CN114910066A - Telescope and positioning method for telescope and auxiliary star finding method - Google Patents

Abstract

The application provides a telescope and a telescope positioning method, wherein geomagnetic field information and gravity direction are detected by a geomagnetic sensor and a gravity accelerometer of the telescope, a horizon coordinate system is established based on the geomagnetic field information, and the azimuth angle and the height of the telescope under the horizon coordinate system are determined based on the gravity direction and the horizon coordinate system, so that the primary positioning of the orientation of the telescope is realized, and the study and the use of beginners are facilitated.

Description

Telescope and positioning method for telescope and auxiliary star finding method

technical field

The present invention relates to telescope technology, in particular, to a telescope, a positioning method and an auxiliary star finding method for the telescope.

Background technique

Due to the large magnification of the telescope used for astronomical observation, the field of view is correspondingly very limited, so traditionally, it is necessary to use a finder with a larger field of view to find stars with known coordinates, so as to perform initial positioning of the telescope. However, the use of finderscopes is very difficult. Firstly, in order to use the finderscope, the observation direction of the finderscope needs to be adjusted to the observation direction of the telescope; secondly, even the finderscope has a limited field of view, and the use of the finderscope requires the user to have a relatively Rich astronomical knowledge and more proficient telescope skills. The traditional use of a finderscope to initialize the telescope makes many beginners intimidated by the use of the telescope.

There is an urgent need to provide a telescope initial positioning technology that does not rely on a finder mirror and a technology that does not rely on a finder mirror to assist the telescope to find the target star point.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a telescope, a positioning method for the telescope and an auxiliary star finding method, which can at least partially overcome the deficiencies in the prior art.

According to one aspect of the present invention, a method for positioning a telescope is provided, the method comprising: detecting geomagnetic field information by using a geomagnetic sensor of the telescope; detecting the direction of gravity by using a gravitational accelerometer of the telescope; and determining the location of the telescope in a horizon coordinate system based on the geomagnetic field information The azimuth angle below, and the height of the telescope in the horizon coordinate system is determined based on the direction of gravity.

Preferably, the method may further include: establishing a horizon coordinate system based on the geomagnetic field information and the direction of gravity.

Preferably, the method may further include: acquiring the real-time time and the latitude and longitude of the location where the telescope is located; and determining the initial orientation of the telescope based on the latitude and longitude, the real-time time, and the azimuth and altitude under the horizon coordinate system, where the initial orientation includes the equatorial coordinates of the telescope. The azimuth and altitude below the system.

Preferably, the method may further include: determining a target star point, obtaining the azimuth angle and height of the target star point in the equatorial coordinate system; and after adjusting the telescope based on the initial orientation of the telescope to make it align with the target star point, The orientation of the telescope is calibrated based on the azimuth and altitude of the target star point in the equatorial coordinate system.

Preferably, the method may further include: in the process of adjusting the telescope based on the initial orientation to make it align with the target star point, when the user manually adjusts the telescope to exceed an adjustment threshold, sending a warning message to the user through the telescope.

Preferably, issuing the warning information may include: using the direct drive motor of the telescope to give a somatosensory prompt, where the direct drive motor is a drive motor for rotating the telescope to change the orientation of the telescope; and/or providing an augmented reality display through the telescope, and by enhancing the The reality display gives a warning message.

Preferably, the somatosensory prompt may include an increased resistance against the user manually turning the telescope as the user manually adjusts the telescope beyond the adjustment threshold.

Preferably, the method may further include: acquiring several images of different sky areas of the target star point and its surrounding area; and providing augmented reality through the telescope during the process of adjusting the telescope to be aimed at the target star point based on the initial orientation Displays and displays the sky area image for guided adjustments.

Preferably, determining a target star point may include: setting a deviation threshold, taking the initial orientation of the telescope as the center, and determining a target range according to the deviation threshold; and determining a star point within the target range as the target star point.

Preferably, the target range is the range that the telescope can see in the initial orientation.

According to another aspect of the present invention, a telescope is also provided, which includes: a geomagnetic sensor, a gravitational accelerometer, and an initial positioning module, where the geomagnetic sensor is used to detect geomagnetic field information, the gravitational accelerometer is used to detect the direction of gravity, and the initial positioning module receives The geomagnetic field information from the geomagnetic sensor and the gravitational direction from the gravitational accelerometer are configured to determine the azimuth and height of the telescope in the horizon coordinate system based on the geomagnetic field information and the gravitational direction.

Preferably, the telescope may further include a lens barrel, and the relative positions of the geomagnetic sensor and the gravitational accelerometer and the lens barrel are fixed.

