CN116300042A - High-precision positioning method of astronomical device - Google Patents
High-precision positioning method of astronomical device Download PDFInfo
- Publication number
- CN116300042A CN116300042A CN202310198246.3A CN202310198246A CN116300042A CN 116300042 A CN116300042 A CN 116300042A CN 202310198246 A CN202310198246 A CN 202310198246A CN 116300042 A CN116300042 A CN 116300042A
- Authority
- CN
- China
- Prior art keywords
- dimensional turntable
- ccd camera
- star
- angle
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a high-precision positioning method of an astronomical device, which is characterized in that a set of telescope system is arranged on a two-dimensional direct-drive turntable, an automatic focusing seat is arranged at the rear end of a telescope, the rear end of the automatic focusing seat is connected with a CCD camera, and an electronic compass is arranged above the CCD camera; the telescope level and the zero position in the north direction are preliminarily determined through the electronic compass, then the CCD camera is utilized to control the two-dimensional turntable to rotate and scan in a set area near the target fixed star, and after the target fixed star appears in the CCD field of view, the relative high-precision positioning of the device at the position can be obtained through image processing and calculation. The invention has high degree of automation, and the software can complete the whole process, thereby realizing high-precision positioning of the device.
Description
Technical Field
The invention belongs to the field of automatic control, and particularly relates to a high-precision positioning method of a device.
Background
In astronomical observation, a certain star is often tracked stably, so that astronomical shooting is performed or certain parameters are measured. The observation position of the star at a certain moment can be obtained through the star table to obtain parameters such as the right ascension and the right ascension, the right ascension can be obtained through the star table or an astronomical calendar, and common star tables include a smith star table (SAO), an epstein star table (HIP) and the like. Because the distance between the star and the observation ground is far, and the field of view of the telescope is small, in order to accurately and stably track the target star, the tracking precision of the tracking device needs to be ensured to reach a high level, and the positioning of the device needs to be accurate, in particular, the horizontal zero position and the pitching zero position of the telescope at a specific position need to be accurate.
For the observation of common astronomical equipment, a star (such as a polar star) is generally adopted to position the observation equipment, the angle of the star finding mirror is adjusted by installing the star finding mirror right above the telescope, so that the star finding mirror and the telescope are coaxial, the field of view of the star finding mirror is larger than the field of view of the telescope, when the star is observed in the star finding mirror, the star is moved to the middle position of the star finding mirror through adjusting the horizontal angle and the pitching angle of the device, the star can be seen in the telescope, the device is further finely tuned, so that the star appears at the center position of the field of view of the telescope, the position of the device at the moment is read, meanwhile, the azimuth angle and the pitch angle of the star at the moment are calculated by a star meter combination algorithm, and the horizontal zero correction value and the pitching zero correction value of the device at the moment are obtained by calculation, so that the positioning of the equipment is completed. This approach has a number of problems: firstly, the star finder is adjusted to enable the star finder and the telescope to be coaxial, and usually, remote targets such as buildings, trees and the like are adopted, the telescope is adjusted to enable the remote targets to be observed in the telescope, then the position of the star finder is adjusted to enable the remote targets to be imaged at the middle position of the star finder, and coaxial adjustment of the telescope and the star finder is completed; and secondly, when finding stars by using the star finding mirror, if the star finding mirror is used for locating by using the sun in the daytime, the bard film needs to be installed in front of the star finding mirror and the lens barrel in front of the telescope is covered, and if finding stars at night, operators need to roughly find stars needing to be located by naked eyes, and then the star finding mirror is used for finding. From the above description, it can be seen that the degree of automation is not high when a star is found by using a star finder, and particularly, it takes a long time to complete the above steps for a person who is unskilled in operation.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a high-precision positioning method for a device, so that the structure of the device can be simplified, the positioning difficulty of the device can be reduced, and the positioning precision and the operation convenience of the device can be improved.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the invention relates to a high-precision positioning method of an astronomical device, which is characterized in that a telescope is arranged on a two-dimensional turntable, an automatic focusing machine seat is arranged at the rear end of the telescope, a CCD camera is arranged at the rear end of the automatic focusing machine seat, and an electronic compass is arranged above the CCD camera; the high-precision positioning method is characterized by comprising the following steps of:
