视频测量机器人在野外天文测量中的应用
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摘要
测量自动化是未来天文作业的发展方向。针对现有的天文测量系统仍需人眼观测恒星的缺陷,基于视频测量机器人TS50i的工作模式,详细介绍了其相关参数和关键技术,提出了利用TS50i代替传统全站仪进行自动天文测量的方法。采用星图处理方法解算室内观测模拟数据,验证了基于其视频测量特点的星点提取算法的适用性,其室内模拟实验横纵方向的星点提取精度分别达到0.010和0.011像素。基于大量室外观测结果表明:以视频测量机器人为平台的自动天文测量具有可靠性和准确性,经纬度定位精度达到分别优于0.24″和0.22″,可以满足野外高精度的天文测量要求。
Automatic survey is the development trend of future astronomical work. The current astronomical survey system has the defect that the human eyes are needed to observe stars. Based on the work mode of video measuring robot TS50 i,its relevant parameters and the key technologies are introduced in detail,and a way of automatic astronomical survey is proposed by means of using the TS50 i instead of traditional total station. Star map processing method based on the characteristics of video measurement is used to calculate observation data. Verifying the applicability and reliability of star point extraction algorithm,the star map extraction accuracy of transverse and longitudinal direction can achieve 0.010 and 0.011 pixel respectively in the indoor simulation experiment. The results of numerous astronomical field observation experiments indicate that the precision of the outdoor observation of latitude and longitude can reach 0.24″ and 0.22″ respectively by using TS50 i in the astronomical survey,which can satisfy the requirement of the field high precision astrometry survey.
Automatic survey is the development trend of future astronomical work. The current astronomical survey system has the defect that the human eyes are needed to observe stars. Based on the work mode of video measuring robot TS50 i,its relevant parameters and the key technologies are introduced in detail,and a way of automatic astronomical survey is proposed by means of using the TS50 i instead of traditional total station. Star map processing method based on the characteristics of video measurement is used to calculate observation data. Verifying the applicability and reliability of star point extraction algorithm,the star map extraction accuracy of transverse and longitudinal direction can achieve 0.010 and 0.011 pixel respectively in the indoor simulation experiment. The results of numerous astronomical field observation experiments indicate that the precision of the outdoor observation of latitude and longitude can reach 0.24″ and 0.22″ respectively by using TS50 i in the astronomical survey,which can satisfy the requirement of the field high precision astrometry survey.
引文
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[2]张超,郑勇,夏治国.天文测量中电子经纬仪的应用[J].信息工程大学学报,2003,4(3):93-96.ZHANG C,ZHENG Y,XIA Z G.The application of electronic theodolite in astronomical measurement[J].Journal of Information Engineering University,2003,4(3):93-96.
[3]张祖勋.论摄影测量与工程测量的结合:摄影全站仪+数码摄影机[J].地理空间信息,2004,2(6):1-4.ZHANG Z X.On the combination of photogrammetry and engineering survey:Total station and digital camera[J].Geospatial Information,2004,2(6):1-4.
[4]宋飞杰,张超,王若璞,等.Leica-TS30在天文测量中的应用[J].测绘科学技术学报,2015,32(2):135-139.SONG F J,ZHANG C,WANG R P,et al.Application of Leica_TS30 on astronomical surveying system[J].Journal of Geomatics Science and Technology,2015,32(2):135-139.
[5]郭敏,张红英.CCD数字摄影在天文定位测量中的应用探讨[J].测绘技术装备,2005,7(1):28-29.GUO M,ZHANG H Y.Application of CCD digital photography in astronomical positioning survey[J].Mapping Technology and Equipment,2005,7(1):28-29.
[6]刘良富.从徕卡全站仪发展历程谈未来全站仪发展趋势[EB/OL].(2015-01-01)[2016-12-12].http:∥www.chinaqking.com/yc/2016/752489.html.LIU L F.Discussion on the development trend of the future total station instrument from the development process of Leica total station[EB/OL].(2015-01-01)[2016-12-12].http:∥www.chinaqking.com/yc/2016/752489.html.
[7]文南秋,张志成.徕卡全站仪的应用[J].中国港湾建设,1996(2):46-48.WEN N Q,ZHANG Z C.The application of Leica total station[J].China Harbour Engineering,1996(2):46-48.
[8]张超,郑勇,夏治国.多星近似等高法同时测定天文经纬度的研究[J].测绘通报,2006(11):3-5.ZHANG C,ZHENG Y,XIA Z G.On simultaneous determination of astronomical longitude and latitude with multi-star approximate equal altitudes method[J].Bulletin of Surveying and Mapping,2006(11):3-5.
