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    • 专利摘要:
    The invention relates to a system (10) for determining and / or predicting a position and / or a trajectory of orbital objects in space (122), in particular in near-earth space (122), comprising a first optical image recording device (12) for recording first Images of space (122), an image processing device (14) for processing the first images recorded with the first image recording device (12) and for determining position coordinates of orbital objects by comparing at least two recorded first images, the system (10) having a second optical An image recording device (16) which can be aligned with the position coordinates of an orbital object determined by the image processing device (14) and can be tracked for tracking the same.
    公开号:AT16975U1
    申请号:TGM50027/2018U
    申请日:2018-02-15
    公开日:2021-01-15
    发明作者:
    申请人:Deutsch Zentr Luft & Raumfahrt；
    IPC主号:
    专利说明:

    description
    SYSTEM FOR DETERMINING AND / OR PREDICTING A POSITION AND / OR ELNER AIRWAY OF ORBITAL OBJECTS IN SPACE
    The present invention relates to a system for determining and / or predicting a position and / or a trajectory of orbital objects in space, in particular in near-earth space, comprising a first optical image recording device for recording first images of space, an image processing device for processing the first images recorded with the first image recording device and for determining position coordinates of orbital objects by comparing at least two recorded first images.
    Systems of the type described above are used in particular to determine flight paths and / or orbits of orbital objects. If, for example, first images of the starry sky are recorded at night with the first optical image recording device, which is directed into the sky, when the sky is clear, then intensity differences in the first two images can be determined by comparison and thus moving orbital objects can be detected in a simple manner.
    Under orbital objects are in particular satellites, space debris, flying objects or missiles to understand that move in the atmosphere or in near-earth space, in particular at altitudes in the range of about 200 km to about 4000 km. Furthermore, it can also be about other flying objects such as airplanes or the like with their own lighting, which can also be detected during the day at night or against a blue sky.
    The precise determination of positions and / or trajectories of orbital objects is of increasing importance, since the increasing number of objects in earth orbit, a number of space debris is also steadily increasing. In addition, due to the increasing commercialization of space travel, the number of particularly small satellites will also increase significantly in the future. This increases the likelihood of collisions between uncontrollable pieces of space junk or between them and satellites.
    In order to prevent collisions, it is necessary that the trajectories or their orbits are known as precisely as possible both from the space junk parts and from the satellites. This then makes it possible in particular to fly evasive maneuvers. The more accurate a prediction of the flight path or orbit is, the more effectively an evasive maneuver can be carried out. To determine the trajectory of an orbital object, its position in space must be measured as often and precisely as possible.
    Of particular interest here is near-earth space, also referred to as low earth orbit, because here the number of objects increases dramatically. Measurement systems are therefore increasingly required to determine the position of orbital objects and to determine their trajectory from this. Since measuring systems of this type are expensive, it is desirable to provide systems that are as inexpensive as possible and yet that measure precisely.
    It is also known to measure objects in near-earth space by using radar systems. However, such systems are complicated in their structure and expensive to set up and in operation. One advantage of such systems, however, is to be able to detect objects of a size of only about 10 cm and to be able to measure them with sufficient accuracy so that predictions for their trajectories are possible. Such systems can also be used day and night.
    Systems of the type described above allow passive optical observations of objects in geostationary orbit. They enable these objects to be detected and measured. However, only angle information is determined here. A disadvantage of the use of passive optical methods is, in particular, that they only work at night and
    can be used when the sky is clear. Routine use of passive optical systems for observing the geostationary orbit is known, but not for observing the orbit near the earth.
    It is therefore an object of the present invention to improve a system of the type described above so that positions and / or trajectories of orbital projects in space can be determined and predicted in a simple manner.
    This object is achieved according to the invention in a system of the type described at the outset in that the system comprises a second optical image recording device which can be aligned with the position coordinates of an orbital object determined with the image processing device and tracked for tracking the same.
    The proposed development of the system mentioned at the beginning makes it possible in particular to determine positions and / or trajectories of orbital projects in space with a relatively high degree of accuracy using purely optical methods. The position coordinates of orbital objects, which are determined by using the first optical image recording device in cooperation with the image processing device, can in particular be used to automatically align the second optical image recording device with the determined position coordinates of the orbital object and the second optical image recording device automatically for tracking the orbital objects to track. In particular, the automatic tracking of the second image recording device makes it possible in particular to determine positions and / or trajectories of orbital objects even more precisely. In this way, tracked orbital objects can still be measured precisely, in particular with regard to their position, for example by using devices for measuring a distance to the orbital object. In particular, the distance can be determined with a very high precision by means of the transit time measurement, which makes it possible to create highly accurate orbits of the newly detected object. Since the system does not require any prior information, it is generally suitable to determine data of orbital objects that are not published by detecting these objects with the first optical image recording device and more precisely determining the position and / or the trajectory with the second optical image recording device. In this way, independent databases can be created independently of available databases and information, in particular for objects whose position and orbit data are not freely available, as is the case, for example, with spy satellites, newly created space junk, fragments or the like.
    It is advantageous if the image processing device is designed to process second images recorded with the second image recording device and to determine position coordinates of orbital objects by comparing at least two recorded second images. This refinement makes it possible in particular to verify position coordinates and / or path coordinates of an orbital object by comparing at least two recorded second images. In particular, when the second image recording device is designed to generate second images with a higher resolution than the first image recording device, position and / or trajectory data of orbital objects can thus be determined even more precisely.
    [0013] The first image recording device preferably comprises at least one first optical imaging device. With the first optical imaging device, for example, a night sky can be imaged on an imaging plane or, for example, on a detector. The first image recording device can also comprise two, three or more optical imaging devices. These make it possible in particular to image space or the starry sky at night from different angular positions in order to enable a position and / or a trajectory of an orbital object to be determined as precisely as possible.
    In order to be able to record the largest possible area of space, it is advantageous if the at least one optical imaging device is designed in the form of wide-angle optics. For example, it can be designed in the form of a wide-angle camera.
    The system can be designed particularly inexpensively if the wide-angle camera is designed in the form of a digital camera.
    It is advantageous if the at least one first optical imaging device is assigned a first optical detector for generating the first images by spatially resolved measurement of the intensity of electromagnetic radiation imaged on the first detector with the at least one first optical imaging device. The first images can thus be generated with the first optical imaging device by imaging space on the first detector. Self-luminous objects or objects illuminated by the sun emit radiation which is imaged on the detector in such a way that intensity differences can be determined spatially resolved on the detector.
    The detector is preferably designed in the form of a first detector array or a first CCD chip or CMOS chip. This makes it easy to measure different intensities of electromagnetic radiation.
    So that the determination of a position and / or a flight path can take place automatically, it is advantageous if the first image recording device is designed to cooperate with the image processing device. In particular, measurement data, for example from the first optical detector, can be automatically transmitted to the image processing device and processed further by it.
    According to a further preferred embodiment of the invention it can be provided that the image processing device is designed to determine the position coordinates of the orbital object in a first detector coordinate system and to convert the position coordinates from the first detector coordinate system into a reference coordinate system. The images generated by the first optical image recording device are in particular two-dimensional. The proposed development therefore has the advantage that, in particular, position coordinates can be specified in a reference coordinate system that is independent of the detector coordinate system. This can in particular be three-dimensional.
    It is favorable if the detector coordinate system is two-dimensional. In this way, position coordinates can be determined easily from two-dimensional images.
    [0021] The reference coordinate system is preferably three-dimensional. This enables in particular the specification of position coordinates of orbital objects in space. The reference coordinate system is favorably a spherical coordinate system. Specifying position coordinates in such a reference coordinate system makes it possible, in particular, to find and track orbital objects anywhere on earth in a simple manner.
    It is advantageous if the reference coordinate system is formed by the star coordinate system. Such a reference coordinate system enables universal application of the system and flexible use of the same.
    The system preferably comprises a first tracking device for tracking the at least one first optical imaging device. Such a tracking device makes it possible in particular to take pictures of the same section of the universe or the starry sky. Moving objects against the starry background can be easily and reliably detected and tracked.
    It is advantageous if an initial orbit of the object to be detected is determined from angle measurements of the first optical imaging device. On the basis of the determined initial orbit, the object can then be tracked with the second optical imaging device, which preferably has a smaller field of view in order to capture the newly detected object as precisely as possible.
    It is favorable if the system comprises a time synchronization device for assigning a recording time to each of the first images recorded with the first image recording device and / or each of the second images recorded with the second image recording device. For example, for calculating position coordinates from image data from
    recorded first and / or second images, such a time synchronization enables in particular a location-independent use of the first image recording device by the second image recording device. Spatially separated can mean, in particular, several kilometers separated from one another or at places on earth that are even further apart.
    The time synchronization device can be designed in a simple manner if it comprises a GPS receiver. For example, the recording time of the first or second images can be synchronized with a system time of the GPS ("Global Positioning System"). A time synchronization of the first and / or second images is helpful in particular for the determination of path movements of orbital objects and for the prediction of positions and trajectories of the same.
    It is favorable if the time synchronization device is arranged or designed to cooperate with the first image recording device and / or with the image processing device and / or with the second image recording device. For example, the recording of a first image with the first image recording device can trigger a time signal from the time synchronization device, so that an exact recording time can be assigned to each first image. Positions and / or trajectories of orbital objects can thus be determined very precisely from a known alignment, that is to say angle information, of the first image recording device taking into account the recorded section of the universe. This also applies accordingly to the second image recording device and the second images generated with it. The image processing device can determine a position and / or trajectory of orbital objects particularly precisely if a corresponding time base or time information as to when the first and / or second images were recorded is known.
    According to a further preferred embodiment of the invention it can be provided that the system comprises a distance measuring device for measuring a distance to an orbital object. The distance measuring device makes it possible in particular to measure a distance to the orbital object. This additional information can significantly improve the accuracy when determining a position and / or a trajectory of an orbital object.
    Precise distance measurements can in particular be achieved in that the distance measuring device is designed in the form of a laser distance measuring device. With such a laser distance measuring device, a distance can be determined by measuring the transit time, in particular an electromagnetic radiation pulse that is emitted by the laser distance measuring device. Parts of the radiation pulses reflected or scattered by the orbital object can be detected by the laser distance measuring device and the distance can then be calculated from the measured transit time.
    [0030] The laser distance measuring device advantageously comprises a laser for generating laser pulses. With lasers, in particular, electromagnetic radiation pulses can be generated which have sufficient energy so that they can still be detected in the event of a reflection or scattering on an orbital object.
    The laser is advantageously designed in the form of a pulse laser for generating short laser pulses. Pulse widths in the ns range enable measurement accuracy when measuring distances in the sub-meter range. This is sufficient for a pure determination of the path of unknown orbital objects, in particular to be able to carry out evasive maneuvers to avoid collisions with a lead time of 48 hours. Lasers that can generate pulses in the ns range have significantly lower peak powers than is the case, for example, with ps lasers. In particular, laser pulses with optical waveguides, for example optical fibers, can be guided to where the laser radiation is to be emitted. Furthermore, safety during the operation of the system can also be improved in this way, since significantly simpler protective mechanisms are required than with high-power ps lasers.
    It is advantageous if the distance measuring device of the second image recording device
    device is assigned to measure the distance to an orbital object during its tracking with the second image recording device. If the orbital object is tracked, the distance measuring device can thus always remain aligned with the orbital object, which means that a distance measurement can be carried out even more precisely.
    In order to be able to apply the radiation emitted by the distance measuring device to the orbital object with great certainty, it is advantageous if the distance measuring device comprises expansion optics for expanding the laser radiation generated by the laser. In this way, an effective cross section of the emitted laser radiation can be enlarged.
    Second images can be generated in a simple manner in that the second image recording device comprises a second optical imaging device.
    In order to be able to measure a moving object with high precision, it is advantageous if the second imaging device is designed in the form of a telescope. In particular, it can be a reflector telescope. The more luminous the second imaging device, the more precisely position and / or trajectory curves of orbital objects can be determined. The larger the diameter of the telescope, the smaller objects can be detected. The longer the focal length of the telescope, the more precise the measurement.
    It is also advantageous if the second optical imaging device is assigned a second optical detector for generating second images by spatially resolved measurement of the intensity of the electromagnetic radiation imaged on the second detector with the second optical imaging device. In this way, images of space can be captured easily and safely. Furthermore, they can be automatically further processed electronically, for example with the image processing device.
    High-resolution second images can in particular be generated in a simple manner in that the second detector is designed in the form of a second detector array or a second CCD chip or CMOS chip.
    Distances can be measured particularly precisely with the distance measuring device if it comprises a radiation detector for time-resolved measurement of radiation pulses reflected and / or scattered on the orbital object.
    In order to be able to determine in particular positions and / or trajectories of particularly weak orbital objects, it is advantageous if the radiation detector is designed in the form of a one-photon detector.
    In order to be able to align the second imaging device as precisely as possible, it is advantageous if the second imaging device is assigned a third optical imaging device.
    It is advantageous if the third optical imaging device comprises wide-angle optics. In particular, this can be a wide-angle telescope. In this way, in particular, a larger section of space can be captured than with the second optical imaging device alone.
    Furthermore, it is advantageous if the system comprises a second tracking device for tracking the second optical imaging device. The second tracking device makes it possible, in particular, to automatically track orbital objects. It can thus be achieved in particular that the tracked orbital object is always arranged in the same area of the recorded second images.
    For even more precise measurements of a position and / or a trajectory of an orbital object, it is advantageous if the second tracking device is designed to track a third optical imaging device. In particular, the third optical imaging submission can be tracked synchronously with the second optical imaging device in order to track the orbital object.
    A particularly simple and compact structure of the system can be achieved if the laser is coupled to an optical waveguide and if the optical waveguide is guided to the second imaging device and / or to the second tracking device for emitting laser pulses in the direction of the tracked orbital object. This refinement makes it possible, in particular, to carry out a distance measurement when tracking the orbital object. A complicated structure and, in particular, further tracking for the distance measuring device are therefore not required. Optionally, the laser pulses can also be guided along the axes of an astronomical mount of the telescope. However, this increases the complexity of the mount.
    It is advantageous if the system comprises a memory device for storing position and orbit information data of orbital objects. In particular, a database can be set up in which the corresponding position and / or path information data are stored. In particular, the storage of corresponding data can be automated. This makes it possible in particular to monitor orbital objects fully automatically and to continuously update their position and / or trajectory data. The position and / or trajectory information data stored in the memory device can then be used to detect the known orbital objects, for example in order to be able to align the first and / or the second image recording device at the appropriate time in the correct direction to the moving orbital object.
    It is advantageous if the first image recording device has a first detection angle, if the second image recording device has a second detection angle and if the first detection angle is greater than the second detection angle. Thus, a larger section of the sky or space can be captured with the first image recording device, whereas the second image recording device enables position and / or trajectory data of orbital objects to be determined more precisely.
    In order to obtain precise position and / or trajectory data of orbital objects, it is advantageous if the first detection angle is approximately three times as large as the second detection angle. The first detection angle is preferably at least about five, better still at least about ten times as large as the second detection angle.
    The first detection angle is preferably in a range from approximately 5 ° to approximately 30 °.
    Advantageously, the second detection angle is in a range from about 0.1 ° to about 3 °.
    In order to be able to reliably detect reflected and / or scattered radiation in particular from the orbital object, in particular for precise distance measurement, it is advantageous if the third imaging optics have a third detection angle and if the third detection angle is greater than the second detection angle. In particular, even if there is a discrepancy between the alignment of the second imaging optics and the third imaging optics, the distance to the orbital object can still be determined with sufficient accuracy.
    The following description of preferred embodiments of the invention is used in conjunction with the drawings for a more detailed explanation. Show it:
    Figure 1: a schematic representation of a system for determining and / or predicting a position and / or a trajectory of an orbital object in space and a schematic sequence for determining and / or predicting a position and / or a trajectory of an orbital object in Space;
    [0053] FIG. 2: a schematic representation of the sequence of time synchronization when recording first and / or second images;
    FIG. 3: a schematic representation of the distance measurement to orbital objects with a laser measuring device;
    FIG. 4: a schematic representation of a structure for separating radiation reflected or scattered by an orbital object from solar radiation scattered by the orbital object;
    FIG. 5 shows a schematic representation of a sequence for determining position and / or trajectory data of an orbital object;
    [0057] FIG. 6: a schematic representation of a structure of part of a laser distance measuring device;
    FIG. 7: an exemplary representation of two first images of an SL-16 rocket body in front of the field of view of a first optical image recording device at an interval of 14 seconds and a second image of the SL-16 rocket body recorded with a second image recording device 16 seconds later;
    Figure 8: an exemplary representation of two first images that were recorded with a first image recording device at an interval of 14 seconds, including enlarged sections (left) and a second image of a second image recording device about 17 seconds later of the satellite GLOBALSTAR MO003 at a distance of about 1922 km.
    In FIG. 1, a system 10 for determining and / or predicting a position and / or a trajectory of an orbital object in space is shown schematically. It can be used in particular for the detection and tracing of orbital objects in near-earth space, for example in a range from about 200 km to about 4000 km altitude, in which orbital objects are still irradiated by the sun so that they can be detected.
    The system 10 comprises a first optical image recording device 12 for recording first images 26, 28 of the space 122 or a section of the sky.
    The system 10 further comprises an image processing device 14 for processing the first images 26, 28 recorded with the first image recording device 12 and for determining position coordinates of orbital objects by comparing at least two recorded first images 26, 28.
    The system 10 further comprises a second optical image recording device 16. This can be aligned to the position coordinates of an orbital object determined with the image processing device 14 and can be tracked for tracking the same.
    The image processing device 14 is also designed to process second images 72 recorded with the second image recording device 16 and to determine position coordinates and orbital objects by comparing at least two recorded second images 72.
    The first image recording device 12 comprises one or more first optical imaging devices 18. Two optical imaging devices 18 are shown schematically in FIG.
    The first optical imaging devices 18 are designed in the form of wide-angle optics 20. For example, they can be designed in the form of a wide-angle camera, for example in the form of a digital camera.
    Each of the first optical imaging devices 18 is assigned a first optical detector 22.
    The first optical detectors 22 can be designed, for example, in the form of a first detector array or CCD chips.
    With the optical detector 22, digital first images 26, 28 are generated by spatially resolved measurement of the intensity of electromagnetic radiation 24 imaged with the first optical imaging devices 18 on the first detector 22, which from space 122 with the first optical imaging devices 18 the first optical detectors 22
    is formed. This creates two-dimensional first images 26 and 28, as shown schematically and by way of example in FIG. Further examples of first images 26 and 28 are also shown in FIG. 8 on the left with enlarged sections.
    In the first images 26 and 28 orbital traces of an orbital object, namely an SL-16 rocket body, are identified at a distance of about 759 km by the circles 30 at the specified times.
    In FIG. 8, traces of the orbit of the GLOBALSTAR M003 satellite are shown at a distance of approximately 1922 km and are each identified by a circle 32 in the enlarged detail. Here, too, the exact recording times are given in the respective first image 26 and 28.
    The first image recording device 12 is designed to cooperate with the image processing device 14. The measurement signals from the first optical detectors 22 are transmitted to the image processing device 14 via a corresponding data connection 34. This can in particular comprise a data processing device or be designed in the form of such.
    The first images 26 and 28 are two-dimensional. This typically results from the structure of the first optical detectors 22.
    The image processing device 14 is also designed such that the position coordinates of the orbital object in a first detector coordinate system corresponding to the two-dimensional first images 26 and 28 can be determined and then converted into position coordinates in a reference coordinate system.
    In the present case, the detector coordinate system is two-dimensional and the reference coordinate system is three-dimensional. In particular, it can be a spherical coordinate system. For universal further processing of the position and / or flight path data, the reference coordinate system can be formed, for example, by the star coordinate system.
    Optionally, the first optical imaging devices 18 can each be assigned a first tracking device 36 in order to move the first optical imaging devices 18 in a targeted manner. The first optical imaging devices 18 can thus always be aligned with the same section of the starry sky. The first tracking device 36 can in particular be designed in the form of a conventional astronomical mount 38.
    The system 10 can furthermore comprise a time synchronization device 40 which assigns a recording time to each of the first images 26, 28 recorded with the first image recording device 12. For example, in FIGS. 7 and 8 in the first images 26 and 30, the respective recording times that are assigned to these images are indicated.
    The time synchronization device 40 comprises a GPS receiver 42 in order to receive a GPS time as the system time.
    The time synchronization device 40 is arranged or designed to cooperate with the first image recording device 12 as well as with the first image processing device 14 and with the second image recording device 16 and is connected in a control-effective manner.
    The time synchronization device 40 further comprises a microcontroller 44. For example, when the first optical imaging device 18 is triggered when a first image 26 or 28 is generated, a trigger signal is transmitted to the time synchronization device 40. In return, the time synchronization device 40 transmits a time signal to the first optical image recording device 12, which is then transmitted to the image processing device 14 together with the image data of the first images 26 and 28. Figure 2 shows this process schematically.
    The data transmission from the first optical image recording device 12 to a data
    The processing device 46, for example a PC, can in particular take place in a wired manner via USB or Ethernet interfaces. In an analogous manner, data can be transmitted from the microcontroller 44 to the data processing device 46 by cable.
    The system 10 further comprises a distance measuring device 48 for measuring a distance to an orbital object.
    The distance measuring device 48 is designed in the form of a laser distance measuring device 50 and comprises a laser 52 for generating laser radiation 60 in the form of laser pulses 54. The laser 52 can be designed in the form of a pulse laser 56. With it, in particular short laser pulses 54, for example with pulse widths 58 in the ns range, can be generated.
    A wavelength of the laser radiation 60 generated by the laser 52 is preferably in the infrared spectral range.
    The distance measuring device 48 is assigned to the second image recording device 16. This enables the measurement of a distance to an orbital object while it is being tracked with the second image recording device 16.
    A second tracking device 62 is provided for tracking, with which the second image recording device 16, in particular a second optical imaging device 64 comprised by it, can be positioned and / or aligned.
    The second tracking device 62 can in particular be designed in the form of a conventional astronomical mount 66.
    The second imaging device 64 is designed in the form of a telescope 68. For example, it can be a reflector telescope.
    The second optical imaging device 64 is assigned a second optical detector 70 for generating second images 72. Such second images are shown by way of example in FIGS. 8 and 9 on the right.
    The second images 72, like the first images 26 and 28, are generated by spatially resolved measurement of the intensity of the electromagnetic radiation 74 imaged with the second optical imaging device 64 on the second detector 70.
    The second detector 70 can likewise be designed in the form of a second detector array or a second CCD chip.
    The distance measuring device 48 comprises a radiation detector 76. This makes it possible to detect radiation pulses 78 reflected and / or scattered by the orbital object. In order to be able to measure signals at all here, the radiation detector 76 is preferably designed in the form of a one-photon detector 80.
    The second imaging device 64 can optionally be assigned a third optical imaging device 82, which is shown schematically in FIG.
    In particular, these can be wide-angle optics, for example in the form of a wide-angle telescope.
    The second tracking device 62 is designed to track the third optical imaging device 82. In particular, the third optical imaging device 82 can be rigidly coupled to the second optical imaging device 64 so that they can be tracked synchronously.
    The laser 52 of the distance measuring device 48 is coupled to the second imaging device 64 or the second tracking device 82 via an optical waveguide 84 and is guided to the latter. This makes it possible in particular to emit the laser pulses 54 in the direction of the tracked orbital object.
    In order to enlarge an effective cross section of the laser pulses 54 emitted by the laser 52,
    the distance measuring device 58 comprises an optical expansion system 86.
    The determined position and / or trajectory information data of orbital objects can in particular be stored in a storage device 88. In this way a database for orbital objects can be created.
    Precise orbit prediction is possible through the precise measurement of a distance to the tracked orbital object. In this way, collisions between orbital objects can be avoided in good time by changing the trajectory of one or both orbital objects in good time before a potential collision.
    The system 10 can further comprise a control and / or regulating device 90, with which in particular the tracking devices 36 and 62, as shown schematically in Figure 1, can be controlled in order to the imaging devices 18 and 64 to be detected and measured track the orbital object.
    A common aperture can be used to separate the infrared radiation of the laser 52 from the radiation 24 and the visible radiation, for example of the orbital object illuminated by the sun. In the beam path in front of the second optical imaging device 64, a selective mirror 92 is inserted which decouples the radiation pulses 78 reflected or scattered by the orbital object via a deflecting mirror 94 and deflects them onto the single-photon detector 80. In order to filter out background radiation that is superimposed on the backscattered laser radiation, a filter 96 in the form of a bandpass filter which only allows radiation of the wavelength emitted by the laser 52 is inserted in the beam path in front of the one-photon detector 80.
    The one-photon detector 80 can record incident radiation pulses 78 with high time resolution. For this purpose, the emitted laser pulses 54 must be matched with the received radiation pulses 78 by means of suitable data evaluation. This is a procedure known to those skilled in the art for laser distance measurement and therefore does not need to be explained in more detail.
    Figure 6 shows schematically the operation of the expansion optics 86. This ensures that the laser pulses 54 are suitably expanded and directed in the right direction so that they actually hit the orbital object to be measured.
    The expansion optics 86 include two optical lenses 98 and 100 that are adjusted such that they define a common focal point 102. A beam 104 of the laser pulses 54 can thus be expanded in the desired manner.
    A retroreflector 106 on the orbital object reflects part of the radiation in the same direction back into the expansion optics 86. The back-reflected radiation hits an optical filter 108, which reflects the laser light and allows the remaining radiation 24 to pass. This is imaged on the second detector 70.
    The back-reflected laser radiation is guided through a beam splitter 110 so that the radiation pulses 78 reflected or scattered on the orbital object strike the radiation detector 76.
    In order to send the radiation pulses 54 in a defined manner to the orbital object, a movable mirror or collinator 112 is coupled to the optical waveguide 84, which can automatically change a direction of the laser pulses 54 in the desired manner by appropriate control.
    The first image capture device 12 defines a first capture angle 114, the second image capture device 16 a second capture angle 116. The first capture angle 114 is greater than the second capture angle 116.
    The first detection angle 114 is preferably in a range from about 5 ° to about 30 °.
    The second detection angle 116 is preferably in a range from about 0.1 ° to about 3 °.
    The third imaging device 82 has a third detection angle 118 which is larger than the second detection angle 116, but smaller than the first detection angle 114.
    A third detector 120 can also be assigned to the third imaging device 82. The third imaging device 82 is preferably used when the second imaging device 64 has a detection angle of less than 1 °.
    The second imaging device 64 and the third imaging device 82 are aligned such that they have the same viewing direction and in particular improve continuous tracking of the orbital object.
    If the third imaging device 82 is used, lower requirements can be placed on the first optical imaging device 18. This helps in particular to save costs when designing the system 10.
    In Figure 6, an alternative representation of a system 10 is shown again schematically. The reference symbols already used above are also used here for identical elements.
    With the first image recording device 12, first images 26, 28 are continuously recorded. These are processed further with the image processing device 14. In this way, first position and / or path data 124 are determined which are required to control the second tracking device 62 in order to align the second imaging device 64 with the orbital object to be tracked.
    With the second optical image recording device 16, the tracking of the orbital object is then carried out. Furthermore, second images 72 are recorded, which are then fed to the image processing device 14.
    [00118] Finally, precise position and / or path data are calculated and stored in the memory device 88.
    The systems 10 described above allow in particular optical data communication to moving targets, such as aircraft or satellites.
    Furthermore, the systems 10 can also be used for cataloging objects in space close to the earth.
    Furthermore, by appropriate modification, trajectories of other flying objects, for example aircraft, can also be tracked.
    Furthermore, as shown schematically in FIG. 1, two - optionally even more first imaging devices 18 can be used and operated at spatially separate locations. In particular, you can view or monitor the same section of sky. A distance between the two first imaging devices 18 is preferably selected such that, taking into account this distance between the two imaging devices 18 and the measured angular coordinates of an orbital object, a distance to this can be determined. With such a system structure, a time synchronization of the two imaging devices 18 is necessary so that first images 26 and 28 can be recorded at the same time.
    REFERENCE LIST
    10 system
    12 first optical image pickup device 14 image processing device
    16 second optical image recording device 18 first optical imaging device 20 wide-angle optics
    22 first optical detector
    24 radiation
    26 first picture
    28 second picture
    30 circle
    32 circle
    34 Data connection
    36 first tracking device
    38 mount
    40 Time synchronization device
    42 GPS receiver
    44 microcontrollers
    46 data processing device
    48 Distance measuring device
    50 Laser distance measuring device 52 Laser
    54 laser pulses
    56 pulse laser
    58 pulse width
    60 laser radiation
    62 second tracking device
    64 second optical imaging device 66 mount
    68 telescope
    70 second optical detector
    72 second picture
    74 radiation
    76 radiation detector
    78 radiation pulse
    80 One-photon detector
    82 third optical imaging device 84 optical waveguide
    86 expansion optics
    88 Storage device
    90 control and / or regulating device 92 mirror
    94 deflection mirror
    96 filters
    98 lens
    100 lens
    102 focus
    104 beam
    106 retroreflector
    108 filters
    110 beam splitter
    112 collimator
    114 first detection angle
    116 second detection angle
    118 third angle of detection
    120 third detector
    122 space
    124 first position and / or path data
    权利要求:
    Claims (39)
    [1]
    1. System (10) for determining and / or predicting a position and / or a trajectory of orbital objects in space (122), in particular in near-earth space (122), comprising a first optical image recording device (12) for recording first images of the Space (122), an image processing device (14) for processing the first images recorded with the first image recording device (12) and for determining position coordinates of orbital objects by comparing at least two recorded first images, characterized in that the system (10) has a second an optical image recording device (16) which can be aligned with the position coordinates of an orbital object determined by the image processing device (14) and can be tracked for tracking the same.
    [2]
    2. System according to claim 1, characterized in that the image processing device (14) is designed to process second images (72) recorded with the second image recording device (16) and to determine position coordinates of orbital objects by comparing at least two recorded second images ( 72).
    [3]
    3. System according to any one of the preceding claims, characterized in that the first image recording device (12) comprises at least one first optical imaging device (18).
    [4]
    4. System according to claim 3, characterized in that the at least one first optical imaging device (18) is designed in the form of wide-angle optics (20), in particular in the form of a wide-angle camera.
    [5]
    5. System according to claim 4, characterized in that the wide-angle camera is designed in the form of a digital camera.
    [6]
    6. System according to one of claims 3 to 5, characterized in that the at least one first optical imaging device (18) is assigned a first optical detector (22) for generating the first images (26, 28) by spatially resolved measurement of the intensity of with the at least one first optical imaging device (18) imaged on the first detector (22) electromagnetic radiation (24).
    [7]
    7. System according to claim 6, characterized in that the first detector (22) is designed in the form of a first detector array or a first CCD chip or CMOS chip.
    [8]
    8. System according to one of the preceding claims, characterized in that the first image recording device (12) is designed to cooperate with the image processing device (14).
    [9]
    9. System according to one of the preceding claims, characterized in that the image processing device (14) is designed to determine the position coordinates of the orbital object in a first detector coordinate system and to convert the position coordinates from the first detector coordinate system into a reference coordinate system.
    [10]
    10. System according to claim 9, characterized in that the detector coordinate system is two-dimensional.
    [11]
    11. System according to claim 9 or 10, characterized in that the reference coordinate system is three-dimensional, in particular a spherical coordinate system.
    [12]
    12. System according to one of claims 9 to 11, characterized in that the reference coordinate system is formed by the star coordinate system.
    [13]
    13. System according to one of the preceding claims, characterized by a first tracking device (36) for tracking the at least one first optical imaging device (18).
    [14]
    14. System according to one of the preceding claims, characterized by a time synchronization device (40) for assigning a recording time to each of the first images (26, 28) recorded with the first image recording device (12) and / or each of the second images recorded with the second image recording device ( 72).
    [15]
    15. System according to claim 14, characterized in that the time synchronization device (40) comprises a GPS receiver (42).
    [16]
    16. System according to claim 14 or 15, characterized in that the time synchronization device (40) is arranged or designed to interact with the first image recording device (12) and / or with the image processing device (14) and / or with the second image recording device (16).
    [17]
    17. System according to one of the preceding claims, characterized by a distance measuring device (48) for measuring a distance to an orbital object.
    [18]
    18. System according to claim 17, characterized in that the distance measuring device (48) is designed in the form of a laser distance measuring device (50).
    [19]
    19. System according to claim 17 or 18, characterized in that the distance measuring device (48) comprises a laser (52) for generating laser pulses (54).
    [20]
    20. System according to claim 19, characterized in that the laser is designed in the form of a pulsed laser (56) for generating short laser pulses, in particular with pulse widths (58) in the ns range.
    [21]
    21. System according to one of claims 17 to 20, characterized in that the distance measuring device (48) is assigned to the second image recording device (16) for measuring the distance to an orbital object while tracking it with the second image recording device (16).
    [22]
    22. System according to one of claims 19 to 20, characterized in that the distance measuring device (48) comprises an expansion optics (86) for expanding the laser radiation (54) generated by the laser (52).
    [23]
    23. System according to one of the preceding claims, characterized in that the second image recording device (16) comprises a second optical imaging device (64).
    [24]
    24. System according to claim 23, characterized in that the second imaging device (64) is designed in the form of a telescope (68), in particular in the form of a mirror telescope.
    [25]
    25. System according to claim 23 or 24, characterized in that the second optical imaging device (64) is assigned a second optical detector (70) for generating second images (72) by spatially resolved measurement of the intensity of the with the second optical imaging device (64) electromagnetic radiation (74) imaged on the second detector (70).
    [26]
    26. System according to claim 25, characterized in that the second detector (70) is designed in the form of a second detector array or a second CCD chip or CMOS chip.
    [27]
    27. System according to one of claims 17 to 26, characterized in that the distance measuring device (48) comprises a radiation detector (76) for time-resolved measurement of radiation pulses (78) reflected and / or scattered on the orbital object.
    [28]
    28. System according to claim 27, characterized in that the radiation detector (76) is designed in the form of a one-photon detector (80).
    [29]
    29. System according to one of claims 23 to 28, characterized in that the second imaging device (64) is assigned a third optical imaging device (82).
    [30]
    30. System according to claim 29, characterized in that the third optical imaging device (82) comprises wide-angle optics, in particular in the form of a wide-angle telescope.
    [31]
    31. System according to one of claims 23 to 30, characterized by a second tracking device (62) for tracking the second optical imaging device (64).
    [32]
    32. System according to claim 31, characterized in that the second tracking device (62) is designed to track the third optical imaging device (82).
    [33]
    33. System according to one of claims 19 to 32, characterized in that the laser (52) is coupled to an optical waveguide (84) and that the optical waveguide (84) to the second imaging device (64) and / or to the second tracking device (62) The result is the emission of laser pulses (54) in the direction of the tracked orbital object.
    [34]
    34. System according to one of the preceding claims, characterized by a memory device (88) for storing position and / or path information data of orbital objects.
    [35]
    35. System according to any one of the preceding claims, characterized in that the first image recording device (12) has a first detection angle (114), that the second image recording device (16) has a second detection angle (116) and that the first detection angle (114) is larger than the second detection angle is (116).
    [36]
    36. System according to claim 35, characterized in that the first detection angle (114) is at least approximately three times as large as the second detection angle.
    [37]
    37. System according to claim 35 or 36, characterized in that the first detection angle (116) is in a range from approximately 5 ° to approximately 30 °.
    [38]
    38. System according to one of claims 1 to 3, characterized in that the second detection angle is in a range from approximately 0.1 ° to approximately 3 °.
    [39]
    39. System according to one of claims 35 to 38, characterized in that the third imaging device (82) has a third detection angle (118) and that the third detection angle (118) is greater than the second detection angle (118).
    In addition 6 sheets of drawings
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US20130264463A1|2010-07-12|2013-10-10|Astrium Sas|Optical surveillance system for a space survey system for monitoring near-earth space|
    US9382020B1|2014-08-27|2016-07-05|The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration|Deep space positioning system|
    WO2016063923A1|2014-10-24|2016-04-28|株式会社アストロスケール|Guidance method relating to non-cooperative approach|
    DE2734913C2|1977-08-03|1984-10-25|Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen|Target instruction device for target tracking devices|CN111156989B|2019-12-31|2021-03-16|中国科学院紫金山天文台|Space debris real-time astronomical positioning method based on automatic pointing determination|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE202017101069|2017-02-24|
    DE202017101831.8U|DE202017101831U1|2017-02-24|2017-03-29|System for determining and / or predicting a position and / or trajectory of orbital objects in space|
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