step 1, let alpha be the current pitch angle reading of the electronic compass, let beta be the current north-pointing reading of the electronic compass, let gamma represent the comprehensive view field angle of the horizontal direction after the CCD camera is connected with the telescope, let delta represent the comprehensive view field angle of the pitch direction after the CCD camera is connected with the telescope; let the movement adjustment angle be tau; when the motor in the horizontal direction in the two-dimensional turntable moves, the direction in which the angle is increased is positive, and the direction in which the angle is decreased is negative;
let N be the current number of movements of the two-dimensional turntable, let N be the maximum number of movements;
let flag_n represent whether to make the nth movement while scanning the two-dimensional turntable, if yes, make flag=0; otherwise, let flagn=1;
let the sign beacon represent whether there is a fixed star imaging of the target surface of the CCD camera, if there is, let beacon=1, otherwise, let beacon=0;
step 9, rotating the two-dimensional turntable by taking the current field of view of the CCD camera as the center according to a set scanning path to perform clockwise or anticlockwise nth moving scanning on the area near the center of the field of view:
when the direction of the motor in the pitching direction in the two-dimensional turntable is downward in the nth movement, the angle of the motor in the pitching direction in the two-dimensional turntable at the current position is-delta+tau, and the step 10 is executed;
when the direction of the motor in the pitching direction in the two-dimensional turntable is upward in the nth movement, the angle of the motor in the pitching direction in the two-dimensional turntable at the current position is delta-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable during the nth movement is positive, the angle of the motor in the horizontal direction in the two-dimensional turntable at the current position is gamma-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable is negative in the nth movement, the angle of the horizontal motor in the two-dimensional turntable at the current position is-gamma+tau, and the step 10 is executed;
step 10, judging whether the CCD camera has star imaging or not:
if the target sidereal is imaged in the CCD camera at the current interval time, enabling the beacon to be 1, and returning to the step 7 for sequential execution;
if no target sidereal image is formed in the CCD camera at the current interval time, flag_n=1, if n+1 is less than or equal to N, n+1 is assigned to N, then step 9 is executed, if n+1>N, the two-dimensional turntable stops rotating, and scanning is completed;
step 11, reading the current horizontal angle value of the two-dimensional turntable as theta 3 Pitch angle value θ 4 Simultaneously calculating the horizontal angle of the observation position of the target sidereal at the current interval timeThe degree value is theta 5 Pitch angle value θ 6 Calculating the zero position of the two-dimensional turntable in the horizontal direction at the current position as theta 1 +θ 3 -θ 5 Zero position in pitching direction is theta 2 +θ 4 -θ 6 Thereby adjusting the angle of the two-dimensional turntable to realize high-precision positioning.
The electronic device of the invention comprises a memory and a processor, wherein the memory is used for storing a program for supporting the processor to execute the high-precision positioning method, and the processor is configured to execute the program stored in the memory.
The invention relates to a computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being run by a processor, performs the steps of the high-precision positioning method.
Compared with the prior art, the method has the beneficial effects that:
1. according to the invention, the turntable telescope system is combined with the CCD camera and the electronic compass, and the fixed star imaging is obtained by utilizing the CCD camera imaging and the image is calculated, so that errors caused by star finding by utilizing the star finding mirror in the traditional method are overcome, and the positioning precision of the device is improved;
2. the invention abandons the structure of the star finding mirror above the telescope, simplifies the structure of the whole device, overcomes the defects that operators are required to perform operations such as coaxial correction and star finding by naked eyes in the prior art, and reduces the operation complexity in the positioning process;
3. the invention adopts a full-automatic star finding and positioning method, and the whole process is automatically carried out, thereby improving the automation degree of the device; the method is simple and convenient to operate, and the positioning of the device can be completed without excessive operation participation of personnel.