Preferably, the telescope may also include a lens barrel and a horizontal rotation mechanism, the horizontal rotation mechanism is provided with a fixed table and a rotating table, the rotating table is connected with the lens barrel and rotates horizontally with the lens barrel; the geomagnetic sensor can follow the rotating table to rotate the relationship between the geomagnetic sensor and the lens barrel. The relative position is fixed.

Preferably, the telescope may further include a pitching mechanism, the lens barrel is connected to the turntable through the tilting mechanism, and the gravitational accelerometer is fixed to the lens barrel.

Preferably, the telescope may also include a first encoder and a second encoder, the first encoder is connected to the horizontal rotation mechanism and used to detect the horizontal rotation angle of the turntable, and the second encoder is connected to the tilt mechanism and used to detect the angle of the lens barrel. Tilt rotation angle.

Preferably, the initial positioning module may also be configured to determine the initial orientation of the telescope according to the real-time time and the latitude and longitude of the location where the telescope is located, where the initial orientation includes the azimuth and height of the telescope in the equatorial coordinate system.

Preferably, the telescope may further include a star-finding calibration module, the star-finding calibration module is configured to: determine the target star point, obtain the azimuth and height of the target star point in the equatorial coordinate system; and adjust the telescope based on the initial orientation of the telescope After aligning it with the target star point, the orientation of the telescope is calibrated based on the azimuth and altitude of the target star point in the equatorial coordinate system.

Preferably, the star finding and calibration module may be further configured to: in the process of adjusting the telescope based on the initial orientation to make it align with the target star point, when the user manually adjusts the telescope to exceed an adjustment threshold, a warning message is sent to the user.

Preferably, the telescope may further include a direct drive motor, which is a drive motor for rotating the telescopic lens to change the orientation of the telescope, and the warning information sent by the star finding and calibration module to the user includes a somatosensory prompt given by the direct drive motor.

Preferably, the somatosensory prompt may include an increased resistance against the user manually turning the telescope as the user manually adjusts the telescope beyond the adjustment threshold.

Preferably, the telescope may further include an augmented reality display device, the image displayed by the augmented reality display device is presented to the user through the eyepiece of the telescope, and the warning information sent by the star finding and calibration module to the user may include an image prompt displayed by the augmented reality display device .

Preferably, the star-finding calibration module can also be configured to: acquire several different sky images of the target star point and its surrounding area; The display device displays the sky area image for guiding adjustment.

Preferably, the telescope may not be provided with an interface for engaging with a finderscope.

According to yet another aspect of the present invention, an auxiliary star finding method for a telescope is also provided, the method comprising: acquiring the current orientation of the telescope and the azimuth and altitude of the target star point in the equatorial coordinate system; During the process of adjusting the telescope to align it with the target star point, when the user manually adjusts the telescope to exceed an adjustment threshold, a warning message is sent to the user.

Preferably, issuing the warning information may include: using the direct drive motor of the telescope to give a somatosensory prompt, where the direct drive motor is a drive motor for rotating the telescope to change the orientation of the telescope; and/or providing an augmented reality display through the telescope, and by enhancing the The reality display gives a warning message.

Preferably, the somatosensory prompt may include an increased resistance against the user manually turning the telescope as the user manually adjusts the telescope beyond the adjustment threshold.

Preferably, the method may further include: acquiring several different sky area images of the target star point and its surrounding area; and in the process of adjusting the telescope to make it aim at the target star point, providing an augmented reality display and displaying the sky area through the telescope Image for guided adjustment.

According to the embodiment of the present invention, the geomagnetic sensor and the gravitational accelerometer of the telescope are used to detect the geomagnetic field information and gravitational acceleration information, and the azimuth and height of the telescope in the horizon coordinate system are determined, so that the orientation of the telescope can be preliminarily positioned automatically, which is convenient for beginners to learn and use.

Description of drawings

Other features, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

1 is a flowchart of a telescope positioning method according to an embodiment of the present invention;

2 is an illustrative schematic diagram of a horizon coordinate system;

3 is a schematic block diagram of a telescope according to an embodiment of the present invention;

4 is a schematic structural diagram of an example of a telescope according to an embodiment of the present invention;

5 is a flowchart of an example of a telescope positioning method according to an embodiment of the present invention, wherein calibration is performed based on real-time time and the longitude and latitude of the location where the telescope is located;

6 is a flowchart of another example of a telescope positioning method according to an embodiment of the present invention, wherein calibration is performed by finding stars;

7 is a flowchart of a method for selecting a target star point that can be used in the method shown in FIG. 6;

Fig. 8 schematically shows the selection of target star points according to the method shown in Fig. 7;

Figure 9 schematically illustrates one example of a star finding assistance that may be used in the method shown in Figure 6; and

10 is a schematic block diagram of another example of a telescope according to an embodiment of the present invention.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the related invention, but not to limit the invention. For the convenience of description, only the parts related to the invention are shown in the drawings.

