CN105892034A - Star tracker telescope and star tracking system and application thereof - Google Patents
Star tracker telescope and star tracking system and application thereof Download PDFInfo
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- CN105892034A CN105892034A CN201610262255.4A CN201610262255A CN105892034A CN 105892034 A CN105892034 A CN 105892034A CN 201610262255 A CN201610262255 A CN 201610262255A CN 105892034 A CN105892034 A CN 105892034A
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/12—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices with means for image conversion or intensification
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Abstract
A star tracker telescope and a star tracking system and application thereof are disclosed. A lens barrel of the telescopic is equipped with an intelligent camera thereon, and the camera is ensured to be parallel with the axis of the lens barrel for the telescopic. During the star observation, the camera will drive an electric PNT of the telescopic to rotate by analyzing the movement of a target star, so as to adjust the direction of the telescopic and to ensure that the target star is always in the field of view of the telescopic.
Description
Technical field
The present invention relates to a telescope, particularly relate to the telescope of a Star tracking, to guarantee carrying out celestial body
During observation, a target celestial body is all the time in described telescopical field range.
Background technology
Telescope is a kind of instrument being provided with assisting observation distant objects by collecting electromagnetic wave (such as visible ray).
Telescope is also a kind of to utilize lens or reflecting mirror and other optics in order to observe the optics of remote object
Instrument.Sum it up, telescope is a kind of visual optical instrument for observing remote object, make original nothing
Method is with the naked eye seen clearly or the object differentiated becomes clear and legible.So, in astronomy, telescope can not in being observation
The instrument lacked.
But, general telescope is the direction adopted and manually adjust lens barrel, but due to manual
Mode causes the precision adjusted relatively low.It addition, in general astronomical telescope, its angle of visual field is smaller, because of
This least variation lens barrel direction is it is possible to can cause target celestial body to disappear from visual field.So, if by manually
Mode adjust astronomical telescope, be i.e. likely to cause target celestial body not in visual field.
It addition, general celestial body of observing in astronomy is typically through long object observing celestial body, therefore
If not using star-tracking system, then object observing celestial body when, due to the rotation of the earth, several
Target celestial body observed in minute will disappear from astronomical telescope visual field, extremely inconvenient for observing.
But, typically in order to enable object observing celestial body for a long time, the support of astronomical telescope is provided with for adjusting
All day literary composition telescopical electric platform.It addition, astronomical telescope is furnished with Star tracking control system with for controlling
The direction of rotation of electric platform, to allow telescope be directed at target celestial body all the time.But, present Star tracking control
System processed is all based on level indicator, time, three parameters of GPS location, further according to celestial body runtime database meter
Calculate the running orbit of target celestial body.For the astronomical telescope of specialty, particularly observatory's rigid telescope makes
The running orbit calculating celestial body in this way is the most accurately, but for roving individual with looking in the distance
Mirror, then horizontal parameters is difficult to accurately, then the error of the celestial body track calculated is the biggest.Therefore, in reality
Border occurs as soon as the inaccurate phenomenon of tracking in using, occur as soon as target celestial body and run out of after observation a period of time sometimes
Beyond field range.For some celestial bodies photographer, the camera exposure time of shooting celestial body the most all compares
Long, the accuracy of the tracking of target celestial body has been largely fixed the picture quality of photographic subjects celestial body.
Summary of the invention
Present invention is primarily targeted at offer one star-tracking telescope and star-tracking system, including one
Star-tracking system can be in order to identify the target of celestial body, and particularly multiple target celestial body is at described star-tracking system
Field range in can distinguish each celestial body.
Another object of the present invention is to provide a star-tracking telescope and star-tracking system, it can basis
The movement of target celestial body goes to drive an electric platform, allows described electric platform rotate to guarantee that described target celestial body begins
Eventually in field range.
Another object of the present invention is to provide a star-tracking telescope and star-tracking system, wherein through one
The image of video camera shooting, can identify target celestial body, particularly multiple target after image procossing clearly
Celestial body can distinguish each celestial body in field range.
