WO2018233200A1 - 星敏感器快速波门图像处理系统及方法 - Google Patents

星敏感器快速波门图像处理系统及方法 Download PDF

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WO2018233200A1
WO2018233200A1 PCT/CN2017/112187 CN2017112187W WO2018233200A1 WO 2018233200 A1 WO2018233200 A1 WO 2018233200A1 CN 2017112187 W CN2017112187 W CN 2017112187W WO 2018233200 A1 WO2018233200 A1 WO 2018233200A1
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pixel
star
gate
pixel cluster
cluster
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French (fr)
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周琦
毛晓楠
马英超
余路伟
郑循江
周宇
孙少勇
闫晓军
胡雄超
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Shanghai Aerospace Control Technology Institute
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/60—Memory management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T1/00—General purpose image data processing
    • G06T1/20—Processor architectures; Processor configuration, e.g. pipelining
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
    • G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/24—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for cosmonautical navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/60—Analysis of geometric attributes
    • G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/785—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system
    • G01S3/786—Systems for determining direction or deviation from predetermined direction using adjustment of orientation of directivity characteristics of a detector or detector system to give a desired condition of signal derived from that detector or detector system the desired condition being maintained automatically
    • G01S3/7867—Star trackers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/28—Indexing scheme for image data processing or generation, in general involving image processing hardware
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20021—Dividing image into blocks, subimages or windows