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

First, a telescope positioning method 100 provided according to an embodiment of the present invention will be introduced with reference to FIG. 1 . As shown in Figure 1, the telescope positioning and calibration method includes:

S110: Use the geomagnetic sensor of the telescope to detect the geomagnetic field information;

S120: Use the telescope's accelerometer to detect the direction of gravity; and

S130: Determine the azimuth and height of the telescope in the horizon coordinate system based on the detected geomagnetic field information and the direction of gravity.

In the process S110, the geomagnetic field information is detected using the geomagnetic sensor of the telescope. The geomagnetic sensor is a measuring device that can use the different motion states of the object to be measured in the geomagnetic field to indicate the attitude and movement angle of the object to be measured by sensing the distribution change of the geomagnetic field. In the process S110, using the geomagnetic sensor of the telescope, the detected geomagnetic field information includes at least the extension direction of the geomagnetic field line where the telescope is located, and the angle between the orientation of the telescope and the geomagnetic field line.

In the process S120, the gravitational accelerometer of the telescope may be used to detect the gravitational direction, and the inclination angle of the telescope may be determined based on the gravitational direction. It should be noted that, in this embodiment, for the convenience of description, the process S120 is set after the process S110, but there is no dependency relationship between the process S110 and the process S120, and the execution order of the two can be reversed or executed simultaneously.

In the process S130, since the geomagnetic field information and the gravitational direction have been known, the azimuth angle and height of the telescope in the horizon coordinate system can be determined according to the geomagnetic field information. The azimuth under the horizon coordinate system refers to the horizon longitude; the altitude under the horizon coordinate system refers to the horizon latitude. For ease of understanding, an illustrative schematic diagram of a horizon coordinate system is shown in FIG. 2 . In Figure 2, point O is the point where the telescope is located, point M is the orientation of the telescope, and the azimuth angle in the horizon coordinate system refers to the point in the horizon coordinate system, with the north point N as the starting point, with the telescope O as the center, in the horizon circle Rotate clockwise to the angle required to turn towards the projection of M on the horizon. As shown in Figure 2, the azimuth angle toward M is the angle A, and it can also be said that the longitude of the horizon toward M is A. The height in the horizon coordinate system refers to the angle between the orientation of the telescope or the direction of the celestial body and the plane on which the horizon is located in the horizon coordinate system. In Figure 2, the angle between the telescope's orientation M and the plane where the horizon is located is h, that is, the height of the telescope is the angle h, or the latitude of the telescope is the angle h.

For the azimuth angle, since the orientation of the magnetic south pole and the magnetic north pole can be roughly known through the extension direction of the magnetic field lines, the horizon circle in the horizon coordinate system and the south point and The azimuth of the north point, and then the azimuth angle of the telescope in the horizon coordinate system is determined according to the angle between the orientation of the telescope and the magnetic field lines of the geomagnetic field. As for the height, since the inclination angle (acute angle) of the telescope relative to the direction of gravity and the height in the horizontal coordinate system are complementary angles to each other, according to the direction of gravity and the inclination angle of the telescope relative to the direction of gravity, it can be known that the telescope is in the horizontal coordinate system the height below.

In this way, through the above processing, the azimuth angle and height of the telescope in the horizon coordinate system are obtained, and the initial positioning of the telescope in the horizon coordinate system is completed, which is convenient for the user to use the telescope.

Through the above description and analysis, it can also be clearly known that, while obtaining the azimuth and height of the telescope in the horizon coordinate system in the above method 100, a horizon coordinate system can also be established based on the geomagnetic field information and the direction of gravity. Since this horizon coordinate system includes the horizon circle, the direction of gravity, and the orientation of the south and north points, it can be used to assist in determining the position of the indicator line in the virtual reality display, forming the corresponding projection image and other purposes.

A telescope suitable for the telescope positioning method provided by the present invention will be described below with reference to FIG. 3 and FIG. 4 .

FIG. 3 is a schematic block diagram of the telescope 10 according to an embodiment of the present invention. As shown in FIG. 3 , the telescope 10 includes a geomagnetic sensor 11 , a gravitational accelerometer 12 and an initial positioning module 13 . The geomagnetic sensor 11 is used to detect geomagnetic field information. The gravity accelerometer 12 is used to detect the direction of gravity. The initial positioning module 13 receives the geomagnetic field information from the geomagnetic sensor 11 and the gravitational direction from the gravitational accelerometer 12, and is configured to determine the azimuth and height of the telescope 10 in the horizon coordinate system based on the geomagnetic field information and the gravitational direction. The function of the initial positioning module 13 can be implemented by, for example, a processor, a memory and a computer program stored in the memory; from the perspective of hardware devices, the initial positioning module 13 can include a separate device, or can be combined with other processing modules (if there are any). ) integrated together, or can share part of the hardware device with other processing modules. It should be understood that the present invention is not particularly limited in terms of the composition of the initial positioning module 13 .

