CN111412914A - Method for improving attitude update rate of star sensor based on rolling shutter exposure frame correlation - Google Patents
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Abstract
The invention discloses a method for improving the attitude updating rate of a star sensor based on the correlation between rolling shutter exposure frames, which comprises the following steps: (1) according to the continuous star map (set as the p-1 th frame and the p-th frame), obtaining the centroid position of the star point in the star map of the p-th frame, and calculating the average speed of the star point along the horizontal direction (X) and the vertical direction (Y) of the image; (2) taking the exposure time of the middle row of the p-th frame star map as a reference, correcting the positions of star points in the upper and lower half frames, and resolving the attitude of the star sensor for the first time; (3) based on the star point position correction mode in the step (2), according to the star point centroid positions of the p-th star map and the p + 1-th star map, the star point average speed in the p + 1-th star map is updated, the star points in the lower half frame of the p-th star map and the upper half frame of the p + 1-th star map are subjected to position correction by taking the 1 st line exposure time of the p + 1-th star map as a reference, the star sensor attitude is resolved once, and the attitude is updated once every half frame of the star map in sequence, so that the continuous estimation of the star sensor attitude is realized, and the star sensor attitude update rate is improved.
Description
Technical Field
The invention relates to a star sensor attitude calculation method for a continuous frame star map, in particular to a method for improving attitude update rate based on a star sensor associated with rolling exposure frames.
Background
The star sensor is a core component for realizing autonomous attitude measurement of the spacecraft by observing the star direction in space, and plays an important role in aerospace tasks such as ground remote sensing, space exploration and the like. Most of the existing domestic and foreign star sensors have the attitude updating rate of 10Hz-20Hz, and with the high-speed development of aerospace technology, the attitude updating rate of the star sensors is required to be higher especially in the fields of high-resolution earth observation and the like. The traditional star sensor mainly adopts a global exposure mode, and because the star energy sensitive to the star sensor is very weak, the star sensor needs longer exposure time, and the improvement of the attitude update rate of the star sensor is limited.
Patent CN201310053052.0 proposes a method for determining the attitude of a star sensor based on rolling shutter exposure imaging, in which iterative solution of attitude and angular rate is performed by using recursive estimation of motion attitude and fusion of single star point measurement information. The method does not relate to a method for carrying out attitude calculation on rolling curtain exposure star maps of continuous frames in a mode of carrying out star point position correction by using star point movement speed.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: a method for improving the attitude updating rate of a star sensor based on the correlation between rolling shutter exposure frames. Determining the average moving speed of star points in a p-th frame star map by using a p-1 th frame and the p-th frame star map, correcting the centroid coordinates of the star points in the upper and lower half frames of the p-th frame star map to the moment by taking the middle line exposure moment of the p-th frame star map as a reference, and resolving the attitude of a primary star sensor; the average speed of the star points in the star map of the p +1 th frame is determined through the star map of the p +1 th frame and the star map of the p +1 th frame, the star points of the lower half frame of the star map of the p th frame and the star points of the upper half frame of the star map of the p +1 th frame are corrected to the exposure time of the 1 st line of the star map of the p +1 th frame by taking the exposure time of the 1 st line of the p +1 th frame as a reference, the attitude of the star sensor is solved once, the correction of the positions of the star points at every other half frame of the star map is realized, the attitude is solved once, and the attitude updating rate of the star sensor is.
The technical scheme adopted by the invention is as follows: a method for improving the attitude update rate of a star sensor based on correlation between rolling shutter exposure frames comprises the following steps:
and (1) setting the star sensor as a rolling shutter exposure mode, and acquiring continuous two frames (set as a p-1 frame and a p-th frame) star maps under the rolling shutter exposure mode. Where the row number of the known star map is W and the column number is H. Setting the exposure time per line of the roller shutter mode as trThe interval of the exposure starting time of each line of the image is delta t, and the interval of the exposure starting time of the H-th line of the p-th frame of the image and the exposure starting time of the 1 st line of the p + 1-th frame of the image is delta t. Determining the average speed of the star points in the p-th frame along the horizontal direction (X) and the vertical direction (Y) according to the star point mass centers in the p-1 th frame and the p-th frame star map
Step (2), extracting n star point centroid coordinate sets in the p-th frame star map
1,2, …, n, using the exposure time of the middle line (H/2 th line) of the p-th frame as the reference, correcting the centroid position of the star point in the upper and lower half frames of the frame by the correction amount:
the true coordinates of the star points corresponding to the middle row exposure time are:
and resolving the star sensor attitude at the middle line exposure time of the p-th frame star map.