Definitions

  • the invention relates to a star sensor, and in particular to a star sensor fast wave gate image processing system and method.
  • the star sensor is a high-precision spacecraft attitude measuring instrument. It is mainly used for spacecraft three-axis attitude measurement and spacecraft navigation. Its accuracy plays an important role in spacecraft attitude measurement, control and reliability.
  • the accuracy of the star sensor is closely related to the number and quality of the star points used to determine the attitude.
  • the quantity refers to the effective number of fixed stars, and the quality refers to the accuracy of single star positioning.
  • the increase in the number of fixed-point stars is beneficial to reduce the Noise Equivalent Angular (NEA).
  • the NEA reflects the ability of the star sensor to reproduce the corresponding attitude by a certain optical signal excitation.
  • the weak star points occupy the majority, and increasing the number of stars in the star sensor needs to start from extracting the weak star.
  • star sensors also encounter complex problems such as stray interference, maneuvering blur, and radiated noise. When these problems are serious, the star sensor attitude data will be invalid, and the weak star problem together constitute the frontier problem of star map processing.
  • the German Jena-Optronik star sensor ASTRO10 uses the mean value of the outer edge of the gate to evaluate the intra-gate background, subtracts the background to obtain the residual image, and sets the fixed threshold offset to segment the residual image to obtain the target.
  • the object of the present invention is to provide a star sensor fast wave gate image processing System and method.
  • a star sensor fast wave gate image processing system includes a CPU and an FPGA; the FPGA includes a gate control memory, a wave gate acquisition module, a gate data memory, a pixel cluster head pixel address memory, and a pixel cluster processing module. ;
  • the CPU is configured to generate the gate control data according to the navigation star coordinates in the star sensor star library, and write the data into the gate control memory, and use the pixel cluster head pixel in the pixel cluster of the collected wave gate
  • the address is written into the pixel cluster first pixel address memory
  • the wave gate acquisition module is configured to read the gate control data in the gate control memory, and collect pixel clusters corresponding to the gates according to the gate control data, thereby storing gray values of all pixels in the pixel cluster to In the gate data memory;
  • the pixel cluster processing module is configured to read a pixel cluster first pixel address in a pixel cluster first pixel address memory, and extract a pixel cluster centered on a navigation star coordinate according to the pixel cluster first pixel address, and traverse to a navigation star coordinate All the pixels of the central pixel cluster are obtained as the estimated background of all the pixels, and then all the pixels of the pixel cluster centered on the navigation star coordinate are estimated based on the estimated background, and the star point feature quantity is extracted, and then the star point is read by the CPU. The feature quantity and calculate the coordinates of the star point centroid.
  • the FPGA further includes a star point feature quantity memory
  • the star point feature quantity memory is configured to store a star point feature quantity.
  • the wave gate is a plurality of wave gates which divide the detector image plane of the star sensor into Z ⁇ Z pixels, and Z is a positive integer;
  • the minimum number of acquisition gates per navigation star is one, and the maximum number of acquisition wave gates is four.
  • the Z ⁇ Z pixel is 8 ⁇ 8 pixels.
  • 1 bit of the gate control data corresponds to control information of one gate
  • 0 denotes a cluster of pixels that does not need to acquire the gate
  • 1 denotes a cluster of pixels for which the gate is to be acquired.
  • the star sensor fast wave gate image processing method provided by the invention adopts the star sensor fast wave gate image processing system, and comprises the following steps:
  • Step S1 generating a gate control data according to navigation star coordinates in the star sensor star library, and writing the wave gate control data into the gate control memory;
  • Step S2 reading the gate control data in the gate control memory, and storing all the pixel gray values in the pixel cluster corresponding to the gate control data into the gate data memory;
  • Step S3 writing the pixel cluster first pixel address in the collected pixel cluster of the wave gate into the pixel cluster first pixel address memory;
  • Step S4 reading a pixel cluster first pixel address in the pixel cluster first pixel address memory and extracting a pixel cluster centered on the navigation star coordinate according to the pixel cluster first pixel address, traversing all the pixel clusters centered on the navigation star coordinate Pixel, obtain the gray mean value of all pixels as the estimated background, and then extract all the pixels of the pixel cluster centered on the navigation star coordinate based on the estimated background, extract the star feature quantity, and then read the star point feature quantity by the CPU, and calculate Star point centroid coordinates.
  • the present invention has the following beneficial effects:
  • the present invention proposes a wave gate image processing method for the center of a pixel cluster extracted by a navigation star, which can be processed by the CPU, and only the FPGA performs the wave gate data acquisition, the background estimation of the pixel cluster, and Calculation of the star point feature quantity;
  • the gray level values of all the pixels in the pixel cluster are used to evaluate the background in the pixel cluster, that is, the gray mean value of all the pixels in the pixel cluster is calculated, which can significantly improve the measurement accuracy of the star sensor;
  • the invention fully utilizes the advantages of FPGA parallel processing, can synchronously process several pixel clusters, and simultaneously extract the star point centroids of all pixel clusters;
  • the gate data is collected according to the navigation star coordinates in the star library, and the size of the pixel cluster is small, the gray value average of the pixel cluster can be directly used as the threshold for extracting the star point, thereby improving the star sensor.
  • the weak star extraction ability and star point utilization significantly improve the measurement accuracy of the star sensor and further enhance the anti-stray ability of the star sensor.
  • FIG. 1 is a schematic block diagram of a star sensor fast wave gate image processing system according to the present invention.
  • FIG. 3 is a schematic diagram of wave gate data collection in the present invention.
  • FIG. 4 is a schematic diagram of pixel cluster and centroid extraction in the present invention.
  • the star sensor detector array Take the star sensor detector array as 1024 ⁇ 1024 pixels as an example.
  • the size of the gate is 8 ⁇ 8 pixels, and the detector area is divided into 16384 gates.
  • Each star map can store up to 32 star points.
  • Each star point needs to collect up to 4 gate data according to the coordinate position, and less than 1 or 2 gate data.
  • the FPGA reserves a storage space for collecting 4 gate data for each star point, that is, 1024 ⁇ 16 bits (pixel gray value is 12 bits).
  • the CPU provides the gate control data to be collected to the gate control memory in the FPGA according to the navigation star coordinates, and the FPGA reads the gate control data in the gate control memory to collect the corresponding gate image.
  • the data is stored in the gate data memory.
  • the pixel cluster processing module extracts 8 ⁇ 8 pixel clusters from the acquired gates for star point centroid extraction based on the navigation star coordinates and according to the pixel cluster first pixel address provided by the CPU.
  • the FPGA performs background estimation and star point centroid calculation based on the pixel cluster, and stores the calculation result in the star point feature quantity memory for the CPU to access and calculate the star point centroid coordinate.
  • the red part in the figure is the actual star point position
  • the pixel coordinate labeled 1 is the navigation star coordinate in the star library (after rounding). According to the navigation star coordinates, it is necessary to extract this as the center.
  • the pixel cluster corresponding to the 8 ⁇ 8 gate so it is necessary to collect the pixel clusters of the four gates labeled 130, 131, 258, and 259, thus writing the addresses corresponding to the four gates in the gate control memory. 1.
  • the FPGA writes all the pixel gray values of the four gates to the gate according to the value of the gate control memory.
  • the star point corresponds to the gate data memory for subsequent processing.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Astronomy & Astrophysics (AREA)
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Abstract