In some embodiments, the geomagnetic sensor and the gravitational accelerometer are installed to have a fixed position relative to the lens barrel of the telescope, for example, both may be installed on the lens barrel of the telescope. In this way, the two can directly follow the rotation of the lens barrel, so as to obtain a more accurate azimuth and height.

In other embodiments, the geomagnetic sensor and the gravitational accelerometer may also have other installation manners. For example, FIG. 4 schematically shows a schematic structural diagram of an example of a telescope according to an embodiment of the present invention. As shown in FIG. 4 , the telescope 10A includes a horizontal rotation mechanism 14. The horizontal rotation mechanism 14 includes a fixed table 14a (fixed relative to the ground) and a rotating table 14b. The rotating table 14b is connected to the lens barrel 10a and rotates horizontally in synchronization with the lens barrel 10a. ; The geomagnetic sensor 11 is mounted on the turntable 14b.

As shown in FIG. 4 , the telescope 10A may further include a tilting mechanism 15 , the lens barrel 10a is connected to the turntable 14b of the horizontal rotation mechanism through the tilting mechanism 15 , and the gravitational accelerometer 12 is mounted on the lens barrel 10a . It should be understood that the gravitational accelerometer 12 can also be mounted on the pitching mechanism 15, so that the changes of the telescope barrel 10a in the pitching direction (ie, the height direction in the horizon coordinate system) can also be followed and measured.

In the example shown in FIG. 4 , the telescope 10A may further include a first encoder 16a and a second encoder 16b, wherein the first encoder 16a is connected to the horizontal rotation mechanism 14 and is used to detect the level of the rotating table 14b relative to the fixed table 14a For the rotation angle, the second encoder 16b is connected to the lens barrel 10a and is used to detect the pitch rotation angle of the lens barrel 10a.

In the example shown in FIG. 4 , the initial positioning module 13 is mounted on the rotation table 14 b of the horizontal rotation mechanism 14 . However, this is only an example; the initial positioning module 13 may also be integrated into the lens barrel or base of the telescope, or include a plurality of components that are distributed and installed at different positions of the telescope, or be configured to be integrated with the main body of the telescope. relatively independent device. The initial positioning module 13 may be connected to the geomagnetic sensor 11 and the gravitational accelerometer 12 in a communicative manner through a wired or wireless manner.

According to the embodiment of the present invention, the geomagnetic field information and the gravitational acceleration information are detected by the geomagnetic sensor and the gravitational acceleration of the telescope, so as to determine the azimuth and height of the telescope in the horizon coordinate system, so that the orientation of the telescope can be preliminarily located without a finder mirror, It greatly facilitates the study and use of the observer.

In the case of using a telescope for astronomical observation, the telescope positioning method according to the embodiment of the present invention may further convert the initial positioning of the telescope in the horizon coordinate system into the initial positioning in the equatorial coordinate system. Therefore, in an optional embodiment, as shown in FIG. 5 , the telescope positioning method 100A includes the following processing:

S110: Use the geomagnetic sensor of the telescope to detect the geomagnetic field information;

S120: Use the gravitational accelerometer of the telescope to detect the direction of gravity;

S130: Determine the azimuth and height of the telescope in the horizon coordinate system based on the detected geomagnetic field information and the direction of gravity;

S140: Obtain the real-time time and the latitude and longitude of the location of the telescope; and

S150: Determine the initial orientation of the telescope based on the latitude and longitude, the real-time time, and the azimuth and altitude in the horizon coordinate system.

The processes S110 , S120 and S130 in the method 100A are the same as the processes S110 , S120 and S130 in the above-mentioned method 100 , and are not repeated here.

In the process S140, the way of acquiring the real-time time and the latitude and longitude may be that the user makes a query and inputs it into the telescope, or may be acquired by the telescope through tools such as a positioning device and a clock. Here, "latitude and longitude" refers to the latitude and longitude of the location of the telescope in the earth's coordinate system.

In the process S150, based on the latitude and longitude, the real-time time, and the azimuth and altitude in the horizon coordinate system, the positional relationship between the current horizon and the Earth's right ascension circle and ecliptic circle can be known, so that the telescope can be placed in the horizon coordinate system. The azimuth and altitude in are converted to the azimuth and altitude of the corresponding equatorial coordinate system. The process S150 may be implemented by real-time calculation, or by querying an existing database based on the above parameters.