Another object of the present invention is to provide a star-tracking telescope and star-tracking system, it eliminates institute
State telescope when the most mobile, follow the tracks of the inaccurate existing picture of celestial body, more allow the celestial body observer of open air use described
Telescope can follow the tracks of described target celestial body accurately.
Another object of the present invention is to provide a star-tracking telescope and star-tracking system, it ensures described
The most accurately following the tracks of of target celestial body, the picture quality especially for shooting celestial body has risen to close important.Change
Yan Zhi, owing to using described telescope to carry out the shooting of celestial body out of doors, wherein the time of exposure of celestial body shooting needs
Long, therefore, can ensure that track up arrives target celestial body through described telescope.
In order to reach object above, the present invention provides a star-tracking system, for for a telescope, including:
One video acquisition module, it is in order to gather a video image；
One video processing module, it electrically connects described video acquisition module；
One video display module, it electrically connects described video processing module；
One stellar target identification module, it electrically connects described video processing module；
One target celestial body moves judge module, and it electrically connects five celestial body target recognition modules；And
One The Cloud Terrace drive control module, it electrically connects described target celestial body and moves judge module, so through described
Star-tracking system is guaranteed that target celestial body that described telescope observed is without departing from its field range.
According to one embodiment of present invention, wherein said video acquisition module is through converting optical signals into electricity
Signal is to form described video image.
According to one embodiment of present invention, described video image is carried out pre-place by wherein said video processing module
Reason is to be identified image.
According to one embodiment of present invention, wherein said pretreatment is that described video image is carried out noise reduction process,
Contrast tunes up, brightness obtains black matrix background after turning down and the described identification image of white punctate opacity of the cornea.
According to one embodiment of present invention, wherein said video display module in order to by described target celestial body in institute
State the center of video display module.
According to one embodiment of present invention, described identification image is carried out by wherein said stellar target identification module
Pixel travels through to find out the bright spot center of each target celestial body in described identification image.
According to one embodiment of present invention, wherein each institute is distinguished through the relative position between described target celestial body
State target celestial body.
According to one embodiment of present invention, wherein said target celestial body move judge module be judge described
Whether target celestial body moves, the most primary described identification image closest to the punctate opacity of the cornea at center as described target
Celestial body, and described in each frame afterwards, identify that image finds described target satellite through described stellar target identification module
The position of body, then moves judge module through described target celestial body and will identify described in each frame that image is with for the first time
The described target satellite body position of described identification image compare, with in order to judge whether described target celestial body moves
Dynamic.
According to one embodiment of present invention, wherein move judge module through described target celestial body to judge to compare
To the relative position of described target celestial body of described identification image, if its change is the most disconnected after reaching default threshold value
It is set to described target celestial body to move.
According to one embodiment of present invention, wherein said target celestial body is declared after moving, and described The Cloud Terrace drives
Dynamic control module i.e. assigns mobile order to described telescope, to ensure the position of target celestial body that described telescope observes
Put and do not change.
In order to reach object above, the present invention provides a star-tracking telescope, for following the trail of the target celestial body of observation
To guarantee at it within sweep of the eye, including；
One star-tracking system；
One electric platform；
One telescope, it includes that a lens barrel, described lens barrel are set up in described electric platform；And
The axis parallel of one video camera, its axle center and described lens barrel, described star-tracking system is connected to described electricity
Move The Cloud Terrace, and described star-tracking system analyzes the image of described video camera shooting and based on analysis result control
Described electric platform moves so that described target celestial body is within sweep of the eye.
According to one embodiment of present invention, wherein said video camera includes a camera body, is installed on described
One display of camera body, and it is positioned at front one camera lens of described camera body.
According to one embodiment of present invention, wherein said video camera also includes a telescope normal line, and it passes through
Described telescope normal line docks with described telescopical electric platform, hopes for described in described camera control
Turning to of the described electric platform of remote mirror.
According to one embodiment of present invention, wherein said video camera is a long focus video camera.
