CN103900563A - Fast-moving star tracking matching identification method of star sensor - Google Patents
Fast-moving star tracking matching identification method of star sensor Download PDFInfo
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- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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Abstract
The invention relates to a fast-moving star tracking matching identification method of a star sensor and relates to the field of satellite autonomous navigation technologies. By utilizing the fast-moving star tracking matching identification method, the problems of small number of tracking matching fixed stars obtained by the existing identification method of tracking star of the star sensor and poor stability of a tracking method are solved. The existing method has the problem of mismatching caused by the fixed star just entering the field of view. For ensuring matching effectiveness simultaneously, the number of the tracked matching fixed stars is further increased so as to improve the stability of a star tracking algorithm. In the matching process, in order to make a smaller amount of calculation, matching number state identification and borderline state identification arrays are subjected to operation with bitwise, and if a result is 1, matching is considered to be successful. By adopting the identification method with first sorting and second two-way recursive matching, pointless comparison is reduced, mismatching caused by the star newly entering the field of view is eliminated, most important of all, the number of the tracked matching fixed starts of every step is greatly improved, and the stability of the tracking algorithm is further improved.
Description
Technical field
The present invention relates to autonomous navigation of satellite technical field, be specifically related to the recognition methods of a kind of star sensor fast-moving star tracking and matching.
Background technology
Star sensor generally comprises two mode of operations: i.e. initial attitude acquisition pattern and tracing mode.In initial attitude acquisition pattern, star sensor is set up initial attitude by whole day ball importance in star map recognition.Once initial attitude is successfully established, star sensor proceeds to tracing mode, and the attitude information that can utilize former frame or former two field picture to obtain is predicted and identifies the position of current frame image culminant star.In normal operation, the star sensor overwhelming majority time, tracing mode was the groundwork pattern of star sensor all in tracing mode, and the rapidity of its tracking and stability are the main performance index of star sensor.In star tracing process, a very important problem is exactly: the celestial body in the current visual field of celestial body information trace how to have recognized according to previous moment rapidly.
At present domesticly identify relevant patent of invention name to star tracking and matching and be called " a kind of quick matching and recognition method for star tracking apparatus ", the method is before coupling identification, first with reference to the asterism in star chart and observation star chart according to the ascending sequence of X coordinate, and then mate identification, although effectively reduced meaningless comparison, but the decision condition whether observation star is successfully identified is harsher, while having and only have an observation championship in the neighborhood of reference star, think and observe this observation star in star chart successfully be identified, if while occurring more than one observing star in reference star neighborhood, think recognition failures, meanwhile, the method is not considered the mistake coupling causing owing to just entering the fixed star of visual field.In the process of following the tracks of at actual star, in reference star neighborhood, occur more than one observing the probability of star very large, as shown in Figure 1, if by matching and recognition method after first sequence, in star chart, only have five pairs of stars by successfully identification (1-1 ', 2-3 ', 4-5 ', 5-6 ', 11-12 '), wherein 1-1 ' star is to being that mistake coupling (does not enter visual field with the observation star of No. 1 reference star actual match, in No. 1 reference star neighborhood, there is and only have one just to enter 1 of visual field ' number observation star, now will think that No. 1 reference star and 1 ' the match is successful for number observation star by mistake), the fixed star number of tracked coupling is less, this will have a strong impact on the stability of track algorithm.
Summary of the invention
The present invention solves existing star sensor to follow the tracks of the fixed star number of the tracking and matching that the recognition methods of star obtains few, the poor stability of tracking, and there is the problem that has just entered the mistake coupling that the fixed star of visual field causes in the method, the recognition methods of a kind of star sensor fast-moving star tracking and matching is provided.
The recognition methods of a kind of star sensor fast-moving star tracking and matching, the method is realized by following steps:
After first sequence of step 2, employing, the matching and recognition method of two-way recursion carries out Tracking Recognition;
If the difference dx of the X-axis coordinate of the X-axis coordinate of i star and j star is less than the radius of neighbourhood r of reference star and the difference dx of the X-axis coordinate of i star and the X-axis coordinate of j-1 star is greater than radius of neighbourhood r, i+1 star in reference star sequence directly mates identification with j star in observation star sequence;
Beneficial effect of the present invention: the quick tracking and matching recognition methods of star sensor of the present invention, for guarantee coupling validity time, further increase the fixed star quantity of tracked coupling, thereby improve the stability of star track algorithm, in matching process, for the calculated amount that makes to programme is less, number of matches status indicator and rim condition mark array are carried out to the calculating of step-by-step "AND", if result is 1, think that the match is successful.Adopt the recognition methods of the rear two-way recursion coupling of first sequence, not only reduce meaningless comparison, and got rid of the mistake coupling causing owing to newly entering the star of visual field, the most important thing is greatly to improve each and walked the fixed star number of tracked coupling, and then improved the stability of track algorithm.
