超大视场测月天文定向方法
|
摘要
利用超大视场相机测月成像实现了天文定向,推导了详细的计算公式。通过实测检验了定向方法的可靠性,跟踪拍摄15min,内符合精度优于±7.5″,外符合精度约为±20″。基于相机成像的天文定向方法改变了利用经纬仪人眼照准的传统模式,一定程度上降低了对作业员的技能要求,且超大视场相机能对月球进行连续跟踪拍摄,无须复杂的伺服控制装置。由于月球上也有重力场,月球上观测地球也有地相变化,后期如能实现定向装置的自动安平,本方法同样适用于月球车对地球成像实现天文定向。
In this paper,astronomical orientation is achieved by observing the moon utilizing camera with super wide field of view,and formulae are deduced in detail.An experiment based on real observations verified the stability of the method.In this experiment,after 15 minutes' tracking shoots,the internal precision could be superior to ±7.5″and the external precision could approximately reach ±20″.This camera-based method for astronomical orientation can change the traditional mode(aiming by human eye based on theodolite),thus lowering the requirements for operator's skill to some extent.Furthermore,camera with super wide field of view can realize the function of continuous tracking shoots on the moon without complicated servo control devices.Considering the similar existence of gravity on the moon and the earth's phase change when observed from the moon,once the technology of self-leveling is developed,this method can be extended to orientation for lunar rover by shooting the earth.
In this paper,astronomical orientation is achieved by observing the moon utilizing camera with super wide field of view,and formulae are deduced in detail.An experiment based on real observations verified the stability of the method.In this experiment,after 15 minutes' tracking shoots,the internal precision could be superior to ±7.5″and the external precision could approximately reach ±20″.This camera-based method for astronomical orientation can change the traditional mode(aiming by human eye based on theodolite),thus lowering the requirements for operator's skill to some extent.Furthermore,camera with super wide field of view can realize the function of continuous tracking shoots on the moon without complicated servo control devices.Considering the similar existence of gravity on the moon and the earth's phase change when observed from the moon,once the technology of self-leveling is developed,this method can be extended to orientation for lunar rover by shooting the earth.
引文
[1]许其凤,丛佃伟,董明.主要定向技术比较与GNSS快速定位定向仪研制进展[J].测绘科学技术学报,2013,30(4):349-352,408.XU Qifeng,CONG Dianwei,DONG Ming.Comparison Among the Main Orientation Technologies and the Research Progress of GNSS Rapid Positioning and Orientation Device[J].Journal of Geomatics Science and Technology,2013,30(4):349-352,408.
[2]王安国.现代天文导航及其关键技术[J].电子学报,2007,35(12):2347-2353.WANG Anguo.Modern Celestial Navigation and the Key Techniques[J].Acta Electronica Sinica,2007,35(12):2347-2353.
[3]VONDEROHE A P,MEZERA D F.Astro-azimuth Using Time Difference[J].Journal of Surveying Engineering,1984,110(2):112-118.
[4]BUONOCORE B,VASSALLO A.Astronomical Determination of Azimuth and Latitude by Observation of Two Unknown Stars Without Time Measurement and Knowledge of Astronomy[J].Survey Review,1991,31(242):233-237.
[5]BALODIMOS D D,KORAKITIS R,LAMBROU E,et al.Fast and Accurate Determination of Astronomical Coordinates,Λand Azimuth,Using a Total Station and GPS Receiver[J].Survey Review,2003,37(290):269-275.
[6]张超,郑勇,李长会.用任意星进行天文定向的研究[J].测绘科学,2005,30(4):30-32.ZHANG Chao,ZHENG Yong,LI Changhui.Research on Astronomy Orientation by Using the Random Star[J].Science of Surveying and Mapping,2005,30(4):30-32.
[7]詹银虎,张超,郑勇,等.月球视面中心拟合算法及其在测月快速定向中的应用[J].测绘学报,2012,41(3):353-358.ZHAN Yinhu,ZHANG Chao,ZHENG Yong,et al.A Fitting Algorithm of the Apparent Moon Center and Its Application on Fast Orientation[J].Acta Geodaetica et Cartographica Sinica,2012,41(3):353-358.