According to one embodiment of present invention, wherein said electric platform includes a The Cloud Terrace body and is connected to described
One foot rest of The Cloud Terrace body.
According to one embodiment of present invention, wherein said Star tracking control system is removable or detachably puts
It is put on described foot rest.
In order to reach object above, the present invention provides a Star tracking method, comprises the steps:
(S01) video image gathered through a video acquisition module of a video camera；
(S02) through a video processing module do one in advance image procossing obtain an identification image；
(S03) a target celestial body is confirmed through a video display module；
(S04) through a stellar target identification module, described identification image is carried out pixel traversal and find out each
The center of target celestial body bright spot；
(S05) move judge module through a target celestial body and judge whether described target celestial body moves；And
(S06) described telescopical described electric platform is driven through a The Cloud Terrace drive control module.
According to one embodiment of present invention, wherein step (S01), described video acquisition module is through by light
Signal is transformed into the signal of telecommunication to form described video image.
According to one embodiment of present invention, wherein said video camera includes a camera lens, and it is for high magnification and neglects
The camera lens of rink corner.
According to one embodiment of present invention, wherein step (S02), described in it in advance image procossing for dropping
Make an uproar and process with contrast tunes up, brightness is turned down, and then obtain the described identification image of black matrix background.
According to one embodiment of present invention, wherein step (S03), the axle center of wherein said video camera and described
The axle center of telescopical described lens barrel is set as parallel, so that the described target shown by described video display module
The same target celestial body that celestial body is seen by described video camera and described telescope.
According to one embodiment of present invention, wherein step (S04), described identification image is to have in black matrix background
The white point of described target celestial body, finds out the bright spot of each target celestial body through described stellar target identification module
Center.
According to one embodiment of present invention, wherein celestial body is distinguished through the relative position between described target celestial body.
According to one embodiment of present invention, wherein step (S05), described target celestial body moves judge module and is
The described primary Star identification of stellar target identification module is utilized to confirm a celestial body close to picture centre
As described target celestial body, the video image of the most each frame finds the position of described target celestial body after treatment,
And compared with the position of the described target celestial body that first time Star identification goes out, if the change of position reaches default
Threshold value, then be judged as celestial body and move.
According to one embodiment of present invention, according to step (S06), described target satellite is determined via above-mentioned steps
When body has mobile, at this moment by through described The Cloud Terrace drive control module under described telescopical described electric platform
Reach move, make described electric platform move and allow described telescope track described target celestial body, and then guarantee
Described target celestial body does not changes in the position of described video image.
Accompanying drawing explanation
Fig. 1 is the telescopical front-view schematic diagram of according to a preferred embodiment of the present invention.
Fig. 2 is the telescopical schematic perspective view of according to a preferred embodiment of the present invention.
Fig. 3 is the flow chart of a star-tracking system according to a preferred embodiment of the present invention.
Fig. 4 is the flow chart of a Star tracking method according to a preferred embodiment of the present invention.
Detailed description of the invention
Hereinafter describe and be used for disclosing the present invention so that those skilled in the art are capable of the present invention.In below describing
Preferred embodiment be only used as citing, it may occur to persons skilled in the art that other obvious modification.With
The ultimate principle of the present invention defined in lower description can apply to other embodiments, deformation program, improvement side
Case, equivalent and the other technologies scheme without departing from the spirit and scope of the present invention.