Accompanying drawing explanation
In Fig. 1,1a is the Corresponding matching schematic diagram of observing star and reference star in star tracing process, and Fig. 1 b is the schematic diagram that in 1a, F place mark has X, Y coordinate difference;
Fig. 2 is that before and after star sensor, two frame field of view change schematic diagram;
3a in Fig. 3 and 3b are respectively k+1 frame with reference to star chart sequence and k+1 frame observation star chart sequence schematic diagram;
Fig. 4 is reference star and observation star sequence original state schematic diagram;
Fig. 5 is the schematic diagram that the reference star to appearing at field of view edge region carries out mark;
Fig. 6 is No. 3 stars of reference star sequence and observes star sequences match schematic diagram;
Fig. 7 is the locking process schematic diagram of observation star;
Fig. 8 is the schematic diagram of forward recursive coupling identification;
Fig. 9 is observation star pattern matching recognition result schematic diagram;
Figure 10 is attitude motion angular velocity while being 0.2 °/s, two kinds of fast-moving star Image Tracking Algorithms Performance comparative effectiveness figure;
Figure 11 is attitude motion angular velocity while being 10 °/s, two kinds of fast-moving star Image Tracking Algorithms Performance comparative effectiveness figure.
Embodiment
Embodiment one, in conjunction with Fig. 1 to Fig. 9, present embodiment is described, the recognition methods of a kind of star sensor fast-moving star tracking and matching, first by determining field of view edge region, choose effective reference star and participate in coupling identification, can avoid the mistake coupling causing owing to newly entering the fixed star of visual field, and then improve the validity of star track algorithm; Then utilize the two-way recursion thought to mate identification, greatly improved each and walk the fixed star number of tracked coupling; Concrete steps are:
One, field of view edge region is determined:
Star sensor is in practical work process, and due to platform stance motion, this is by unstable the fixed star that causes appearing at star sensor field of view edge region, and these fixed stars may be just to have entered visual field, also may in the time that next frame star is followed the tracks of, shift out visual field.Therefore, be the validity that guarantees successfully to mate, the reference star that field of view edge region occurs should not participate in coupling identification.For this reason, first to, according to star sensor concrete engineering constraint condition, determine field of view edge region.Fig. 2 is the limiting case of each frame field of view edge regional change of star sensor, and O is the initial point of star sensor image space coordinate system, and O ' is image plane center point.In the time that star sensor rotates around OZ axle as plane, some A is two frame imaging region difference maximums before and after star sensor, and the distance that star sensor forwards A' place as plane to from A is d.
Setting star sensor integral time is t
0, be N × N pixel as planar dimension, attitude motion angular velocity is ω °/s, as Plane Rotation angle θ and field of view edge distance is:
θ＝ωt
0 （1）
If guarantee the validity of coupling identification, participate in the fixed star of coupling identification in the two frame imaging processes of front and back, should be positioned at all the time star sensor field range.For this reason, definition is field of view edge region take interior region apart from a field of view edge d pixel, and the reference star occurring in this region does not participate in coupling identification.
Two, the matching and recognition method of two-way recursion after first sequence:
A, first the asterism in two width star charts is arranged according to X coordinate ascending order, coordinate system be the lower left corner take view field image as true origin, X, Y-axis are parallel to respectively the both sides of image, shown in Fig. 3 is the sequence of two width star charts in Fig. 1.In Fig. 1, dx is the difference of two star x coordinates; Dy is the difference of two star y coordinates, and L is two distances between star; R is the radius of neighbourhood, and ★ is with reference to the reference star in star chart, and ☆ is the observation star in observation star chart;
B, the k+1 frame after sequence is designated as respectively to reference star sequence and observation star sequence with reference to star chart and its observation star chart.K is more than or equal to 1 positive integer; Every reference star is arranged respectively to number of matches status indicator (this status indicator represents the quantity that occurs observation star in reference star neighborhood) and rim condition mark (this status indicator represents that reference star appears at the position in visual field, for judging whether reference star appears at field of view edge region).Mate identification before its status indicator is all set to 0, in conjunction with Fig. 4.
C, judge in reference star sequence, whether every star appears at the fringe region in visual field successively, if reference star appears at field of view edge region, the rim condition mark that this reference star is corresponding is set to 0; If reference star does not appear at field of view edge region, the rim condition mark that this reference star is corresponding is set to 1, in conjunction with Fig. 5.Rim condition is that 0 reference star does not mate identification.