[8]詹银虎,郑勇,张超,等.球面圆拟合算法及其在测月定向中的应用[J].武汉大学学报(信息科学版),2015,40(11):1514-1519.ZHAN Yinhu,ZHENG Yong,ZHANG Chao,et al.Spherical Circle Fitting Algorithm and Its Application on Azimuth Determination by Observing the Moon[J].Geomatics and Information Science of Wuhan University,2015,40(11):1514-1519.
[9]何炬.国外天文导航技术发展综述[J].舰船科学技术,2005,27(5):91-96.HE Ju.Survey of Overseas Celestial Navigation Technology Development[J].Ship Science and Technology,2005,27(5):91-96.
[10]韩永琪.基于图像处理的天文定向装置设计[D].北京:北京理工大学,2015:60-64.HAN Yongqi.Design of the Astronomical Orientation Device Based on Image Processing[D].Beijing:Beijing Institute of Technology,2015:60-64.
[11]原玉磊.恒星法鱼眼相机恒星法检校技术研究[D].郑州:信息工程大学,2012:206-217.YUAN Yulei.Research on Fish-eye Camera Stellar Calibration Technology[D].Zhengzhou:Information Engineering University,2012:206-217.
[12]王永仲.鱼眼镜头光学[M].北京:科学出版社,2006:37-39.WANG Yongzhong.Fisheye Lens Optics[M].Beijing:Science Press,2006:37-39.
[13]姚吉利,韩保民,杨元喜.罗德里格矩阵在三维坐标转换严密解算中的应用[J].武汉大学学报(信息科学版),2006,31(12):1094-1096,1119.YAO Jili,HAN Baomin,YANG Yuanxi.Applications of Lodrigues Matrix in 3D Coordinate Transformation[J].Geomatics and Information Science of Wuhan University,2006,31(12):1094-1096,1119.
[14]隋立芬,宋力杰,柴洪洲.误差理论与测量平差基础[MD].北京:测绘出版社,2010:66-70.SUI Lifen,SONG Lijie,CHAI Hongzhou.Error Theory and Foundation of Surveying Adjustment[M].Beijing:Surveying and Mapping Press,2010:66-70.
[15]欧阳自远.月球科学概论[M].北京:中国宇航出版社,2005:224-225.OUYANG Ziyuan.Introduction to Lunar Science[M].Beijing:China Astronautic Publishing House,2005:224-225.
[16]李茂登,荆武兴武,黄翔宇.考虑月球扁率修正的月球卫星自主导航[J].宇航学报,2012,33(7):896-902.LI Maodeng,JING Wuxingwu,HUANG Xiangyu.Autonomous Navigation for Lunar Satellite with Lunar Oblateness Correction[J].Journal of Astronautics,2012,33(7):896-902.
[17]曲迎东,李荣德,白彦华,等.高速的9×9尺寸模板Zernike矩边缘算子[J].光电子·激光,2010,21(11):1683-1687.QU Yingdong,LI Rongde,BAI Yanhua,et al.A Highspeed Zernike Moments Edge Operator Based on 9×9Masks[J].Journal of Optoelectronics·Laser,2010,21(11):1683-1687.
[18]李崇辉,杜兰,韩建,等.圆形目标的鱼眼相机成像模型推导[J].河南科学,2013,31(7):975-979.LI Chonghui,DU Lan,HAN Jian,et al.Imaging Model Derivation of Circular Target Based on Fish-eye Camera[J].Henan Science,2013,31(7):975-979.
[19]詹银虎,郑勇,张超,等.超大视场太阳敏感器图像质心提取算法[J].测绘学报,2015,44(10):1078-1084.DOI:10.11947/j.AGCS.2015.20150118.ZHAN Yinhu,ZHENG Yong,ZHANG Chao,et al.Image Centroid Algorithms for Sun Sensors with Super Wide Field of View[J].Acta Geodaetica et Cartographica Sinica,2015,44(10):1078-1084.DOI:10.11947/j.AGCS.2015.20150118.
[20]FITZGIBBON A W,PILU M,FISHER R B.Direct Least Squares Fitting of Ellipses[C]//Proceedings of the 13th International Conference on Pattern Recognition.Vienna,Austria:IEEE,1996.
[21]HALIR R,FLUSSER J.Numerically Stable Direct Least Squares Fitting of Ellipses[C]//Proceedings of the 6th International Conference in Central Europe on Computer Graphics and Visualization.Berlin:[s.n.],1998.
[22]GANDER W.Least Squares with a Quadratic Constraint[J].Numerische Mathematik,1980,36(3):291-307.
