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High-dynamic rapid star tracking method

A star tracking, high dynamic technology, applied in the field of star sensors, which can solve problems such as false matching and tracking errors

Active Publication Date: 2015-10-07
BEIHANG UNIV
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Problems solved by technology

However, when the star sensor is applied to high dynamic attitude acquisition, the range of movement of the star in the field of view is relatively large, and the original matching identification tracking method will appear as follows image 3 The tracking error shown, when the tracking radius is taken as small as image 3 In the 5th star, there will be a wrong match with other star points. If the radius is large, such as image 3 In the middle star 3, the matching star 1 enters the matching area, but other stars also enter the matching area, which also causes a wrong match

Method used

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Embodiment Construction

[0036] Such as Figure 4 , 5 As shown, a kind of fast star tracking method of the present invention is specifically realized as follows:

[0037] (1) Virtual large field of view star map prediction

[0038] Due to the high dynamic speed of object motion, the range of star movement on the imaging surface is relatively large, so the prediction of star points in the high dynamic star sensor is a necessary process, otherwise there will be image 3 Mismatching problem in, the present invention according to front T 1 -T 10 The attitude information of multiple frames at a time (10 frames are taken here), and the weight value is designed according to its adjacent relationship to predict the next time T 11 The output attitude, and then use the predicted attitude to predict the current virtual large field of view star map.

[0039] The specific process is as follows:

[0040] Take the front T 1 -T 10 Attitude quaternion Q at moment 1 -Q 10 , according to T 1 and T 2 Attitude q...

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Abstract

The invention discloses a high-dynamic rapid star tracking method. The method comprises 1, designing a weighted value according to multiframe attitude information output by a star sensor at the T1-Tn moment and a proximity relationship of the multiframe attitude information, forecasting attitude of the star sensor at the next T<n+1> moment, searching a star point corresponding to the attitude from a star database by the forecasted attitude, and producing a virtual forecasted large view field star image for matching by mapping, and 2, carrying out matching identification on a star position A and a star mass center position B at t+delta t moment to realize star tracking. The high-dynamic rapid star tracking method utilizes multi-frame attitude information prediction, has a fast prediction rate, improves prediction accuracy, realizes tracking and matching based on a forecasted virtual wide field star image without novel star identification and improves a star tracking algorithmic speed.

Description

technical field [0001] The invention relates to a fast star tracking method under high dynamics, and belongs to the technical field of star sensors. Background technique [0002] The star sensor is the main equipment of the celestial navigation system, which is an instrument integrating optics, mechanics, electronics and real-time image processing technology. It acquires the image information of the star through the CCD or CMOS image sensor, and then processes the image information in real time (including precise positioning of the center of the star, star map recognition, fast tracking and accurate attitude calculation), and outputs attitude information to control the attitude of the aircraft. [0003] The star sensor has two working modes: (1) Initial attitude acquisition (Initial attitude acquisition): It matches and recognizes the observed star map obtained by the CCD or CMOS imaging device in the whole celestial sphere, and calculates the initial precise attitude. (2) ...

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Application Information

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IPC IPC(8): G01C21/02
CPCG01C21/025
Inventor 江洁闫劲云张广军
Owner BEIHANG UNIV
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