such as the focal length and the aperture of the optical system. The environment information mainly includes: current astronomical coordinate position of the device, absolute time, meteorological conditions, etc. Calculating the detection capability of the equipment according to the parameter conditions, and calculating the signal-to-noise ratio SNR of the imaging of the star target with Mv such as the visual star on the detector:
wherein S is an incident light signal, B is a number of solar photons, Q is a quantum efficiency of the photodetector itself, and I0Is 0 star and the likePhoton flux density outside atmosphere, d is the diameter of entrance pupil, tauoptIs the optical system transmittance, τatomIs the atmospheric permeability, KCCDIs the duty ratio of the CCD, t is the integration time, K is the number of pixels occupied by the target on the CCD, Ib0Photon flow density of sky background, Mvb is sky background brightness, s is pixel size, f is optical system focal length, D is dark current electron number per second of each pixel, N isRIs the maximum value of the readout noise.
And screening the data in the star library according to the calculated equipment limit detection stars and the like, and directly removing the star targets which do not meet the visible condition (for example, the signal-to-noise ratio is less than 5).
And (3) position mapping process:
the star targets in the star library are provided in the form of right ascension and declination data, and a position data azimuth value A and a height value E of each star target in the star library in the equipment station center spherical coordinate system are obtained through calculation by combining station address data, time information and meteorological information of optical measurement equipment. And drawing a three-dimensional simulation star map according to the calculation result, as shown in FIG. 3.
In order to simulate a vivid three-dimensional star field effect, the improved Penna projection is selected as a core projection algorithm from the three-dimensional star field to the two-dimensional star map, and the azimuth value A and the elevation value E are mapped to x and y positions in the planar star map. The improved penning projection belongs to equal-product pseudo-cone projection, wherein the central longitude and the central latitude are lines without deformation, the shape of the latitude still keeps the same circular arc as the positive axis cone projection, but the longitude is changed into a symmetrical curve. The equal product projection mode can ensure that the area of any pattern is equal to the corresponding area on the solid, namely, the area deformation is equal to zero. The calculation formula of the mapping relation is as follows:
x＝ρsinσ
y＝cot AE-ρcosσ
wherein:
ρ＝cot AE+AE-E
x and y are respectively the horizontal and vertical coordinate positions in the plane star map, A and E are respectively the theoretical azimuth value and the theoretical elevation value of the current star, AsFor the orientation encoder pointing of the current photometric device, AEPointing to the high-low encoder of the current photometric device.
The automatic flow control comprises the following steps:
a) automatic calibration control: the automatic calibration control comprises automatic calibration, automatic correction and automatic verification, wherein: the automatic calibration process includes:
when the photometric device is firstly placed at a station, the reference deviation of the encoder is large, and auxiliary coarse orientation operation needs to be performed by a user. By means of a semi-automatic tracking mode, a polaris or other known star targets are introduced into a field of view, and an automatic calibration flow is started after the current target is confirmed to be clearly identifiable in imaging. The equipment automatically corrects and calibrates the error of the encoder according to the deviation delta A and delta E between the theoretical value of the current star target and the actual measurement value, and the calculation formula is as follows:
A′＝A+ΔA
E′＝E+ΔE
then, judging the working state of the current equipment, and sequentially executing automatic guidance on the star targets screened in the step (1) after confirming that the equipment has the guidance conditions; and determining the effectiveness of the current measurement by judging whether the guide is in place or not and the target extraction state after the guide is in place, and automatically storing the current measurement data if the guide is effective. The process is repeated until all the star guidance and recording are completed, and the whole process is shown by referring to fig. 3 and 4. In addition, all the selected calibration stars are connected in series through straight lines, the star map keeps synchronous rotation along with the rotation angle of the equipment in the whole calibration process, and the complete star calibration process is visually displayed.