Step (3) of extractionN star point centroid coordinate set in p +1 frame star map
Obtaining the average speed of the star points in the star map of the p +1 th frame along the X, Y direction according to the centroid positions of the star points of the star map of the p th frame and the p +1 th frame
Taking the 1 st row exposure time of the p +1 th frame star map as a reference, and carrying out position correction on star points of the lower half frame of the p +1 th frame star map and star points of the upper half frame of the p +1 th frame star map:
correcting the star point of the lower half frame of the p frame star map to the exposure time of the 1 st line of the p +1 frame star map, wherein the correction amount is as follows:
and k is the star point of the lower half frame in the p frame star map.
Then the real coordinates of the star points of the lower half frame star map of the p frame star map corresponding to the exposure time of the 1 st row of the p +1 frame star map are as follows:
correcting the star point of the upper half frame of the star map of the (p + 1) th frame to the exposure time of the 1 st line of the frame by the correction quantity:
wherein q is the star point of the upper half frame of the star map of the p +1 th frame.
Then the real coordinates of the star point corresponding to the exposure time of the 1 st row of the frame on the star map of the p +1 th frame are:
and resolving the star sensor attitude corresponding to the 1 st row exposure time of the p +1 th frame according to the corrected star point of the lower half frame of the p th frame star map and the corrected star point of the upper half frame of the p +1 th frame star map.
And (4) by analogy, correcting the star point position once every other half frame, resolving the attitude once, and improving the attitude updating rate of the star sensor.
Compared with the prior art, the invention has the advantages that: a method for improving the attitude updating rate of a star sensor based on the correlation between rolling shutter exposure frames. The method uses continuous two frames of star maps to obtain the motion average speed of star points, corrects the star points of each half frame to the same time in the current frame and the next frame respectively according to the rolling shutter imaging characteristics, and calculates the star sensor attitude information at the corresponding time. The method has the advantages of high calculation efficiency, simple and convenient operation and good real-time property.
Drawings
FIG. 1 is a detailed flowchart of a method for improving the attitude update rate of a star sensor based on the correlation between rolling exposure frames.
FIG. 2 shows that the star point in the field of view moves to the right, the star point correction is carried out by taking the exposure time of the middle row of the p-th star map as the reference, and the schematic diagram of the attitude of the star sensor is solved once (the solid star point represents the position after the rolling shutter imaging, and the dotted line represents the position after the correction by taking the exposure time of the middle row as the reference).
Fig. 3 sets the star point in the field of view to move to the right, and with the exposure time of the 1 st row of the p +1 th frame of star map as the reference, the star points in the lower half frame of the p +1 th frame of star map and the star points in the upper half frame of the p +1 th frame of star map are subjected to position correction, and a primary attitude schematic diagram is solved (the solid line star represents the position after rolling shutter imaging, and the dotted line represents the position after correction with the exposure time of the 1 st row of the p +1 th frame of star map as the reference).
Detailed Description
The process of the present invention is further illustrated below with reference to specific examples.
The specific flow is shown in fig. 1, taking XXX star sensor products as an example, the focal length is 24.09mm, the pixel size is 0.0055mm, the field of view is 20 ° × 20, the number of rows of image planes of the star sensor detector is 1555, the number of columns is 1526, the exposure start time interval of each row of images is 43.9 μ s, and further explanation is given by taking asterisks 1101, 205, 165, 37, 543 as asterisks.
The method comprises the following specific steps:
(1) respectively extracting the mass centers of the star points by using the continuous star maps of the p-1 th frame and the p-th frame, and then acquiring the average speed of each star point in the p-th frame along the X and Y directions
(2) Extracting the centroid coordinate set of the star points in the p frame star map as
And i is 1,2, …,5, correcting the centroid position of the star point in the upper and lower half frames of the frame by taking the middle line exposure time of the p-th frame as a reference, wherein the correction amount is as follows:
where Δ t is the exposure start time interval for each line of the image.
The true coordinates of the star points corresponding to the middle row exposure time are:
and (3) solving the attitude of the star sensor at the exposure time of the middle row of the pth frame, as shown in the table 1. Table 1 shows that the average speed of the star point in the p-th frame star map is obtained according to the difference between the p-1 th frame star map and the p-th frame star map: and correcting the X direction to 30 pixels/s and the Y direction to 30 pixels/s to the middle line exposure time of the p frame, and calculating the star sensor attitude at the line exposure time.
TABLE 1
(3) Extracting the mass center coordinates of the star points in the star map of the p +1 th frame
Obtaining the average speed of each star point in the p +1 th frame along the X, Y direction according to the star point positions in the star map of the p th frame and the p +1 th frame when i is 1,2, …,5
Taking the 1 st line exposure time of the p +1 th frame star map as a reference, and correcting the positions of the star points of the lower half frame of the p +1 th frame star map and the star points of the upper half frame of the p +1 th frame star map:
correcting the star point position of the lower half frame of the p frame star map to the exposure time of the 1 st line of the p +1 frame star map, wherein the correction amount is as follows:
and k is the star point of the lower half frame in the p frame star map.