[9]游达章,张建钢,甘勇.位图图像灰度化的方法及编程实现[J].广西科技大学学报,2004,15(1):23-26.YOU D Z,ZHANG J G,GAN Y.The method and programming of graying image of bitmap image[J].Journal of Guangxi University of Science and Technology,2004,15(1):23-26.
[10]崔行臣,段会川,王金玲,等.数显仪表数字实时识别系统的设计与实现[J].计算机工程与设计,2010,31(1):214-217.CUI X C,DUAN H Y,WANG J L,et al.Design and implementation of numeral instrument real-time digital recognition system[J].Computer Engineering and Design,2010,31(1):214-217.
[11]郭雷,陈大海,李刚,等.指纹自动识别中二值化对指纹特征的影响[J].计算机应用研究,2006,23(9):49-50.GUO L,CHEN D H,LI G,et al.Influence on characteristics of fingerprint in binarization processing in AFIS[J].Application Research of Computers,2006,23(9):49-50.
[12]许秀贞,李自田,薛利军.CCD噪声分析及处理技术[J].红外与激光工程,2004,33(4):343-346.XU X Z,LI Z T,XUE L J.Analysis and processing of CCD noise[J].Infrared and Laser Engineering,2004,33(4):343-346.
[13]关新平,赵立兴,唐英干.图像去噪混合滤波方法[J].中国图象图形学报,2005,10(3):332-337.GUAN X P,ZHAO L X,TANG Y G.Mixed filter for image denoising[J].Journal of Image and Graphics,2005,10(3):332-337.
[14]刘成云,陈振学,马于涛.自适应阈值的小波图像去噪[J].光电工程,2007,34(6):77-81.LIU C Y,CHEN Z X,MA Y T.Adaptive wavelet thresholding method for image denoising[J].Opto-Electronic Engineering,2007,34(6):77-81.
[15]高清维,李斌,解光军,等.基于平稳小波变换的图像去噪方法[J].计算机研究与发展,2002,39(12):1689-1694.GAO Q W,LI B,XIE G J,et al.An image de-noising method based on stationary wavelet transform[J].Journal of Computer Research and Development,2002,39(12):1689-1694.
[16]张红英,彭启琮.全变分自适应图像去噪模型[J].光电工程,2006,33(3):50-53.ZHANG H Y,PENG Q C.Adaptive image denoising model based on total variation[J].Opto-Electronic Engineering,2006,33(3):50-53.
[17]范九伦,赵凤,张雪峰.三维Otsu阈值分割方法的递推算法[J].电子学报,2007,35(7):1398-1402.FAN J L,ZHAO F,ZHANG X F.Recursive algorithm for three-dimensional Otsu’s thresholding segmentation method[J].Chinese Journal of Electronics,2007,35(7):1398-1402.
[18]郭臻,陈远知.图像阈值分割算法研究[J].中国传媒大学学报(自然科学版),2008,15(2):77-82.GUO Z,CHEN Y Z.Research on image threshold segmentation algorithm[J].Journal of Communication University of China(Science and Technology),2008,15(2):77-82.
[19]LEE S S,HORNG S J,TSAI H R.Entropy thresholding and its parallel algorithm on the reconfigurable array of processors with wider bus networks[J].IEEE Transactions on Image Processing,1999,8(9):1229-1242.
[20]KAPUR J N,SAHOO P K,WONG A K C.A new method for gray-level picture thresholding using the entropy of the histogram[J].Computer Vision Graphics and Image Processing,1985,29(3):273-285.
[21]施航,朱志刚.星敏感器星图处理研究[J].光学与光电技术,2014,12(6):58-60.SHI H,ZHU Z G.Research on star sensor star map processing[J].Optics and Optoelectronic Technology,2014,12(6):58-60.
[22]陈冬岚,刘京南,余玲玲.几种图像分割阈值选取方法的比较与研究[J].机械制造与自动化,2003(1):77-80.CHEN D L,LIU J N,YU L L.Comparison and research of threshold selection methods for several image segmentation[J].Mechanical manufacturing and automation,2003(1):77-80.
[23]李春艳,谢华,李怀锋,等.高精度星敏感器星点光斑质心算法[J].光电工程,2006,33(2):41-44.LI C Y,XIE H,LI H F,et al.Centroiding algorithm for highaccuracy star tracker[J].Opto-Electronic Engineering,2006,33(2):41-44.
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