4. According to the invention, the scanning star-finding area can be automatically planned according to specific actual needs, so that different application scenes can be satisfied.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a visual star map for use in the present invention;
FIG. 3 is a scanning flow chart of the present invention;
FIG. 4 is a flow chart of the structural operation of the present invention;
reference numerals in the drawings: 1, a two-dimensional turntable; 2. a telescope; 3, an automatic focusing seat; a 4CCD camera; 5 electronic compass.
Detailed Description
In this embodiment, as shown in fig. 1, a high-precision positioning method of a device is that a telescope 2 is erected on a two-dimensional turntable 1, and the two-dimensional turntable 1 adopts a direct-drive torque motor to match with a high-precision absolute circular grating encoder, so that the positioning method has the advantages of high positioning precision, quick response, strong environmental adaptability and the like. An automatic focusing seat 3 is connected to the rear of the telescope 2, a CCD camera 4 is connected to the rear end of the automatic focusing seat, the CCD camera 4 is driven to move back and forth through the back and forth movement of the automatic focusing seat 3, so that the imaging definition of the target surface of the CCD camera 4 is adjusted, an electronic compass 5 is fixed above the CCD camera 4, and the electronic compass 5 provides three parameters of heading north-pointing pitching and rolling. In this embodiment, the pitch positioning precision of the electronic compass 5 is 0.1 °, the heading north precision is 0.25 °, and the electronic compass 5 guides the two-dimensional turntable 1 to rotate, so that the horizontal and pitch directions of the telescope 2 are both 0 °.
In this embodiment, as shown in fig. 2, a visual star map is shown, and the star map can look at the position of the star that can be observed in the current position, and update the position of the star with the natural frequency, specifically including the information of azimuth angle, altitude angle, brightness, etc. of the star, so as to facilitate the selection of the target star during positioning.
In this embodiment, as shown in fig. 3, a scanning star finding diagram of a two-dimensional turntable 1 is shown, an area 1 is a field of view of an original CCD camera 4, and the field of view is taken as a center, and the expansion of the field of view of the CCD camera 4 can be realized by moving the two-dimensional turntable 1 clockwise.
In this embodiment, as shown in fig. 4, the high-precision positioning method of the device is performed according to the following steps:
and 1, recording readings of the electronic compass 5, wherein alpha is used for representing a pitch angle reading value of the electronic compass 5, beta is used for representing a horizontal angle reading value of the electronic compass 5, and alpha and beta are updated at fixed frequency. The gamma is represented by the magnitude of the comprehensive field of view in the horizontal direction after the CCD camera 4 is connected with the telescope 2, the delta is represented by the magnitude of the comprehensive field of view in the pitching direction after the CCD camera 4 is connected with the telescope 2, the gamma and the delta are obtained by the parameter synthesis of the telescope 2 and the specific CCD camera 4, and the value of the gamma in the example is about 0.2 degrees and the value of the delta is about 0.17 degrees through experiments; let the movement adjustment angle be τ, which is the angle adjustment amount of the two-dimensional turntable 1 during scanning; when the horizontal motor of the two-dimensional turntable 1 moves, the direction in which the angle is increased is positive, and the direction in which the angle is decreased is negative;
let N be the current number of movements of the two-dimensional turntable 1, the area where the current field of view is located can be obtained from the actual planned route, let N be the maximum number of movements of the actual planned scan route;
let flag_n denote that the nth movement is required when scanning the two-dimensional turntable 1, if yes, flag_n=0, otherwise flag_n=1;
let the sign beacon represent whether there is a star imaging on the target surface of the CCD camera 4, if there is, let beacon=1, otherwise, let beacon=0;