[23]詹银虎.基于自然天体的快速定向理论及技术研究[D].郑州:信息工程大学,2012:12-13.ZHAN Yinhu.Theory and Technology Research on Fast Orientation Based on Celestial Bodies[D].Zhengzhou:Information Engineering University,2012:12-13.
[24]夏一飞,金文敬.新参考系的引入对天体测量学的影响[J].天文学进展,2004,22(3):200-2087.XIA Yifei,JIN Wenjing.Impacts of the New Reference System on Astrometry[J].Progress in Astronomy,2004,22(3):200-2087.
[25]BANGERT J,PUATUA W,KAPLAN G,et al.User’s Guide to NOVAS Version C3.0[M].Washington:USA Naval Observatory,2009,12:31-32.
[26]张超.基于电子经纬仪的天文测量系统及应用研究[D].郑州:信息工程大学,2009:86-89.ZHANG Chao.System-level Development and Application Research on Astronomic Surveying System Based on Electronic Theodolites[D].Zhengzhou:Information Engineering University,2009:86-89.
[27]PI.PI Datasheet H-840[R/OL].(2016-01-11)[2017-06-09]Physik Instrumente,2016.http://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/hexapods-with-motor-screw-drives/h-840-6-axishexapod-700810/.
[2]王安国.现代天文导航及其关键技术[J].电子学报,2007,35(12):2347-2353.WANG Anguo.Modern Celestial Navigation and the Key Techniques[J].Acta Electronica Sinica,2007,35(12):2347-2353.
[3]VONDEROHE A P,MEZERA D F.Astro-azimuth Using Time Difference[J].Journal of Surveying Engineering,1984,110(2):112-118.
[4]BUONOCORE B,VASSALLO A.Astronomical Determination of Azimuth and Latitude by Observation of Two Unknown Stars Without Time Measurement and Knowledge of Astronomy[J].Survey Review,1991,31(242):233-237.
[5]BALODIMOS D D,KORAKITIS R,LAMBROU E,et al.Fast and Accurate Determination of Astronomical Coordinates,Λand Azimuth,Using a Total Station and GPS Receiver[J].Survey Review,2003,37(290):269-275.
[6]张超,郑勇,李长会.用任意星进行天文定向的研究[J].测绘科学,2005,30(4):30-32.ZHANG Chao,ZHENG Yong,LI Changhui.Research on Astronomy Orientation by Using the Random Star[J].Science of Surveying and Mapping,2005,30(4):30-32.
[7]詹银虎,张超,郑勇,等.月球视面中心拟合算法及其在测月快速定向中的应用[J].测绘学报,2012,41(3):353-358.ZHAN Yinhu,ZHANG Chao,ZHENG Yong,et al.A Fitting Algorithm of the Apparent Moon Center and Its Application on Fast Orientation[J].Acta Geodaetica et Cartographica Sinica,2012,41(3):353-358.
[8]詹银虎,郑勇,张超,等.球面圆拟合算法及其在测月定向中的应用[J].武汉大学学报(信息科学版),2015,40(11):1514-1519.ZHAN Yinhu,ZHENG Yong,ZHANG Chao,et al.Spherical Circle Fitting Algorithm and Its Application on Azimuth Determination by Observing the Moon[J].Geomatics and Information Science of Wuhan University,2015,40(11):1514-1519.
[9]何炬.国外天文导航技术发展综述[J].舰船科学技术,2005,27(5):91-96.HE Ju.Survey of Overseas Celestial Navigation Technology Development[J].Ship Science and Technology,2005,27(5):91-96.
[10]韩永琪.基于图像处理的天文定向装置设计[D].北京:北京理工大学,2015:60-64.HAN Yongqi.Design of the Astronomical Orientation Device Based on Image Processing[D].Beijing:Beijing Institute of Technology,2015:60-64.
[11]原玉磊.恒星法鱼眼相机恒星法检校技术研究[D].郑州:信息工程大学,2012:206-217.YUAN Yulei.Research on Fish-eye Camera Stellar Calibration Technology[D].Zhengzhou:Information Engineering University,2012:206-217.
[12]王永仲.鱼眼镜头光学[M].北京:科学出版社,2006:37-39.WANG Yongzhong.Fisheye Lens Optics[M].Beijing:Science Press,2006:37-39.