一种星敏感器快速波门图像处理系统及方法，该系统包括CPU和FPGA，所述FPGA包括波门控制存储器、波门采集模块、波门数据存储器、像素簇首像素地址存储器以及像素簇处理模块。该方法以导航星为质心提取像素簇中心的波门图像进行处理，能够在CPU协助处理下，仅由FPGA完成波门数据采集、像素簇的背景估计以及星点特征量的计算，采用像素簇中所有像素的灰度值评估像素簇内的背景，即计算像素簇内所有像素的灰度均值，能够显著提高星敏感器测量精度。该系统和方法充分发挥FPGA并行处理优势，能够同步处理若干像素簇，同时提取所有像素簇的星点质心。

Description

星敏感器快速波门图像处理系统及方法 技术领域
本发明涉及星敏感器，具体地，涉及一种星敏感器快速波门图像处理系统及方法。
背景技术
星敏感器是一种高精度的航天器姿态测量仪器，主要用于空间飞行器三轴姿态测量和空间飞行器导航，其精度对航天器的姿态测量、控制和可靠性起着重要作用。
星敏感器精度与用于确定姿态的星点数量和质量密切相关，数量指有效的定姿星数，质量指单星定位精度。定姿星数的增加有利于降低噪声等效角(Noise Equivalent Angular,NEA)，NEA反映星敏感器由一定光信号激励再生出相应姿态的能力。实际星空中暗弱星点占据大多数，增加星敏感器定姿星数需从提取弱星着手。另外，星敏感器在轨还会遇到杂光干扰、机动模糊、辐射噪声等复杂问题。这些问题严重时将造成星敏感器姿态数据无效，与弱星问题共同构成了星图处理的前沿难题。
德国Jena-Optronik星敏感器ASTRO10在星跟踪模式下采用以波门外沿像素均值评估波门内背景，减去背景获得残差图像，设置固定阈值偏移量分割残差图像得到目标。
毛晓楠等在《宇航学报》(2011，32<3>：613-619)上发表论文《基于并行运算体系结构的星敏感器图像处理算法》，采用FPGA并行提取星敏感器星点质心的一种算法，该算法以16×16像素为子区域，将探测器像面按顺序划分为若干个同等大小子区域，以每个子区域的灰度均值作为该子区域的背景值，以背景值加上固定的阈值偏移量作为阈值，提取星点质心。但该方法无论星点位置如何，子区域位置总是按照预先划分的固定，缺少灵活性。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种星敏感器快速波门图像处理 系统及方法。
根据本发明提供的星敏感器快速波门图像处理系统，包括CPU和FPGA；所述FPGA包括波门控制存储器、波门采集模块、波门数据存储器、像素簇首像素地址存储器以及像素簇处理模块；
所述CPU，用于根据星敏感器星库中的导航星坐标，生成波门控制数据，并写入到波门控制存储器中，用于将采集到的波门的像素簇中像素簇首像素地址写入像素簇首像素地址存储器中；
所述波门采集模块，用于读取波门控制存储器中的波门控制数据，并根据波门控制数据采集对应波门的像素簇，进而将所述像素簇中所有像素灰度值存储至波门数据存储器中；
所述像素簇处理模块，用于读取像素簇首像素地址存储器中的像素簇首像素地址并根据所述像素簇首像素地址提取以导航星坐标为中心的像素簇，遍历以导航星坐标为中心的像素簇的所有像素，求取所有像素的灰度均值作为估计背景，进而基于估计背景遍历导航星坐标为中心的像素簇的所有像素，提取星点特征量，进而由CPU读取星点特征量，并计算出星点质心坐标。
优选地，所述FPGA还包括星点特征量存储器；
所述星点特征量存储器，用于存储星点特征量。
优选地，所述波门为将星敏感器中探测器像面按照Z×Z像素划分成的若干波门，Z为正整数；
所述波门控制数据为波门的控制信息；所述Z×Z像素形成波门的像素簇。
优选地，每个导航星最少对应的采集波门数为1，最多对应的采集波门数为4。
优选地，所述Z×Z像素为8×8像素。
优选地，所述波门控制数据的1bit对应一个波门的控制信息，0表示无需采集该波门的像素簇，1表示需采集该波门的像素簇。
本发明提供的星敏感器快速波门图像处理方法，采用所述的星敏感器快速波门图像处理系统，包括如下步骤：