As it is shown in figure 1, be a telescope according to a preferred embodiment of the invention, for following the trail of the target of observation
Celestial body, with ensure described target celestial body all the time described telescopical within sweep of the eye.In other words, celestial body is seen
Through described telescope, survey person, when using the observation of described telescope, can ensure that track up arrives described target celestial body
And improve the picture quality shooting described target celestial body.Described telescope includes a lens barrel 1, a video camera 2,
One electric platform 3 and a star-tracking system 4.Described video camera 2 is installed on described lens barrel 1, especially
Ground, described video camera 2 and the axle center keeping parallelism of described telescopical described lens barrel 1.It is to say, seeing
The when of examining celestial body, described video camera 2 can analyze the shifting of the described target celestial body that described celestial body observer is observed
Move and drive described telescope to adjust its direction, and ensure that described target celestial body is all the time in the described telescopical visual field
In the range of.Described lens barrel 1 is set up in described electric platform 3.Described star-tracking system 4 is electrically connected to institute
State electric platform 3.It addition, described video camera 2 is set up on described lens barrel 1 and is electrically connected to described electronic
The Cloud Terrace 3, so observing celestial body when, described video camera 2 can be analyzed the movement of described target celestial body and drive
Dynamic described telescopical described electric platform 3 rotates thus adjusts described telescope direction, to ensure described mesh
Mark celestial body all the time described telescopical within sweep of the eye.
In this preferred embodiment of the present invention, described video camera 2 includes a camera body, a display with
And a camera lens.Described display equipment is in described camera body.Described camera lens is positioned at described camera body
Front.It is to say, the video image of the described lens shooting celestial body observation through described video camera, can be by institute
State the described display viewing of video camera 2.Furthermore, it is installed on described lens barrel 1 when described video camera 2
Time upper, the described display of described video camera 2 can see the described lens shooting of described video camera 2 in real time
Described video image, and be used for calibrating the axle center of the described camera lens of described video camera 2 and described telescopical axle center
Parallel, described target celestial body that the center of the most described video camera 2 is seen and the institute at described telescopical center
Stating target celestial body is same target celestial body.It addition, described video camera 2 can be embodied as a long focus video camera, to take
Obtain preferably image.
In this preferred embodiment of the present invention, described electric platform 3 further includes a The Cloud Terrace body and
Foot rest, wherein said foot rest is connected to described The Cloud Terrace body, for supporting described telescope.It addition, it is described
Star tracking control system is also removable or is placed in tearing open on described foot rest.
In this preferred embodiment of the present invention, described video camera 2 also includes a telescope normal line, and it passes through
Described telescope normal line docks with described telescopical electric platform 3, controls institute for described video camera 2
State turning to of telescopical described electric platform 3, replace Star tracking control system based on data base.
In this preferred embodiment of the present invention, the present invention provides a star-tracking system 4, regards including one
Frequently acquisition module 10A, a video processing module 20A, a video display module 30A, a stellar target identification
Module 40A, a target celestial body moves judge module 50A, and a The Cloud Terrace drive control module 60A.
In this preferred embodiment of the present invention, described video acquisition module 10A is electrically connected to described Video processing
Module 20A, wherein said video acquisition module 10A is that the video acquisition utilizing described video camera 2 partly will
One optical signal is changed into the module of a signal of telecommunication.It is noted that the described camera lens of described video camera 2 is implemented
For high magnification and the camera lens neglecting rink corner.
In this preferred embodiment of the present invention, described video processing module 20A is electrically connected in described video
Acquisition module 10A, described video display module 30A and described stellar target identification module 40A.It is worth mentioning
, the video image gathered through described video acquisition module 10A is not suitable for doing the knowledge of celestial body star images
Not, therefore image procossing in advance is done, the contrast of described video image through described video processing module 20A
Degree tunes up, and brightness is turned down, and carries out noise reduction process, has the identification of obvious celestial body one to draw in black matrix background
Image.
In this preferred embodiment of the present invention, described video display module 30A electrically connects described Video processing mould
Block 20A.It is noted that compare with described telescopical described lens barrel 1, for the described shooting followed the tracks of
Machine 2 focal length is smaller and field range is bigger, therefore, needs before using described video camera 2 to be tracked
Calibrate axle center and the axle center of described telescopical described lens barrel 1 of described video camera 2, allow it ensure described prestige
The described target celestial body that described lens barrel 1 center of remote mirror is seen is at the center of described video display module 30A.Separately
Outward, described video display module 30A is to be arranged at described video camera 2.It is to say, through described video
Display module 30A shows described target celestial body, wherein because of axle center and the described telescopical institute of described video camera 2
The axle center stating lens barrel 1 is corrected to parastate so that described video display module 30A shows described target celestial body
It is the described target celestial body seen of described video camera 2 center, is also the described mesh seen of described telescopic central
Mark celestial body.In other words, described video camera 2 center is seen described target celestial body and described telescopic central are seen
To described target celestial body be same target celestial body.