and 5, selecting a certain star which can be observed in the star map as a target star, wherein the observation position of the target star, namely the azimuth angle and the pitch angle of star observation, is obtained by combining a star meter algorithm with local longitude and latitude, time information and the like through calculation. The star is generally selected as a target star, and the movement angle of the star is small and is approximately regarded as a fixed star. Calculating to obtain the values of the horizontal angle and the pitch angle observed by the target star at the current moment at the moment every interval time T seconds, and controlling the two-dimensional turntable 1 to rotate to the position, wherein the process is always carried out until a satellite following instruction of the two-dimensional turntable 1 is received;
and 7, moving the automatic focusing machine base 3, driving the camera to move back and forth through the back and forth movement of the focusing machine base, so as to change the imaging quality of the target surface of the CCD camera 4, and calculating correction values of the horizontal direction and the pitching direction when the imaging quality of the sidereal in the target surface of the CCD camera 4 is optimal. In this example, the telescope 1 and the CCD camera 4 are used for imaging a certain point light source, the position of the center of mass corresponding to the movement before and after imaging of the CCD camera 4 is calculated as m pixel points after rotating by a fixed angle value delta theta, and thus the angle corresponding to each pixel point is obtained as follows
The correction angle theta in the horizontal direction is obtained by calculating the difference value from the centroid coordinates of the star image to the center coordinates of the field of view of the CCD camera 4 1 A pitch direction correction angle of θ 2 ；
step 9, rotating the two-dimensional turntable 1 to perform clockwise or anticlockwise nth moving scanning on the area near the center of the video field by taking the current field of view of the CCD camera 4 as the center:
when the direction of the motor in the pitching direction in the two-dimensional turntable 1 at the nth movement is downward, the angle of the motor in the pitching direction in the two-dimensional turntable 1 at the current position is-delta+tau, and the step 10 is executed;
when the direction of the motor in the pitching direction in the two-dimensional turntable 1 is upward in the nth movement, the angle of the motor in the pitching direction in the two-dimensional turntable 1 at the current position is delta-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable 1 at the nth movement is positive, the angle of the motor in the horizontal direction in the two-dimensional turntable 1 at the current position is gamma-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable 1 at the nth movement is negative, the angle of the horizontal motor in the two-dimensional turntable 1 at the current position is-gamma+tau, and the step 10 is executed;
step 10, judging whether the CCD camera 4 has star imaging:
if the CCD camera 4 has target sidereal imaging, indicating that sidereal has been scanned and obtained, enabling beacon=1, and returning to the step 7 for sequential execution;
if no target star is imaged in the CCD camera 4, flag_n=1, if n+1 is less than or equal to N, n+1 is assigned to N, then step 9 is executed, and if n+1>N, the two-dimensional turntable 1 stops rotating to finish scanning;
step 11, reading the horizontal angle value of the two-dimensional turntable 1 at the moment to be theta 3 Pitch angle value θ 4 ，θ 3 And theta 4 For the angle feedback values of the circular grating encoders in the horizontal direction and the pitching direction of the two-dimensional turntable 1 at the moment, the star table combination algorithm is used for obtaining the horizontal observation angle theta of the target star at the current moment 5 A pitching observation angle of theta 6 . From this calculation, the horizontal zero position of the two-dimensional turntable 1 at the current position is θ 1 +θ 3 -θ 5 The correction value of pitching direction is theta 2 +θ 4 -θ 6 . Thereby adjusting the angle of the two-dimensional turntable (1) to realize high-precision positioning.
When the star map algorithm is used for calculating and obtaining that the horizontal angle of a certain star at the moment is sigma 1 A pitching angle of sigma 2 The horizontal motor of the two-dimensional turntable 1 needs to rotate to sigma 1 +θ 1 +θ 3 -θ 5 The pitching motor of the two-dimensional turntable 1 needs to rotate to sigma 2 +θ 2 +θ 4 -θ 6 The star can be positioned at the center of the field of view of the telescope.
In this embodiment, an electronic device includes a memory for storing a program supporting the processor to execute the above method, and a processor configured to execute the program stored in the memory.
In this embodiment, a computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method described above.