[13]姚吉利,韩保民,杨元喜.罗德里格矩阵在三维坐标转换严密解算中的应用[J].武汉大学学报(信息科学版),2006,31(12):1094-1096,1119.YAO Jili,HAN Baomin,YANG Yuanxi.Applications of Lodrigues Matrix in 3D Coordinate Transformation[J].Geomatics and Information Science of Wuhan University,2006,31(12):1094-1096,1119.
[14]隋立芬,宋力杰,柴洪洲.误差理论与测量平差基础[MD].北京:测绘出版社,2010:66-70.SUI Lifen,SONG Lijie,CHAI Hongzhou.Error Theory and Foundation of Surveying Adjustment[M].Beijing:Surveying and Mapping Press,2010:66-70.
[15]欧阳自远.月球科学概论[M].北京:中国宇航出版社,2005:224-225.OUYANG Ziyuan.Introduction to Lunar Science[M].Beijing:China Astronautic Publishing House,2005:224-225.
[16]李茂登,荆武兴武,黄翔宇.考虑月球扁率修正的月球卫星自主导航[J].宇航学报,2012,33(7):896-902.LI Maodeng,JING Wuxingwu,HUANG Xiangyu.Autonomous Navigation for Lunar Satellite with Lunar Oblateness Correction[J].Journal of Astronautics,2012,33(7):896-902.
[17]曲迎东,李荣德,白彦华,等.高速的9×9尺寸模板Zernike矩边缘算子[J].光电子·激光,2010,21(11):1683-1687.QU Yingdong,LI Rongde,BAI Yanhua,et al.A Highspeed Zernike Moments Edge Operator Based on 9×9Masks[J].Journal of Optoelectronics·Laser,2010,21(11):1683-1687.
[18]李崇辉,杜兰,韩建,等.圆形目标的鱼眼相机成像模型推导[J].河南科学,2013,31(7):975-979.LI Chonghui,DU Lan,HAN Jian,et al.Imaging Model Derivation of Circular Target Based on Fish-eye Camera[J].Henan Science,2013,31(7):975-979.
[19]詹银虎,郑勇,张超,等.超大视场太阳敏感器图像质心提取算法[J].测绘学报,2015,44(10):1078-1084.DOI:10.11947/j.AGCS.2015.20150118.ZHAN Yinhu,ZHENG Yong,ZHANG Chao,et al.Image Centroid Algorithms for Sun Sensors with Super Wide Field of View[J].Acta Geodaetica et Cartographica Sinica,2015,44(10):1078-1084.DOI:10.11947/j.AGCS.2015.20150118.
[20]FITZGIBBON A W,PILU M,FISHER R B.Direct Least Squares Fitting of Ellipses[C]//Proceedings of the 13th International Conference on Pattern Recognition.Vienna,Austria:IEEE,1996.
[21]HALIR R,FLUSSER J.Numerically Stable Direct Least Squares Fitting of Ellipses[C]//Proceedings of the 6th International Conference in Central Europe on Computer Graphics and Visualization.Berlin:[s.n.],1998.
[22]GANDER W.Least Squares with a Quadratic Constraint[J].Numerische Mathematik,1980,36(3):291-307.
[23]詹银虎.基于自然天体的快速定向理论及技术研究[D].郑州:信息工程大学,2012:12-13.ZHAN Yinhu.Theory and Technology Research on Fast Orientation Based on Celestial Bodies[D].Zhengzhou:Information Engineering University,2012:12-13.
[24]夏一飞,金文敬.新参考系的引入对天体测量学的影响[J].天文学进展,2004,22(3):200-2087.XIA Yifei,JIN Wenjing.Impacts of the New Reference System on Astrometry[J].Progress in Astronomy,2004,22(3):200-2087.
[25]BANGERT J,PUATUA W,KAPLAN G,et al.User’s Guide to NOVAS Version C3.0[M].Washington:USA Naval Observatory,2009,12:31-32.
[26]张超.基于电子经纬仪的天文测量系统及应用研究[D].郑州:信息工程大学,2009:86-89.ZHANG Chao.System-level Development and Application Research on Astronomic Surveying System Based on Electronic Theodolites[D].Zhengzhou:Information Engineering University,2009:86-89.
[27]PI.PI Datasheet H-840[R/OL].(2016-01-11)[2017-06-09]Physik Instrumente,2016.http://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/hexapods-with-motor-screw-drives/h-840-6-axishexapod-700810/.