D, for reducing calculated amount, improve computing velocity, and validity after can guaranteeing successfully to mate, be not the distance d of two stars of comparison here, but coordinate difference dx(X coordinate difference relatively), dy(Y coordinate difference), formula is as follows:
dx＝|x-x′|dy＝|y-y′| （3）
E, for i star in reference star sequence, if coordinate difference dx, the dy of j celestial body and its x and y are less than radius of neighbourhood r in observation star sequence, and the coordinate difference dx of j+1 celestial body and its x is greater than r, for i star, coupling end of identification; If coordinate difference dx, the dy of j its x of celestial body and y are less than radius of neighbourhood r in i star in reference star sequence and observation star sequence, and be greater than r with observing j-1 star x coordinate difference dx in star sequence, for i+1 star in reference star sequence, only need start comparison by j star from observation star sequence, star before does not need comparison.Take No. 3 stars of reference star sequence and observation star sequences match as example, as shown in Figure 6.In figure:---the observation star of identification is mated in-------expression,
represent to meet the observation star of relation (dx, dy<r); No. 3 stars of reference star sequence and observation star sequence relatively since 9 ' number star, 9 ' number star is relatively time, first to make dx be less than the star of the observation star sequence of r in No. 7 stars of reference star sequence and observation star sequence.That is to say, 1 before No. 7 stars and 9 ' number star ', 3 ' number dx value be greater than r.Owing to being ascending order comparison, No. 3 stars and 1 below of No. 7 stars so ', 3 ' number dx value inevitablely also be greater than r, therefore No. 3 stars there is no need to have compared with them again.By that analogy, reference star sequence No. 8 stars and observation star sequence relatively since 4 ' number star.
F, relatively time, if the star dx of No. 3 stars and observation star sequence is less than r, continue and observe lower star comparison of star sequence.In present embodiment, No. 3 stars will successively with 9 ', 4 ', 10 ', 5 ', 12 ' number star compares.
G, at No. 3 stars and 12 ' number star relatively time, find that the dx value of two stars is greater than r, stop No. 3 stars and observe the comparison of star sequence, because be ascending order comparison, No. 3 stars and 12 ' number star below 6 ', 7 ', the dx value of 2 ' number star must be greater than r, there is no need to compare again.
H, in the process of No. 3 stars and the comparison of observation star sequence, 4 ', the dx of 5 ' number star, dy value be less than r simultaneously, in the neighborhood of No. 3 stars, occurs that two are observed stars, now, the number of matches status indicator of No. 3 stars is set to 2.
I, in matching process, if reference star successfully mates with observation star, the number of matches status indicator of reference star is set to 1, and the observation star that the match is successful is carried out to " locking ", after matching process in, if this observation star appears in the neighborhood of other reference stars, can be considered by this observation star " deletion ", now, the corresponding number of matches status indicator of other reference stars subtracts 1 accordingly.As shown in Figure 7, in figure:
represent the successfully observation star of coupling; In the time that No. 5 reference stars successfully mate with 6 ' number observation star, 6 ' number observation star is carried out to " locking ", after No. 9 reference star matching processs in, occur 6 in its neighborhood ', 7 ' number observation star, due to 6 ' and number observation star is " locked ", and can be considered in the neighborhood of No. 9 reference stars and only has one 7 ' number observation star, and No. 9 reference stars can successfully mate with 7 ' number observation star, meanwhile, No. 9 corresponding number of matches status indicators of reference star are subtracted to 1 accordingly;
J, according to recurrence thought, compare with reference to star sequence and observation star sequence, complete the identification of forward recursive coupling, in conjunction with Fig. 8.
K, carry out contrary recurrence coupling take reference star that in reference star sequence, last success is mated as benchmark, the observation star successfully mating with it is carried out to " locking ", if this observation star appears in the neighborhood of other reference stars, can be considered this observation star " deletion ", now, the corresponding number of matches status indicator of other reference stars subtracts 1 accordingly.According to recurrence thought, complete the identification of backward induction method coupling.This frame observes the final coupling recognition result of star chart in conjunction with Fig. 9.
L, in matching process, for the calculated amount that makes to programme is less, number of matches status indicator and rim condition mark array are carried out to the calculating of step-by-step "AND", if result is 1, think that the match is successful.
In present embodiment, adopt the rear two-way recursion matching and recognition method of first sequence, not only reduce meaningless comparison, and get rid of owing to newly entering the mistake coupling that the star of visual field causes, the most important thing is greatly to improve each and walked the fixed star number of tracked coupling, and then improved the stability of track algorithm.
Embodiment two, in conjunction with Figure 10 and Figure 11, present embodiment is described, present embodiment is the embodiment of the star sensor fast-moving star tracking and matching recognition methods described in embodiment one:
In present embodiment, star sensor 0.1s integral time is set, radius of neighbourhood r is 50, is 2048 × 2048 pixels as planar dimension, determines that according to equation (1), (2) field of view edge region is with interior region apart from 26 of visual fields pixel.In the time that attitude motion angular velocity is respectively 0.2 °/s and 10 °/s, carry out fast-moving star tracking, two kinds of fast-moving star Image Tracking Algorithms Performance are relatively as shown in Figure 10,11.
In the situation that the radius of neighbourhood is larger, can be found out by Figure 10,11, when attitude motion angular velocity hour, utilize the fast tracting method described in embodiment, can reach nearly 100% tracking to the fixed star occurring in each step observation star chart, guarantee the accuracy requirement of star track algorithm, and utilized matching process after first sequence, can only follow the tracks of 65.3% fixed star in each step observation star chart; In the time that attitude motion angular velocity is larger, utilize the fast tracting method of invention herein, can follow the tracks of 91.3% fixed star in each step observation star chart, meet the requirement of star track algorithm stability, and utilize matching process after first sequence, can only follow the tracks of 73.2% fixed star in each step observation star chart.
Claims (4)
1. a star sensor fast-moving star tracking and matching recognition methods, is characterized in that, the method is realized by following steps:
Step 1, field of view edge region are determined; According to t integral time that sets star sensor
0, be N × N pixel as planar dimension, attitude motion angular velocity is ω °/s, obtains as Plane Rotation angle θ and field of view edge apart from d; Described θ and d are formulated as:
After first sequence of step 2, employing, the matching and recognition method of two-way recursion carries out Tracking Recognition;
Step 2 one, the K+1 frame after arranging by ascending order is designated as respectively to reference star sequence and observation star sequence with reference to star chart and observation star chart, then every reference star is arranged respectively to number of matches status indicator and rim condition mark, and the initial value of setting number of matches status indicator and rim condition mark is 0;
Step 2 two, judge whether every star in reference star sequence appears at field of view edge region successively, if, the rim condition mark that described reference star is corresponding is set to identical with initial value, and if not, the rim condition mark that described reference star is corresponding is set to 1;
Step 2 three, adopt forward recursive coupling recognizer to be set to 1 reference star to rim condition mark in step 2 two to mate with observing star sequence, mate with j star in observation star sequence with reference to i star in star sequence, if i star and the X-axis coordinate difference dx of j star and Y-axis coordinate difference dy be all less than the radius of neighbourhood r of reference star, the number of matches status indicator of described i star is added to 1; If the difference dx of the X-axis coordinate of the X-axis coordinate of i star and j+1 star is greater than radius of neighbourhood r, i star coupling end of identification;
If the difference dx of the X-axis coordinate of the X-axis coordinate of i star and j star is less than the radius of neighbourhood r of reference star and the difference dx of the X-axis coordinate of i star and the X-axis coordinate of j-1 star is greater than radius of neighbourhood r, i+1 star in reference star sequence directly mates identification with j star in observation star sequence;
Step 2 four, the observation star that in step 2 three, the match is successful is locked, that is: conclude whether the described observation star that the match is successful appears in the neighborhood of other reference star, if so, delete described observation star, and the number of matches status indicator of reference star corresponding described observation star is subtracted to 1; After forward recursive coupling finishes, then carry out contrary recurrence coupling take last successful reference star mating in reference star sequence as benchmark, and the observation star that becomes function match is locked;
Step 2 five, carry out AND operation bit-by-bit with reference to the number of matches status indicator of star and rim condition mark, if result is 1, realize reference star with observe star successfully mate identification.
2. a kind of star sensor fast-moving star tracking and matching according to claim 1 recognition methods, it is characterized in that, carry out contrary recurrence coupling take last successful reference star mating in reference star sequence as benchmark, and the observation star that becomes function match is locked; Be specially: if this observation star appears in other reference star neighborhood, delete described observation star, and the number of matches status indicator of the reference star corresponding with described observation star is subtracted to 1.
3. a kind of star sensor fast-moving star tracking and matching according to claim 1 recognition methods, it is characterized in that, in step 2 one, arrange and refer to by ascending order: the asterism in the reference star chart that star sensor is obtained and observation star chart is arranged according to X coordinate axis ascending order, coordinate system is take the lower left corner of view field image as true origin, and X-axis and Y-axis are parallel to respectively the both sides of star chart.
4. a kind of star sensor fast-moving star tracking and matching according to claim 1 recognition methods, is characterized in that, described X-axis coordinate difference dx and Y-axis coordinate difference dy, be formulated as:
dx＝|x-x′|dy＝|y-y′|。
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| CN104197933A (en) * | 2014-09-16 | 2014-12-10 | 中国科学院光电技术研究所 | Method for enhancing and extracting high stars and other sliding fixed stars in view field of telescope |
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