Claims (3)
1. A high-precision positioning method of an astronomical device is characterized in that a telescope (2) is arranged on a two-dimensional turntable (1), an automatic focusing machine base (3) is arranged at the rear end of the telescope (2), a CCD camera (4) is arranged at the rear end of the automatic focusing machine base (3), and an electronic compass (5) is arranged above the CCD camera (4); the high-precision positioning method is characterized by comprising the following steps of:
step 1, let alpha be the current pitch angle reading of the electronic compass (5), let beta be the current north-pointing reading of the electronic compass (5), let gamma represent the comprehensive view angle of the horizontal direction after the CCD camera (4) is connected with the telescope (2), let delta represent the comprehensive view angle of the pitch direction after the CCD camera (4) is connected with the telescope (2); let the movement adjustment angle be tau; when the motor in the horizontal direction in the two-dimensional turntable (1) moves, the direction in which the angle is increased is positive, and the direction in which the angle is decreased is negative;
let N be the current number of movements of the two-dimensional turntable (1), let N be the maximum number of movements;
let flag_n denote whether the nth movement is performed during the scanning of the two-dimensional turntable (1), if so, flag=0; otherwise, let flagn=1;
let the sign beacon represent whether there is a sidereal imaging of the target surface of the CCD camera (4), if there is, let beacon=1, otherwise, let beacon=0;
step 2, initializing n=1, and enabling a flag_n to be 0 and a beacon to be 0;
step 3, judging the value of alpha, and if alpha=0, executing step 4; otherwise, the motor in the pitching direction of the two-dimensional turntable (1) is moved until alpha=0, and then the step 4 is executed;
step 4, judging the value of beta, and if beta=0, executing step 5; otherwise, the motor in the horizontal direction of the two-dimensional turntable (1) is moved until beta=0, and then the step 5 is executed;
step 5, selecting a certain star in a star map as a target star, and calculating the observation position of the target star every interval time T, so that the two-dimensional turntable (1) rotates to the observation position of the target star under the current interval time until the two-dimensional turntable (1) receives a star following stopping instruction;
step 6, image acquisition and analysis are carried out on the area where the observation position is located under the current interval time by utilizing the CCD camera (4), and if no imaging of a target sidereal exists in the target surface of the CCD camera (4), the step 8 is executed; otherwise, executing the step 7;
step 7, moving the automatic focusing machine base (3) until the imaging quality of a target sidereal in the target surface of the CCD camera (4) is optimal, so as to calculate angles from the centroid of a target sidereal image to the center of the target surface of the CCD camera (4) at the current interval time, wherein the angles are respectively as follows: the horizontal direction is theta 1 A pitch direction of θ 2 The method comprises the steps of carrying out a first treatment on the surface of the Then jump to step 11;
step 8, if beacon=1, executing step 11; otherwise, executing the step 9;
step 9, rotating the two-dimensional turntable (1) to perform clockwise or anticlockwise nth moving scanning on the area near the center of the video field by taking the current field of view of the CCD camera (4) as the center according to a set scanning path:
when the direction of the motor in the pitching direction in the two-dimensional turntable (1) in the nth movement is downward, the angle of the motor in the pitching direction in the two-dimensional turntable (1) in the current position movement is-delta+tau, and the step 10 is executed;
when the direction of the motor in the pitching direction in the two-dimensional turntable (1) is upward in the nth movement, the angle of the motor in the pitching direction in the two-dimensional turntable (1) in the current position is delta-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable (1) is positive in the nth movement, the angle of the motor in the horizontal direction in the two-dimensional turntable (1) at the current position is gamma-tau, and the step 10 is executed;
when the direction of the motor in the horizontal direction in the two-dimensional turntable (1) is negative in the nth movement, the angle of the horizontal motor in the two-dimensional turntable (1) at the current position is-gamma+tau, and the step 10 is executed;
step 10, judging whether the CCD camera (4) has star imaging or not:
if a target star is imaged in the CCD camera (4) at the current interval time, enabling the beacon to be 1, and returning to the step 7 for sequential execution;
if no target star is imaged in the CCD camera (4) at the current interval time, enabling flag_n to be 1, if n+1 is less than or equal to N, assigning n+1 to N, executing step 9, and if n+1>N, stopping rotation of the two-dimensional turntable (1) and completing scanning;
step 11, reading the current horizontal angle value of the two-dimensional turntable (1) as theta 3 Pitch angle value θ 4 Simultaneously calculating the horizontal angle value of the observation position of the target sidereal under the current interval time as theta 5 Pitch angle value θ 6 Calculating the zero position of the two-dimensional turntable (1) in the horizontal direction under the current position as theta 1 +θ 3 -θ 5 Zero position in pitching direction is theta 2 +θ 4 -θ 6 Thereby adjusting the angle of the two-dimensional turntable (1) to achieve high-precision positioning.