The automatic correction process comprises the following steps: resolving a single error and a system error according to the calibration data, and correcting the error of the current measurement data of the equipment according to the error, wherein the calculation formula of the correction is as follows:
A″＝Ac-g-c sec Ec-b tan Ec+I sin(α-Ac)tan Ec
E″＝Ec-h-P-I cos(α-Ac)
wherein: a 'is the corrected azimuth measurement, E' is the corrected elevation measurement, AcFor raw orientation measurements of the apparatus, EcThe method comprises the steps of taking original height measurement values of equipment, g as an orientation error, h as a zero error, alpha as an azimuth angle of vertical axis inclination, c as a visual axis error, b as a horizontal axis error, I as a vertical axis error, P as atmospheric gas mask difference correction and P as0Is the current atmospheric pressure value, and T is the current ambient temperature.
Further comprising an automatic verification process: and after the system error is corrected, executing the automatic calibration process again, performing error separation calculation according to the corrected measurement value to obtain a final equipment error, and accordingly judging whether the current optical measurement equipment meets the condition of executing the task.
The automatic calibration method of the photometric device based on the three-dimensional simulation star map provided by the invention changes the existing calibration mode and operation experience, optimizes star map display, and is convenient for a user to observe the whole calibration process and plan calibration strategies. Meanwhile, full-automatic calibration control is provided, the processing flow is simple, and the actual combat capability of the equipment is improved.
Example two:
fig. 4 is a schematic structural diagram of an automatic calibration system of a photometric device according to an embodiment of the present invention, and for convenience of description, only the parts related to the embodiment of the present invention are shown:
the automatic calibration system of the optical measurement equipment comprises:
the screening module 41 is configured to obtain a field angle and a detection capability of the optical measurement device, so as to screen a to-be-detected star database to obtain a detected star target;
the three-dimensional simulation star map drawing module 42 is configured to calculate an azimuth value and a height value of the detected star target in a spherical coordinate system where the current device is located, so as to draw a three-dimensional simulation star map of the detected star target;
the encoder correcting module 43 is used for correcting errors of the encoder of the optical equipment through the known star target;
and the calibration module 44 is configured to calibrate the detected star target in the three-dimensional simulated star map by using the corrected encoder, and correct a system error and a single error to obtain a calibration result.
The specific working process of the automatic calibration system of the optical measurement device provided by the application refers to the implementation process of the automatic calibration method of the optical measurement device in the first embodiment, and is not described herein again.
Example three:
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention, where the terminal device 5 includes a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and operable in the processor 50, and when the processor 50 executes the computer program 52, the steps in the first embodiment of the method are implemented, as in steps S101 to S104.
The above examples are intended to be illustrative of the invention, and not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. An automatic calibration method of a photometric device, the automatic calibration method comprising:
acquiring the field angle and the detection capability of optical measurement equipment to screen a to-be-detected star library to obtain a detection star target; the signal-to-noise ratio of the detection star target is not less than 5;
calculating the azimuth value and the height value of the detected star target in a spherical coordinate system where the current equipment is located so as to draw a three-dimensional simulation star map of the detected star target;
error correction is carried out on an encoder of the optical equipment through a known star target;
calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting a system error and a single error to obtain a calibration result;
the error correction of the encoder of the optical equipment through the known star target comprises the following steps:
introducing a known star target into the three-dimensional simulation star map, and calibrating the known star target through the photometric equipment;
and correcting the encoder error of the current equipment according to the difference between the calibration result of the known star target and the actual orientation of the known star target.
2. The method of automatic calibration of a photometric device according to claim 1 wherein the obtaining of the field angle and detection capability of the photometric device comprises:
acquiring equipment information and environment information of the optical measurement equipment;
and calculating the field angle and the detection capability of the optical measurement equipment according to the equipment information and the environment information.
