Automatic calibration system and method for fast-reflection mirror sensor

Abstract

The present invention belongs to the field of optical precision control technology, and specifically relates to a system and method for automatically calibrating a fast-reflection mirror sensor. The calibration method includes the following steps: S1, initialization configuration; S2, instruction sequence generation and transmission; S3, data storage: storing the angle data of the fast-reflection mirror fed back by the autocollimator; S4, generating dynamic calibration parameters through data segmentation and data fitting; S5, calibration output; and S6, real-time compensation. The calibration system includes an autocollimator, a host computer, and a fast-reflection mirror controller. The present invention uses the host computer to automatically generate and transmit step angle commands, collects autocollimator feedback data in real time, and generates dynamic calibration parameters by selecting first-order or second-order fitting based on data segmentation and model selection. Multi-interval independent linear fitting replaces global fitting to adapt to the nonlinear characteristics of the sensor that change with angle, thereby improving compensation accuracy.

Description

Technical Field

[0001] The present invention belongs to the technical field of optical precision control, and in particular relates to an automatic calibration system and method for a fast mirror sensor. Background Art

[0002] Fast Steering Mirror (FSM) is required to achieve high-precision angle control in laser communications, optical tracking and other fields, but the linearity of its sensor output decreases significantly as the angle increases.

[0003] Fast mirror sensors are susceptible to nonlinear errors during dynamic angle control. Existing calibration technologies have the following drawbacks:

[0004] 1. Traditional one-way command transmission and data collection have timing deviations and poor communication synchronization, which can easily lead to mismatches between command angles and measured angles, affecting the reliability of calibration data.

[0005] 2. Abnormal data relies on manual intervention, and abnormal points caused by noise or mechanical disturbances need to be manually removed, which is inefficient.

[0006] 3. Fixed use of first-order or second-order fitting, limited by the singleness of the model, makes it impossible to dynamically select the optimal model based on the degree of nonlinearity. Summary of the Invention

[0007] To address the existing technical issues of poor reliability of calibration data for fast mirror sensors, low efficiency in rejecting abnormal data, fixed use of first-order or second-order fitting, limited model uniformity, and inability to dynamically select the optimal model based on the degree of nonlinearity, the present invention provides an automatic calibration system and method for fast mirror sensors. This system achieves fast and high-precision sensor calibration by combining step-by-step command drive with autocollimator feedback and piecewise first-order or second-order fitting. The technical solution is as follows:

[0008] In one aspect, a method for automatically calibrating a fast mirror sensor is provided, comprising the following steps:

[0009] S1. Initialization configuration: Set the control system calibration parameters of the host computer, including calibration angle range setting, instruction step setting, residual threshold setting and fitting interval length setting.

[0010] S2. Command sequence generation and transmission: Generate an initial command sequence based on the initialization configuration, drive the fast mirror to rotate to the target angle according to the initial command in the command sequence, determine the feedback angle stability based on the angle data fed back by the autocollimator, and control the transmission of the commands in the command sequence based on the determination result.

[0011] S3. Data storage: store the angle data of the fast mirror fed back by the autocollimator.

[0012] S4. Generate dynamic calibration parameters through data segmentation and data fitting: segment the data according to the length of the fitting interval, use the first-order model and the second-order model to fit the segmented interval data respectively, make residual judgments based on the fitting calculation results, and automatically select the first-order model or second-order model fitting parameters according to the interval residual distribution.

[0013] First-order model: .

[0014] Second-order model: .

[0015] In the above formula, is the position data fed back by the autocollimator, is the position instruction sent by the host computer, and k, a, b, and c are the parameters generated after fitting.

[0016] Interval residual distribution: step unit: urad, perform first-order model fitting and second-order model fitting for each interval data, and calculate the residual standard deviation and the maximum residual .

[0017] If both meet 、 , the first-order model is used, otherwise the second-order model is used.

[0018] S5. Calibration output: Generate a dynamic calibration parameter table based on the dynamic calibration parameters corresponding to different segmented intervals according to the length of the fitting interval and export it as a compensation configuration file for the fast mirror controller.

[0019] S6, real-time compensation: When the fast mirror is working, according to the range to which the current angle belongs, the fast mirror controller enables the compensation configuration file, calls the corresponding dynamic calibration parameters in the dynamic calibration parameter table, and performs linear correction on the fast mirror sensor output.

[0020] On the other hand, a quick-reflection mirror sensor automatic calibration system is provided, wherein the quick-reflection mirror sensor automatic calibration system is used to implement the quick-reflection mirror sensor automatic calibration method, and is characterized in that the automatic calibration system includes:

[0021] The autocollimator is used to collect the angle data of the fast mirror and feed it back to the host computer.

[0022] The host computer is used to receive the angle data of the fast mirror collected and fed back by the autocollimator; generate dynamic calibration parameters through data segmentation and data fitting of the angle data fed back by the autocollimator; generate an instruction sequence including angle instructions, and output the angle instructions to the fast mirror controller.

[0023] The quick reflex mirror controller is used to receive angle commands from the host computer, drive the quick reflex mirror body to rotate, and perform linear correction on the quick reflex mirror sensor output according to the compensation configuration file.