步骤S1：根据星敏感器星库中的导航星坐标，生成波门控制数据，并写入到波门控制存储器中；
步骤S2：读取波门控制存储器中的波门控制数据，并将波门控制数据对应波门的像素簇中所有像素灰度值存储至波门数据存储器中；
步骤S3：将采集到的波门的像素簇中像素簇首像素地址写入像素簇首像素地址存储器中；
步骤S4：读取像素簇首像素地址存储器中的像素簇首像素地址并根据所述像素簇首像素地址提取以导航星坐标为中心的像素簇，遍历以导航星坐标为中心的像素簇的所有像素，求取所有像素的灰度均值作为估计背景，进而基于估计背景遍历导航星坐标为中心的像素簇的所有像素，提取星点特征量，进而由CPU读取星点特征量，并计算出星点质心坐标。
与现有技术相比，本发明具有如下的有益效果：
1、本发明首次在国内星敏感器领域提出以导航星为质心提取的像素簇中心的波门图像处理方法，能够CPU协助处理下，仅由FPGA完成波门数据采集、像素簇的背景估计以及星点特征量的计算；
2、本发明中采用像素簇中所有像素的灰度值评估像素簇内的背景，即计算像素簇内所有像素的灰度均值，能够显著提高星敏感器测量精度；
3、本发明充分发挥FPGA并行处理优势，能够同步处理若干像素簇，同时提取所有像素簇的星点质心；
4、本发明中由于根据星库中的导航星坐标采集波门数据，且像素簇的大小较小，因此可以直接以像素簇的灰度均值作为提取星点的阈值，因此可提高星敏感器的弱星提取能力及星点利用率，显著提高星敏感器测量精度，并进一步提升星敏感器抗杂光能力。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明中星敏感器快速波门图像处理系统的示意框图；
图2为本发明中波门控制的示意图；
图3为本发明中波门数据采集的示意图；
图4为本发明中像素簇及质心提取的示意图。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人 员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。
以星敏感器探测器面阵为1024×1024像素为例。波门大小为8×8像素，将探测器面阵划分为16384个波门。每幅星图最多可处理存储32个星点，每个星点根据坐标位置，最多需采集4个波门数据，少则采集1或2个波门数据。FPGA给每个星点预留了可采集4个波门数据的存储空间，即1024×16bit(像素灰度值为12bit)。
如图1所示，CPU根据导航星坐标，提供需要采集的波门控制数据存储至FPGA中的波门控制存储器中，FPGA读取波门控制存储器中波门控制数据，采集相应的波门图像数据，存储至波门数据存储器中。像素簇处理模块以导航星坐标为中心，根据CPU提供的像素簇首像素地址，从采集的波门中提取8×8的像素簇用于星点质心提取。FPGA根据像素簇进行背景估计和星点质心的计算，并将计算结果存储至星点特征量存储器中，供CPU访问，计算星点质心坐标。
如图2所示，图中红色部分为实际的星点位置，其中标号为1的像素坐标为星库中的导航星坐标(取整后)，根据导航星坐标，需提取以此为中心的8×8的波门对应的像素簇，因此需要采集标号为130、131、258和259的四个波门的像素簇，因此将波门控制存储器中这四个波门对应的地址中写入1，其他无需采集波门数据的地址空间中写入0。
如图3所示，为图2中编号为130、131、258和259的四个波门，FPGA根据波门控制存储器的值，将该四个波门的所有像素灰度值写入到该星点对应的波门数据存储器中，供后续处理。
如图4所示，根据CPU提供的像素簇首像素地址，FPGA以导航星坐标为中心(图中编号为1的像素)，从采集的波门的像素簇中，提取8×8大小的像素簇，遍历像素簇两遍，第一遍用于估计像素簇的背景灰度(像素簇中所有像素的灰度值求平均值)；第二遍根据背景灰度值，求取像素簇中的星点质心特征量，并将特征量存储至星点特征量存储器中，供CPU读取，并计算出导航星的星点质心坐标。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本发明的实质内容。