In this preferred embodiment of the present invention, described stellar target identification module 40A is electrically connected to described video
Processing module 20A and described target celestial body move judge module 50A.It is noted that through described video
The described identification image that processing module 20A processes is the institute's target celestial body point having white in the background of black matrix, wherein
Described stellar target identification module 40A carries out pixel traversal and finds out described identification figure whole described identification image
As the center of each upper target celestial body bright spot, as the center of star images, and identify figure due to described
Celestial body in Xiang is the most, so the bright spot of the bright spot of each celestial body and other celestial bodies does not has difference in shape,
Therefore, the present invention uses the mode of the relative position between celestial body to distinguish celestial body.
In this preferred embodiment of the present invention, described target celestial body moves judge module 50A and electrically connects described star
Body target recognition module 40A and described The Cloud Terrace drive control module 60A.It is noted that carrying out first
After secondary Star identification, i.e. determine that a celestial body closest to described identification picture centre is as described target satellite
Body, finds described target celestial body position in described video image after the Star identification of later each frame video
Put, compared with the position identifying target celestial body for the first time, if after change in location reaches presetting threshold value,
Then it is judged as the movement of described target celestial body.
In this preferred embodiment of the present invention, described The Cloud Terrace drive control module 60A is electrically connected to described target
Celestial body moves judge module 50A.It is noted that the most described target celestial body is judged and moves, then institute
State The Cloud Terrace drive control module 60A and can send movement directive to described telescopical described electric platform 3, it is ensured that
The position of the image of described target celestial body does not changes.
In this preferred embodiment of the present invention, the present invention provides a Star tracking method, and it comprises the steps:
(S01) video image gathered through video acquisition module 10A of a video camera 2；
(S02) through a video processing module 20A do one in advance image procossing obtain an identification image；
(S03) a target celestial body is confirmed through a video display module 30A；
(S04) through a stellar target identification module 40A, described identification image is carried out pixel traversal and find out each
The center of individual target celestial body bright spot；
(S05) move judge module 50A through a target celestial body and judge whether described target celestial body moves；And
(S06) described telescopical described electric platform is driven through a The Cloud Terrace drive control module 60A.
According to step (S01), described video acquisition module 10A is through the mould converting optical signals into electricity number
Block, and form described video image through the process changed.Therefore, the camera lens that described video camera 2 includes is
It is well to use high magnification and neglect the camera lens of rink corner.
According to step (S02), because the described video image of step (S01) cannot be used directly for the judgement identified,
Therefore through described video processing module 20A, described video image is done image procossing in advance, say, that will
The contrast of described video image tunes up, and noise reduction process is turned and carried out in brightness down, and then obtains the institute of black matrix background
State identification image.
According to step (S03), confirm axle center and the axle center of described telescopical described lens barrel of described video camera 2
It is parallel, so can be confirmed described telescope institute by the described video display module 30A of described video camera 2
The described target celestial body seen, say, that the described target celestial body shown by described video display module 30A
The same target celestial body seen by described video camera 2 and described telescope.
According to step (S04), described identification image is the white point having described target satellite body in black matrix background, because of
This, find out the bright spot center of each target celestial body through described stellar target identification module 40A.Specifically,
Described identification image has the described target celestial body of many, and the shape of these described target celestial body is the poorest
Different, therefore, it is to utilize the relative position between described target celestial body to distinguish celestial body.
According to step (S05), it is to utilize described stellar target identification that described target celestial body moves judge module 50A
The primary Star identification of module 40A confirm a celestial body close to picture centre as described target celestial body,
The video image of the most each frame finds the position of described target celestial body after treatment, and with first time Star identification
The position of the described target celestial body gone out compares, if the change of position reaches default threshold value, is then judged as
Celestial body moves, the most then carry out step (S06).