In this way, by processing S110, S120, S130 and S140, S150, the initial positioning of the telescope in the equatorial coordinate system can be completed, and the user can know which planets are near the initial orientation through the initial positioning of the telescope in the equatorial coordinate system. information, which is more convenient for users to conduct astronomical observations.

After completing the preliminary positioning of the telescope, the positioning of the telescope can be further calibrated. FIG. 6 shows an example of a telescope positioning method according to an embodiment of the present invention, in which calibration is performed by finding stars. The telescope positioning method 200 shown in FIG. 6 specifically includes the following processing:

S210: Determine the initial orientation of the telescope;

S220: determine a target star point;

S230: Provide star finding assistance, adjust the telescope to aim at the target star point; and

S240: The orientation of the telescope is calibrated based on the azimuth and height of the target star point in the equatorial coordinate system.

In the process S210, the initial orientation of the telescope may be the initial orientation in the equatorial coordinate system determined by the above-mentioned method 100A, and details are not described herein again.

By executing the process S220, a target star point is determined. The target star point should be a star point whose azimuth and altitude are known in the equatorial coordinate system. The target star point is preferably a star with higher brightness or a star with obvious color characteristics or morphological characteristics. Preferably, the target star point can also be a star that is closer to the initial orientation of the telescope to facilitate searching. An example of determining a target star point will be described in detail below with reference to FIG. 7 and FIG. 8 , which will not be repeated here.

Even if the initial positioning has been made, it is still difficult to directly find and align the target star point with the telescope, because the field of view of the telescope is very limited, and the error of the initial positioning is unknown, and the error may be large. Considering the above problems, according to some embodiments of the present invention, the telescope positioning method 200 further includes a process S230, wherein in the process of adjusting the telescope based on the initial orientation to align it with the target star point, a star finding assistance is provided for the user.

For example, processing the star finding assistance provided in S230 may include: when the user manually adjusts the telescope to exceed an adjustment threshold, sending a warning message to the user through the telescope; and/or acquiring several different images of the target star point and its surrounding area The sky area image, and the sky area image is displayed through augmented reality, so as to help the user determine the orientation of the current heading relative to the target star point, thereby assisting the user to find the target star point as soon as possible. The above two examples of star finding assistance will be described in more detail below.

In process S240, the telescope is aimed at the target star point, and the orientation of the telescope is calibrated based on the azimuth and height of the target star point in the equatorial coordinate system. Since the azimuth and altitude of the target star point in the equatorial coordinate system are known, it can be used to accurately calibrate the telescope. For example, the azimuth angle of Sirius in the equatorial coordinate system is 101°15′ and the height is -16°42′. When the telescope is aimed at Sirius, the azimuth angle of the telescope can be determined to be 101°15′ and the height is -16° 42′, thus completing the positioning and calibration of the telescope.

Next, an example of selecting a target star point that can be used for the above-mentioned process S220 will be introduced in conjunction with FIG. 7 and FIG. 8 . As shown in Figure 7, the method 300 of selecting a target star point includes:

S310: Set a deviation threshold, take the initial orientation of the telescope as the center, and determine the target range according to the deviation threshold;

S320: Determine the star point located within the target range as the target star point; and

S330: Obtain the azimuth and height of the target star point in the equatorial coordinate system.

In the process S310 , as shown in FIG. 8 , with the initial orientation of the telescope as the center 20 , the target range 30 is determined according to the set deviation threshold α. The deviation threshold α is an angle value, which may be determined empirically, or may be set according to the systematic error of the telescope. Preferably, the target range 30 is the range that the telescope can see in the initial orientation. The target area 30 shown in FIG. 8 is circular, but in other embodiments, the target area may also be rectangular in shape, in which case the deviation threshold may be used to determine the side length of the rectangle.

In the process S320, assuming that the initial orientation of the telescope is accurate, the names and coordinates of the star points ideally located in the target range can be obtained by querying the existing database; one of these star points is selected as the target star point. The selection criteria of the target star point can be high brightness, or it can have a specific appearance. Preferably, a star point located in the current field of view 40 of the telescope is selected as the target star point, so that the user can quickly adjust the telescope to aim at the target star point. As shown in FIG. 8 , in the field of view 40 , a star point with known coordinates is searched as the target star point 1 .

In process S330, as described above, the coordinates of the target star point may be determined by querying the database.

Examples of the method for selecting a target star point that can be used in the process S220 of the method shown in FIG. 6 have been described above; next, two examples of star finding assistance that can be used in the process S230 of the method shown in FIG. 6 will be described.