3. The automatic calibration method for optical measurement equipment according to claim 1, wherein the screening of the to-be-tested star library to obtain the detected star target comprises:
calculating the signal-to-noise ratio SNR of imaging of star targets such as the stars and the like as Mv on the detector according to the field angle and the detection capability:
wherein S is an incident light signal, B is a number of solar photons, Q is a quantum efficiency of the optical measurement device itself, and I0Photon flux density of 0 star target outside atmosphere, d is entrance pupil diameter, and tauoptIs the optical system transmittance, τatomIs the atmospheric permeability, KCCDIs the duty ratio of the CCD, t is the integration time, K is the number of pixels occupied by the target on the CCD, Ib0Photon flow density of sky background, Mvb is sky background brightness, s is pixel size, f is optical system focal length, D is dark current electron number per second of each pixel, N isRIs the maximum value of the readout noise;
and if the signal-to-noise ratio of the detection star target is not less than 5, the detection star target is reserved.
4. The automatic calibration method for photometric devices according to claim 2, wherein the calibrating the detected star targets in the three-dimensional simulated star map by using the corrected encoder, and performing systematic error and single error correction to obtain the calibration result comprises:
after the encoder is modified, automatically calibrating the detected star target according to the three-dimensional simulation star map, and recording effective calibration data;
and resolving a single error and a system error according to the effective calibration data so as to correct the error of the effective calibration data to obtain a calibration result.
5. The automatic calibration method for optical measurement equipment according to claim 4, wherein the performing error correction on the valid calibration data to obtain a calibration result comprises:
calculating the corrected azimuth measurement value and the elevation measurement value by the following formulas:
A″＝Ac-g-c sec Ec-b tan Ec+I sin(α-Ac)tan Ec
E″＝Ec-h-P-I cos(α-Ac)
wherein A 'is a corrected azimuth measurement value, E' is a corrected elevation measurement value, AcFor raw orientation measurements of the photometric device, EcThe method comprises the steps of taking original height measurement values of optical measurement equipment, wherein g is an orientation error, h is a zero error, alpha is an azimuth angle of vertical axis inclination, c is a visual axis error, b is a horizontal axis error, I is a vertical axis error, P is atmospheric masking difference correction, and P is0Is the current atmospheric pressure value, and T is the current ambient temperature.
6. The method for automatic calibration of a photometric device according to any one of claims 1 to 5, wherein after said drawing a three-dimensional simulated star map of the detected star target comprises:
connecting the detection star targets in series through a straight line;
correspondingly, the corrected encoder is used for calibrating the detected star target in the three-dimensional simulation star map, specifically,
and calibrating the detected star targets one by one according to the series sequence of each detected star target in the three-dimensional simulation star map.
7. An automatic calibration system for optical measurement equipment, the automatic calibration system comprising:
the screening module is used for obtaining the field angle and the detection capability of the optical measurement equipment so as to screen the to-be-detected star database to obtain a detected star target; the signal-to-noise ratio of the detection star target is not less than 5;
the three-dimensional simulation star map drawing module is used for calculating the azimuth value and the height value of the detection star target in a spherical coordinate system where the current equipment is located so as to draw a three-dimensional simulation star map of the detection star target;
the encoder correction module is used for correcting errors of an encoder of the optical equipment through the known star target; the method comprises the following steps:
introducing a known star target into the three-dimensional simulation star map, and calibrating the known star target through the photometric equipment;
correcting the encoder error of the current equipment according to the difference between the calibration result of the known star target and the actual azimuth of the known star target;
and the calibration module is used for calibrating the detected star target in the three-dimensional simulation star map by using the corrected encoder, and correcting a system error and a single error to obtain a calibration result.
8. A terminal device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-6 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 6.
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| US7447591B2 (en) * | 2004-10-18 | 2008-11-04 | Trex Enterprises Corp. | Daytime stellar imager for attitude determination |
| CN102494872B (en) * | 2011-11-15 | 2014-08-06 | 中国科学院紫金山天文台 | Method for measuring pointing error of astronomical telescope in real time |
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