According to step (S06), when determining that described target celestial body has mobile via above-mentioned steps, at this moment by through institute
State The Cloud Terrace drive control module 60A and described telescopical described electric platform is assigned move, make described electricity
Dynamic The Cloud Terrace moves and allows described telescope track described target celestial body, and then guarantees that described target celestial body regards described
Frequently the position of image does not changes.
It should be understood by those skilled in the art that the embodiments of the invention shown in foregoing description and accompanying drawing are only used as
Illustrate and be not limiting as the present invention.The purpose of the present invention is completely and be effectively realized.The function of the present invention and
Structural principle is shown the most in an embodiment and illustrates, without departing under described principle, and embodiments of the present invention
Can there be any deformation or amendment.
Claims (28)
1. a star-tracking system, for for a telescope, it is characterised in that including:
One video acquisition module, it is in order to gather a video image；
One video processing module, it electrically connects described video acquisition module；
One video display module, it electrically connects described video processing module；
One stellar target identification module, it electrically connects described video processing module；
One target celestial body moves judge module, and it electrically connects described stellar target identification module；And
One The Cloud Terrace drive control module, it electrically connects described target celestial body and moves judge module, so through described
Star-tracking system is guaranteed that target celestial body that described telescope observed is without departing from its field range.
Star-tracking system the most according to claim 1, wherein said video acquisition module is to believe through by light
Number it is transformed into the signal of telecommunication to form described video image.
Star-tracking system the most according to claim 2, wherein said video processing module is by described video figure
As carrying out pretreatment to be identified image.
Star-tracking system the most according to claim 3, wherein said pretreatment is to be entered by described video image
Row noise reduction process, contrast tunes up, brightness obtains black matrix background after turning down and the described identification figure of white punctate opacity of the cornea
Picture.
Star-tracking system the most according to claim 4, wherein said video display module is in order to by described mesh
Mark celestial body is at the center of described video display module.
Star-tracking system the most according to claim 4, wherein said stellar target identification module is to described knowledge
Other image carries out pixel and travels through to find out the bright spot center of each target celestial body in described identification image.
Star-tracking system the most according to claim 5, wherein said stellar target identification module is to described knowledge
Other image carries out pixel and travels through to find out the bright spot center of each target celestial body in described identification image.
Star-tracking system the most according to claim 6, wherein through the relative position between described target celestial body
Distinguish each described target celestial body.
Star-tracking system the most according to claim 7, wherein through the relative position between described target celestial body
Distinguish each described target celestial body.
Star-tracking system the most according to claim 8, wherein said target celestial body moves judge module and is
In order to judge whether described target celestial body moves, the most primary described identification image is closest to the punctate opacity of the cornea at center
As described target celestial body, and described in each frame afterwards, identify that image is looked for through described stellar target identification module
To the position of described target celestial body, then moving judge module through described target celestial body will identify described in each frame
Compare, with in order to judge described mesh in the described target satellite body position of image and primary described identification image
Whether mark celestial body moves.
11. star-tracking systems according to claim 9, wherein said target celestial body moves judge module and is
In order to judge whether described target celestial body moves, the most primary described identification image is closest to the punctate opacity of the cornea at center
As described target celestial body, and described in each frame afterwards, identify that image is looked for through described stellar target identification module
To the position of described target celestial body, then moving judge module through described target celestial body will identify described in each frame
Compare, with in order to judge described mesh in the described target satellite body position of image and primary described identification image
Whether mark celestial body moves.
12. star-tracking systems according to claim 10, wherein move judgement mould through described target celestial body
Block judges the relative position of the described target celestial body of the described identification image compared, if its change reaches default
Threshold value after i.e. predicate described target celestial body and move.
13. star-tracking systems according to claim 11, wherein move judgement mould through described target celestial body
Block judges the relative position of the described target celestial body of the described identification image compared, if its change reaches default
Threshold value after i.e. predicate described target celestial body and move.