2. An electronic device comprising a memory and a processor, wherein the memory is configured to store a program that supports the processor to perform the high precision positioning method of claim 1, the processor being configured to execute the program stored in the memory.
3. A computer readable storage medium having a computer program stored thereon, characterized in that the computer program when run by a processor performs the steps of the high precision positioning method according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310198246.3A CN116300042A (en) | 2023-03-03 | 2023-03-03 | High-precision positioning method of astronomical device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310198246.3A CN116300042A (en) | 2023-03-03 | 2023-03-03 | High-precision positioning method of astronomical device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116300042A true CN116300042A (en) | 2023-06-23 |
Family
ID=86819965
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310198246.3A Pending CN116300042A (en) | 2023-03-03 | 2023-03-03 | High-precision positioning method of astronomical device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116300042A (en) |
-
2023
- 2023-03-03 CN CN202310198246.3A patent/CN116300042A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7339731B2 (en) | Self-aligning telescope | |
| CN102741706B (en) | The geographical method with reference to image-region | |
| CN103837126B (en) | Using position of heavenly body as the three-dimensional space direction angle measuring device of calibration benchmark and method | |
| US7482564B2 (en) | High definition telescope | |
| US20140085717A1 (en) | Systems and methods for closed-loop telescope control | |
| CN111486868B (en) | Photoelectric telescope azimuth-free expansion calibration method based on ground feature | |
| CN111238540A (en) | Lopa gamma first camera-satellite sensitive installation calibration method based on fixed star shooting | |
| CN103885455A (en) | Tracking measurement robot | |
| CN103837138B (en) | Precise photogrammetry robot | |
| CN114001756B (en) | Small-field-of-view star sensor outfield ground star finding method | |
| US7768631B1 (en) | Method and system for providing a known reference point for an airborne imaging platform | |
| CN114167900B (en) | Photoelectric tracking system calibration method and device based on unmanned aerial vehicle and differential GPS | |
| CN114608611A (en) | Photoelectric pod collimation axis error correction method based on combined navigation post-processing | |
| CN111879299B (en) | Full-automatic satellite pointing method for ground-based telescope | |
| CN114137590A (en) | Target positioning method based on north reference correction of orthogonal shafting leveling device | |
| CN114111723A (en) | Celestial body capturing method based on dynamic small field of view | |
| CN115793722B (en) | High-precision tracking method and system for ground level type solar telescope storehouse de-focus surface | |
| JP2022027117A (en) | Telescope control program | |
| CN111895968A (en) | High-precision composite horizontal angle measuring system | |
| CN116300042A (en) | High-precision positioning method of astronomical device | |
| CN104458653B (en) | Method and system for measuring atmospheric refraction value at large zenith distance | |
| Zhan et al. | Adaptive celestial positioning for the stationary mars rover based on a self-calibration model for the star sensor | |
| CN110362120B (en) | Scanning control method for two-dimensional scanning wide-range imaging platform | |
| GB2556389A (en) | Method for readjusting a parallactic or azimuthal mounting | |
| CN111879298A (en) | Automatic star pointing method for moon unattended telescope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |