Sun positioning method based on complementary metal-oxide-semiconductor transistor (CMOS) navigation camera

Abstract

The invention discloses a sun positioning method based on a complementary metal-oxide-semiconductor transistor (CMOS) navigation camera, which comprises the steps of: (1) acquiring an image; (2) binarizing the image; (3) setting a sun radius as an R pixel; (4) setting a black sun diameter as a d pixel, searching black sun pixel points from the binarized image by taking the d as a step length, stopping as long as one black sun pixel point is found and turning to the next step; (5) calculating the quantity of the black sun pixel points with middle values of various upper, lower, left and right d pixel points being 0, turning to the next step if the result is within a threshold interval, otherwise, continuing to search; and (6) taking the region where the black sun pixel points and the surrounding pixel values are 0 as a circular structure, forming two squares which take the d and square root of 2 R as side lengths by means of taking the circle center of the circular structure as a center; regarding the circle center as the center of the sun if the quantity H1 of the pixel points with the pixel values being 0 in the squares taking the d as the side length and the quantity H2 of the pixel points with the pixel values being 1 in the squares taking the square root of 2 R are satisfied as a relation shown in the specification; otherwise, turning to the step (4) and continuing to search.

Description

technical field [0001] The invention relates to a sun positioning method. Background technique [0002] Traditional sun positioning devices are dedicated sun sensors, including solar cell-based codes and simulated sun sensors. In recent years, APS sun sensors based on mask holes have emerged. The above devices are characterized by the use of small apertures ( Slits, mask holes) weaken the solar energy, and detect it by photoelectricity. [0003] According to the method of identifying the sun position, the photoelectric effect sun tracking and positioning technology is divided into: slit imaging, centroid solution and four-quadrant deviation. The method of slit imaging is mainly used in the sun sensor, and the sun azimuth is calculated by the angle of the sun's rays passing through the slit. The method of solving the centroid is mainly to obtain the orientation of the sun by identifying the centroid of the sun spot range. The method of four-quadrant deviation is to use the...

AI Technical Summary

Problems solved by technology

[0005] The technical solution problem of the present invention is: overcome the deficiencies in the prior art, provide a kind of sun positioning method based on CMOS navigation camera, utilize the strong light imaging effect of CMOS photodetector self the method that the center of the sun image is a black spot, identify The dark part of the center of the sun solves the problem that the sun's bright spot is easily affected by the atmosphere, stray light and solar activity in the positioning process of the existing method, and the problem of low positioning accuracy improves the accuracy of the sun positioning

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