14. star-tracking systems according to claim 12, wherein said target celestial body is declared after moving,
Described The Cloud Terrace drive control module i.e. assigns mobile order to described telescope, to ensure the mesh that described telescope is observed
The position of mark celestial body does not changes.
15. star-tracking systems according to claim 13, wherein said target celestial body is declared after moving,
Described The Cloud Terrace drive control module i.e. assigns mobile order to described telescope, to ensure the mesh that described telescope is observed
The position of mark celestial body does not changes.
16. 1 star-tracking telescopes, for following the trail of the target celestial body of observation to guarantee at it within sweep of the eye, it is special
Levy and be, including:
One star-tracking system；
One electric platform；
One telescope, it includes that a lens barrel, described lens barrel are set up in described electric platform；And
The axis parallel of one video camera, its axle center and described lens barrel, described star-tracking system is connected to described electricity
Move The Cloud Terrace, and described star-tracking system analyzes the image of described video camera shooting and based on analysis result control
Described electric platform moves so that described target celestial body is within sweep of the eye.
17. star-tracking systems according to claim 16, wherein said video camera includes a camera body,
It is installed on a display of described camera body, and is positioned at front one camera lens of described camera body.
18. star-tracking systems according to claim 16, wherein said video camera also includes a telescope mark
Directrix, it is docked with described telescopical electric platform, for described shooting by described telescope normal line
Machine controls turning to of described telescopical described electric platform.
19. star-tracking systems according to claim 17, wherein said video camera also includes a telescope mark
Directrix, it is docked with described telescopical electric platform, for described shooting by described telescope normal line
Machine controls turning to of described telescopical described electric platform.
20. star-tracking systems according to claim 16, wherein said electric platform includes a The Cloud Terrace body
With the foot rest being connected to described The Cloud Terrace body.
21. 1 Star tracking methods, it is characterised in that comprise the steps:
(S01) video image gathered through a video acquisition module of a video camera；
(S02) through a video processing module do one in advance image procossing obtain an identification image；
(S03) a target celestial body is confirmed through a video display module；
(S04) through a stellar target identification module, described identification image is carried out pixel traversal and find out each
The center of target celestial body bright spot；
(S05) move judge module through a target celestial body and judge whether described target celestial body moves；And
(S06) described telescopical described electric platform is driven through a The Cloud Terrace drive control module.
22. star-tracking systems according to claim 21, wherein step (S01), described video acquisition mould
Block is through converting optical signals into the signal of telecommunication to form described video image.
23. star-tracking systems according to claim 21, wherein step (S02), image in advance described in it
It is processed as carrying out noise reduction process and contrast tunes up, brightness is turned down, and then obtain the described identification figure of black matrix background
Picture.
24. star-tracking systems according to claim 21, wherein step (S03), wherein said video camera
Axle center be set as parallel, so that described video display module is shown with the axle center of described telescopical described lens barrel
The same target celestial body that the described target celestial body shown is seen by described video camera and described telescope.
25. star-tracking systems according to claim 21, wherein step (S04), described identification image is
There is the white point of described target satellite body in black matrix background, find out each mesh through described stellar target identification module
The bright spot center of mark celestial body.
26. star-tracking systems according to claim 25, wherein through the phase para-position between described target celestial body
Put and distinguish celestial body.
27. star-tracking systems according to claim 21, wherein step (S05), described target celestial body moves
Dynamic judge module is to utilize the described primary Star identification of stellar target identification module to confirm one close to figure
The celestial body of inconocenter finds described target after treatment as described target celestial body, the video image of the most each frame
The position of celestial body, and compared with the position of the described target celestial body that first time Star identification goes out, if position
Change reaches default threshold value, then be judged as celestial body and move.
28. star-tracking systems according to claim 21, according to step (S06), true via above-mentioned steps
When fixed described target celestial body has mobile, at this moment by through described The Cloud Terrace drive control module to described telescopical institute
State electric platform and assign move, make described electric platform move and allow described telescope track described target satellite
Body, and then guarantee that described target celestial body does not changes in the position of described video image.
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