In the first example of star finding assistance, considering that the field of view of the telescope is very limited, it is very likely that the target star point is getting farther and farther away during the process of adjusting the telescope, and the user cannot know it. Therefore, based on the current orientation, adjust the telescope to make it right In the process of aligning the target star point, a warning message is sent to the user when the adjustment amount of the telescope orientation exceeds a reasonable adjustment threshold. Just as an example, in some cases, the "adjustment threshold" can be, for example, the absolute value of the difference between the target star point and the orientation of the telescope plus the error estimate of the initial positioning of the telescope, or plus a certain margin to obtain In other cases, the "adjustment threshold" can also be set empirically, such as a fixed threshold. The warning information can be given, for example, by the light and sound warning devices on the telescope, by the augmented reality display method integrated in the telescope display system, or by the resistance change of the direct drive motor used to assist the rotation of the telescope. Somatosensory cues are given.

Preferably, the above-mentioned somatosensory prompt may be a resistance against the user's manual rotation of the telescope that increases as the user manually adjusts the telescope beyond the adjustment threshold. For example, when the adjustment of the telescope by the user exceeds the adjustment threshold, as the exceeding amount is larger, the direct drive motor provides greater resistance, so as to prompt the user to adjust the orientation of the telescope back to the adjustment range. In some cases, when the user manually adjusts the telescope beyond the adjustment threshold, the telescope can be directly rotated back to the adjustment threshold through the direct drive motor, etc.

In the second example of star finding assistance, the user is assisted to find the target star point more efficiently by helping the user to determine the orientation of the current heading relative to the target star point. Specifically, the following processes are included: a: Obtain the target star point several different images of the sky and its surrounding area; and b: provides an augmented reality display through the telescope and displays images of the sky for guided adjustments.

For ease of understanding, the above processing will be described below with reference to FIG. 9 .

The right side of Figure 9 shows the sky image of the target star point 1 and its surrounding area. In process a, the sky image of the target star point 1 and its surrounding area can be retrieved from a local database (for example, stored in the memory of the telescope), or can be retrieved from a remote database, for example, through a network or other communication devices And as shown in the figure, with the target star point 1 as the center, the surrounding area can be divided into several different sky area images corresponding to different orientations (four sky area images A, B, C are shown in FIG. 9 ) , D). According to an embodiment of the present invention, in process b, as shown in the left part of FIG. 9 , the several different sky area images are displayed in the field of view 40 of the telescope in an augmented reality manner. In the process of star finding, the user can compare the real-time observation image with several sky area images A, B, C, and D corresponding to different directions around the target star point to judge the current orientation of the telescope relative to the target star point. , so as to find the target star point more easily. For example, in the example shown in FIG. 9 , after the user compares the image observed in real time with the four sky area images A, B, C, and D displayed in an enhanced manner, the user can find that the image in the field of view 40 is the same as the one displayed in the augmented reality. If the image A is relatively consistent, the user can determine that the target star point 1 is at the lower right of the field of view 40 .

It can be understood that, the above-mentioned division manner of the sky area image and the augmented reality display manner are only schematic descriptions for easy understanding, and can be selected according to specific conditions in actual implementation. At the same time, the above two kinds of star-finding aids are not mutually exclusive, and the two can be used in combination or alone.

It should be understood that although the above-mentioned star-finding assistance can be used in the processing S230 of the telescope positioning method shown in FIG. 6 , the above-mentioned star-finding assistance is not limited to being used in the star-finding process for realizing telescope positioning and calibration, but can also be used with For example during normal stargazing after telescope positioning and calibration. Therefore, according to different embodiments of the present invention, an auxiliary star-finding method is also provided. The auxiliary star-finding method includes: obtaining the current orientation of the telescope and the azimuth and height of the target star point in the equatorial coordinate system; In the process of adjusting the current orientation of the telescope to align it with the target star point, the above-mentioned star finding assistance is provided.

10 is a schematic block diagram of another example of a telescope according to an embodiment of the present invention. As shown in FIG. 10 , in addition to the geomagnetic sensor 11 , the gravitational accelerometer 12 and the initial positioning module 13 , the telescope 10B also includes a star finding and calibration module 17 . According to an embodiment of the present invention, the star-finding calibration module 17 is configured to perform the following processes: (1) determine a target star point, and obtain the azimuth and altitude of the target star point in the equatorial coordinate system; and (2) in the initial telescope-based After orienting the telescope so that it is aligned with the target star point, the orientation of the telescope is calibrated based on the azimuth and altitude of the target star point in the equatorial coordinate system.

Preferably, the star finding and calibration module 17 is further configured to perform the following processing: in the process of adjusting the telescope based on the initial orientation to make it align with the target star point, when the user manually adjusts the telescope to exceed an adjustment threshold, a warning message is sent to the user.