Then the real coordinates of the star point of the lower half frame star point of the p frame star map corresponding to the 1 st row time of the p +1 th frame are:
correcting the star points on the upper half frame of the p +1 th frame to the exposure time of the 1 st line of the frame by the correction quantity:
wherein q is the star point of the upper half frame in the star map of the p +1 th frame.
Then the real coordinates of the star point corresponding to the 1 st row time in the frame on the first half frame in the p +1 th frame are:
and (3) solving the star sensor attitude corresponding to the exposure time of the 1 st row of the p +1 th frame, as shown in the table 2. Table 2 shows that the average speed of the star point at the p +1 th frame is obtained according to the difference between the p +1 th frame star map and the p +1 th frame star map: and correcting the X direction to 30.73pixel/s and the Y direction to 29.85pixel/s to the 1 st line exposure time of the p +1 th frame star map, and calculating the star sensor attitude at the exposure time.
TABLE 2
(4) By analogy, the star point position is corrected once every other half frame, the attitude is resolved once, and the attitude updating rate of the star sensor is improved.
The present invention is not described in detail in the prior art. The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (2)
1. A method for improving the attitude update rate of a star sensor based on correlation between rolling shutter exposure frames is characterized by comprising the following steps:
step (1), setting the star sensor to be in a rolling shutter exposure mode, acquiring continuous two frames of star maps in the rolling shutter exposure mode, setting the star maps to be a p-1 th frame and a p-th frame, wherein the number of columns of the known star map is W, the number of rows of the known star map is H, and the exposure time of each row in the rolling shutter mode is trThe interval of the exposure starting time of each line of the image is delta t, the interval of the exposure starting time of the H-th line of the p-th frame of the image and the exposure starting time of the 1 st line of the p +1 th frame of the image is delta t, the centroid coordinates of star points of the p-1 th frame and the p-th frame of the star map are extracted, and the average speed of the p-th frame of the star map along the horizontal direction (X) and the vertical direction (Y) is obtained
Step (2), taking the exposure time of the middle row (namely the H/2 th row) of the p-th frame star map as a reference, correcting the positions of star points in the upper half frame and the lower half frame of the p-th frame star map, and calculating the star sensor attitude corresponding to the exposure time of the middle row;
the specific process of the step (2) is as follows:
the centroid coordinate set of n star points in the p-th frame star map is
And correcting the star point centroid positions of the upper and lower half frames of the frame by taking the middle line exposure time of the star map as a reference:
the true coordinates of the star points corresponding to the middle row exposure time are:
resolving the star sensor attitude at the exposure moment;
step (3) extracting a centroid coordinate set of star points of the star map of the (p + 1) th frame
Obtaining the average speed of each star point in the star map of the p +1 th frame along the X, Y direction according to the positions of the star points in the star map of the p th frame and the p +1 th frame
Taking the 1 st row exposure time of the p +1 th frame star map as a reference, carrying out position correction on star points in the lower half frame of the p +1 th frame star map and star points in the upper half frame of the p +1 th frame star map, and resolving the attitude of the star sensor;
and (4) applying the methods in the steps (2) and (3) to continuous frames, updating the attitude once for each interval of half-frame star maps, and obviously increasing the attitude updating rate of the star sensor.
2. The method for improving the attitude update rate based on the star sensor related to the rolling shutter exposure frames as claimed in claim 1, wherein the specific process of the step (3) is as follows:
a. correcting the star point of the p frame lower half frame to the 1 st line exposure time of the p +1 frame by the correction quantity:
wherein k is the star point of the lower half frame of the p frame star map;
then the real coordinates of the star point of the lower half frame of the p frame star map corresponding to the 1 st line exposure time of the p +1 th frame are:
b. correcting the star point of the upper half frame of the star map of the (p + 1) th frame to the exposure time of the 1 st row of the frame by the correction quantity:
wherein q is the star point of the upper half frame of the star map of the p +1 th frame;
then the real coordinates of the star point on the upper half frame of the p +1 th frame corresponding to the exposure time of the 1 st row of the frame are:
and resolving the star sensor attitude corresponding to the 1 st row exposure time of the p +1 th frame according to the corrected star point of the lower half frame of the p th frame star map and the corrected star point of the upper half frame of the p +1 th frame star map.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115375695A (en) * | 2022-10-27 | 2022-11-22 | 之江实验室 | Method and device for detecting dark and weak star light spots of dynamic star sensor and medium |
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