Claims (7)

  1. 一种星敏感器快速波门图像处理系统，其特征在于，包括CPU和FPGA；所述FPGA包括波门控制存储器、波门采集模块、波门数据存储器、像素簇首像素地址存储器以及像素簇处理模块；
    所述CPU，用于根据星敏感器星库中的导航星坐标，生成波门控制数据，并写入到波门控制存储器中，用于将采集到的波门的像素簇中像素簇首像素地址写入像素簇首像素地址存储器中；
    所述波门采集模块，用于读取波门控制存储器中的波门控制数据，并根据波门控制数据采集对应波门的像素簇，进而将所述像素簇中所有像素灰度值存储至波门数据存储器中；
    所述像素簇处理模块，用于读取像素簇首像素地址存储器中的像素簇首像素地址并根据所述像素簇首像素地址提取以导航星坐标为中心的像素簇，遍历以导航星坐标为中心的像素簇的所有像素，求取所有像素的灰度均值作为估计背景，进而基于估计背景遍历导航星坐标为中心的像素簇的所有像素，提取星点特征量，进而由CPU读取星点特征量，并计算出星点质心坐标。
  2. 根据权利要求1所述的星敏感器快速波门图像处理系统，其特征在于，所述FPGA还包括星点特征量存储器；
    所述星点特征量存储器，用于存储星点特征量。
  3. 根据权利要求1所述的星敏感器快速波门图像处理系统，其特征在于，所述波门为将星敏感器中探测器像面按照Z×Z像素划分成的若干波门，Z为正整数；
    所述波门控制数据为波门的控制信息；所述Z×Z像素形成波门的像素簇。
  4. 根据权利要求1所述的星敏感器快速波门图像处理系统，其特征在于，每个导航星最少对应的采集波门数为1，最多对应的采集波门数为4。
  5. 根据权利要求3所述的星敏感器快速波门图像处理系统，其特征在于，所述Z×Z像素为8×8像素。
  6. 根据权利要求3所述的星敏感器快速波门图像处理系统，其特征在于，所述波门控制数据的1bit对应一个波门的控制信息，0表示无需采集该波门的像素簇，1表示需采集该波门的像素簇。
  7. 一种星敏感器快速波门图像处理方法，其特征在于，采用权利要求1至6任一 项所述的星敏感器快速波门图像处理系统，包括如下步骤：
    步骤S1：根据星敏感器星库中的导航星坐标，生成波门控制数据，并写入到波门控制存储器中；
    步骤S2：读取波门控制存储器中的波门控制数据，并将波门控制数据对应波门的像素簇中所有像素灰度值存储至波门数据存储器中；
    步骤S3：将采集到的波门的像素簇中像素簇首像素地址写入像素簇首像素地址存储器中；
    步骤S4：读取像素簇首像素地址存储器中的像素簇首像素地址并根据所述像素簇首像素地址提取以导航星坐标为中心的像素簇，遍历以导航星坐标为中心的像素簇的所有像素，求取所有像素的灰度均值作为估计背景，进而基于估计背景遍历导航星坐标为中心的像素簇的所有像素，提取星点特征量，进而由CPU读取星点特征量，并计算出星点质心坐标。
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