In some embodiments, the telescope 10B further includes a direct drive motor 18 . The direct drive motor 18 is a drive motor for rotating the telescope to change the orientation of the telescope, and the warning information sent by the star finding calibration module 17 to the user includes using the direct drive motor 18 Somatosensory cues given. Here, the somatosensory prompt may include, for example, a resistance against the user manually turning the telescope, which increases as the user manually adjusts the telescope beyond the adjustment threshold.

In other embodiments, the telescope 10B may further include an augmented reality display device 19, the image displayed by the augmented reality display device 19 is presented to the user through the eyepiece of the telescope, and the warning information sent by the star finding and calibration module 17 to the user includes the use of Image cues displayed by the augmented reality display device 19 .

Preferably, the star-finding calibration module 17 is further configured to perform the following processing: acquiring several different sky images of the target star point and its surrounding area; The sky area image is displayed by the augmented reality display device 19 for guiding the adjustment of the telescope. For a specific implementation manner, refer to the above description in conjunction with FIG. 9 .

The function of the star-finding calibration module 17 can be implemented, for example, by a processor, a memory, and a computer program stored in the memory; from the perspective of hardware devices, the star-finding calibration module 17 can include a separate device, or can be combined with other processing modules (such as The initial positioning module 13) is integrated together, or can share part of the hardware device with other processing modules. In some embodiments, the star-finding calibration module 17 may cooperate with the direct drive motor 18, the augmented reality display device 19, and other elements such as lighting equipment, sound equipment, etc. to complete the aforementioned processing.

The above description is only a preferred embodiment of the present application and an illustration of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solution formed by the specific combination of the above-mentioned technical features, and should also cover the above-mentioned technical features without departing from the inventive concept. Other technical solutions formed by any combination of its equivalent features. For example, a technical solution is formed by replacing the above-mentioned features with the technical features disclosed in this application (but not limited to) with similar functions.

Claims (27)

1. A telescope positioning method, comprising: Use the geomagnetic sensor of the telescope to detect the geomagnetic field information; Detecting the direction of gravity using the gravitational accelerometer of the telescope; and The azimuth angle of the telescope in the horizon coordinate system is determined based on the geomagnetic field information, and the height of the telescope in the horizon coordinate system is determined based on the gravitational direction. 2. The telescope positioning method as claimed in claim 1, wherein the method further comprises: A horizon coordinate system is established based on the geomagnetic field information and the gravity direction. 3. The telescope positioning method according to any one of claims 1 and 2, wherein the method further comprises: obtain the real-time moment and the latitude and longitude of the location of the telescope; and Based on the latitude and longitude, the real-time time, and the azimuth and altitude in the horizontal coordinate system, the initial orientation of the telescope is determined, and the initial orientation includes the azimuth and altitude of the telescope in the equatorial coordinate system. 4. telescope positioning method as claimed in claim 3, wherein, described method also comprises: Determine a target star point, and obtain the azimuth and altitude of the target star point in the equatorial coordinate system; and After adjusting the telescope to be aligned with the target star point based on the initial orientation of the telescope, the orientation of the telescope is calibrated based on the azimuth and height of the target star point in the equatorial coordinate system. 5. The telescope positioning method according to claim 4, wherein the method further comprises: in the process of adjusting the telescope based on the initial orientation to make it align with the target star point, when the user manually adjusts the telescope for more than one adjustment When the threshold is reached, a warning message is sent to the user through the telescope. 6. The telescope positioning method as claimed in claim 5, wherein said issuing warning information comprises: Use the direct drive motor of the telescope to give a somatosensory prompt, wherein the direct drive motor is a drive motor for rotating the telescope to change the orientation of the telescope; and/or An augmented reality display is provided through the telescope, and the warning information is given through the augmented reality display. 7 . The telescope positioning method of claim 6 , wherein the somatosensory prompt includes an increased resistance against the user manually turning the telescope as the user manually adjusts the telescope beyond the adjustment threshold. 8 . 8. The telescope positioning method as claimed in claim 4, wherein the method further comprises: Acquiring several different sky images of the target star point and its surrounding area; and During the process of adjusting the telescope to be aligned with the target star point based on the initial orientation, an augmented reality display is provided through the telescope and an image of the sky area is displayed for guiding the adjustment. 9. The telescope positioning method as claimed in claim 4, wherein said determining a target star point comprises: setting a deviation threshold, with the initial orientation of the telescope as the center, and determining the target range according to the deviation threshold; and A star point located within the target range is determined as a target star point. 10 . The method for positioning a telescope according to claim 9 , wherein the target range is the range that the telescope can see under the initial orientation. 11 . 11. A telescope, comprising: a geomagnetic sensor, a gravitational accelerometer and an initial positioning module, wherein: The geomagnetic sensor is used to detect geomagnetic field information; The gravity accelerometer is used to detect the direction of gravity; The initial positioning module receives the geomagnetic field information from the geomagnetic sensor and the gravitational direction from the gravitational accelerometer, and is configured to determine the position of the telescope in the horizon coordinate system based on the geomagnetic field information and the gravitational direction. Azimuth and altitude. 12 . The telescope according to claim 11 , wherein the telescope further comprises a lens barrel, and the relative positions of the geomagnetic sensor and the gravitational accelerometer and the lens barrel are fixed. 12 . 13. The telescope according to claim 11, wherein the telescope further comprises a lens barrel and a horizontal rotation mechanism, the horizontal rotation mechanism is provided with a fixed table and a rotating table, and the rotating table is connected with the lens barrel and with the Said lens barrel rotates horizontally synchronously; The geomagnetic sensor is mounted on the turntable of the horizontal rotation mechanism. 14. The telescope of claim 13, wherein the telescope further comprises a tilting mechanism, the lens barrel is connected to the turntable through the tilting mechanism, and the gravitational accelerometer is fixed to the lens barrel. 15. The telescope according to claim 14, wherein the telescope further comprises a first encoder and a second encoder, the first encoder is connected with the horizontal rotation mechanism and is used for detecting the level of the rotating platform The rotation angle, the second encoder is connected with the tilting mechanism and is used for detecting the tilting rotation angle of the lens barrel. 16. The telescope according to any one of claims 11 to 15, wherein the initial positioning module is further configured to determine the initial orientation of the telescope according to real-time time and the latitude and longitude of the location where the telescope is located, and the initial orientation includes all The azimuth and altitude of the telescope in the equatorial coordinate system. 17. The telescope according to any one of claims 11 to 16, wherein the telescope further comprises a star-finding calibration module, and the star-finding calibration module is configured as: Determine a target star point, and obtain the azimuth and altitude of the target star point in the equatorial coordinate system; and After adjusting the telescope to be aligned with the target star point based on the initial orientation of the telescope, the orientation of the telescope is calibrated based on the azimuth and height of the target star point in the equatorial coordinate system. 18. The telescope according to claim 17, wherein the star-finding calibration module is further configured to: in the process of adjusting the telescope based on the initial orientation to make it align with the target star point, when the user manually adjusts the telescope to exceed the target star point. Once the threshold is adjusted, a warning message is sent to the user. 19. The telescope according to claim 18, wherein the telescope further comprises a direct drive motor, the direct drive motor is a drive motor for rotating the telescope to change the orientation of the telescope, and the star finding and calibration module is directed to The warning information sent by the user includes a somatosensory prompt given by the direct drive motor. 20. The telescope of claim 19, wherein the somatosensory cues include increased resistance to manual rotation of the telescope by the user as the user manually adjusts the telescope beyond the adjustment threshold. 21. The telescope of claim 18, wherein the telescope further comprises an augmented reality display device, the image displayed by the augmented reality display device is presented to a user via an eyepiece of the telescope, and the star finding is calibrated The warning information sent by the module to the user includes an image prompt displayed by the augmented reality display device. 22. The telescope according to claim 21, wherein the star-finding calibration module is further configured to: acquire several different sky area images of the target star point and its surrounding area; During the process of aligning the telescope with the target star point, the image of the sky area is displayed through the augmented reality display device to guide the adjustment. 23. A telescope as claimed in any one of claims 11 to 22, wherein the telescope is not provided with an interface for engaging a finderscope. 24. An assisted star finding method for a telescope, comprising: Get the current orientation of the telescope and the azimuth and altitude of the target star point in the equatorial coordinate system; and During the process of adjusting the telescope to be aligned with the target star point based on the current orientation, when the user manually adjusts the telescope to exceed an adjustment threshold, a warning message is sent to the user. 25. The assisted star-finding method according to claim 24, wherein the sending out warning information comprises: Use the direct drive motor of the telescope to give a somatosensory prompt, wherein the direct drive motor is a drive motor for rotating the telescope to change the orientation of the telescope; and/or An augmented reality display is provided through the telescope, and the warning information is given through the augmented reality display. 26. The assisted star finding method of claim 25, wherein the somatosensory prompt includes an increased resistance against the user manually turning the telescope as the user manually adjusts the telescope beyond the adjustment threshold. 27. The assisted star finding method according to any one of claims 24-26, wherein the method further comprises: Acquiring several different sky images of the target star point and its surrounding area; and During the process of adjusting the telescope to be aligned with the target star point based on the current orientation, an augmented reality display is provided through the telescope and an image of the sky area is displayed for guiding the adjustment.

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