[0024] A control system is provided in the host computer, and the control system includes a real-time angle feedback receiving module, a segmented fitting and optimization module, and an angle instruction control module.

[0025] Real-time angle feedback receiving module: used to receive the real-time feedback angle data of the fast-reflecting mirror uploaded by the autocollimator system and store it in the database, and calculate the average of the forward feedback data and the return feedback data.

[0026] Segment fitting and optimization module: used to retrieve angle data from the database and generate dynamic calibration parameters based on data segmentation and data fitting.

[0027] Angle instruction issuing module: generates an instruction sequence containing angle instructions based on the real-time feedback of the quick reflex mirror's angle data, issues angle instructions to the quick reflex mirror controller, and drives the quick reflex mirror body to rotate.

[0028] The present invention has the following beneficial effects:

[0029] The host computer automatically generates step angle commands, and the autocollimator collects feedback data in real time. Based on data segmentation and model selection, first-order or second-order fitting is selected to generate dynamic calibration parameters. Independent linear fitting across multiple intervals replaces global fitting, adapting to the sensor's nonlinear characteristics that vary with angle and improving compensation accuracy. Fully automated closed-loop calibration: This integrates command transmission, data collection, storage, and fitting processes, eliminating the need for manual intervention and significantly improving calibration efficiency. Intelligent outlier filtering: An anomalous data elimination mechanism based on residual analysis ensures fitting robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0031] Figure 1 This is a flow chart of a method for automatically calibrating a fast mirror sensor provided by an embodiment of the present invention.

[0032] Figure 2 The present invention provides a flowchart of the generation and transmission of instruction sequences and the generation of dynamic calibration parameters in the automatic calibration method for a fast-reflection mirror sensor.

[0033] Figure 3This is a block diagram of an automatic calibration system for a fast mirror sensor provided by an embodiment of the present invention.

[0034] Figure 4 This is a structural block diagram of a control system in a host computer in an automatic calibration system for a fast-reflection mirror sensor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0036] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as an "exemplary" in the present invention should not be interpreted as being preferred or advantageous over other embodiments or designs. Rather, the use of the word "exemplary" is intended to present concepts in a concrete manner. Furthermore, in the embodiments of the present invention, "and / or" can mean both or either of the two.

[0037] In the embodiments of the present invention, the terms "image" and "picture" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same. The terms "of," "corresponding," and "corresponding" may sometimes be used interchangeably. It should be noted that, when the distinction is not emphasized, the meanings they convey are the same.

[0038] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0039] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0040] The embodiment of the present invention provides a method for automatically calibrating a fast mirror sensor. Figure 1-2 As shown, the automatic calibration method includes the following steps:

[0041] S1. Initialization configuration: Set the control system calibration parameters of the host computer, including calibration angle range setting, instruction step setting, residual threshold setting and fitting interval length setting.

[0042] In this embodiment, the calibration angle range θ min :

[0043] .

[0044] Instruction step : Set the instruction step size to 400urad according to the accuracy requirement.

[0045] Fitting interval length: 2 mrad.

[0046] Residual threshold: set to 8urad. Points exceeding this threshold are considered as outliers and automatically removed.

[0047] S2. Command sequence generation and sending: Generate an initial command sequence based on the initialization configuration. Drive the fast mirror to the target angle according to the initial command in the command sequence. Determine the feedback angle stability based on the angle data fed back by the autocollimator. Control the sending of commands in the command sequence based on the determination result to complete the automatic calibration execution.

[0048] In S2, the instruction sequence generation and sending process is as follows Figure 2 As shown, steps S21-S24 are included:

[0049] S21. Generate an initial instruction sequence according to the initialization configuration. The instruction sequence includes a forward instruction sequence and a return instruction sequence.

[0050] Assume the target angle range is , the step size is , generate the forward instruction sequence and return instruction sequence :

[0051] ,

[0052] ,

[0053] The instruction sequence includes the positive and return trip scanning.

[0054] In the specific implementation, take N=51:

[0055] Forward instruction sequence: :

[0056] .

[0057] Return instruction sequence :

[0058] .

[0059] S22. Send instructions according to the forward instruction sequence and the return instruction sequence in steps to drive the fast reflection mirror to rotate to the target angle.

[0060] S23. Autocollimator feedback data collection: The autocollimator collects the feedback angle data of the fast-reflecting mirror in real time.

[0061] S24, command trigger mechanism; after each command is sent, the angle data fed back by the autocollimator is judged for feedback angle stability, and when the stability condition is met, the next command is sent.

[0062] The stability condition is defined as: , t is the current moment. If the feedback angle deviation is ≤3urad for three consecutive times, the next instruction will be sent.

[0063] In this embodiment, the next instruction is sent only after receiving the current angle feedback data of the autocollimator with a deviation of no more than 3urad for three consecutive times to ensure that the movement is in place.

[0064] S3, data storage: store the angle data of the fast mirror fed back by the autocollimator; analyze and store it as a timestamp aligned Data pair.

[0065] In step S3, data storage includes: storing the angle data of the quick-reflection mirror fed back by the autocollimator into the database; averaging the forward feedback data and the return feedback data at the same angle point:

[0066] mean .

[0067] S4. Generate dynamic calibration parameters through data segmentation and data fitting: segment the data according to the length of the fitting interval, use the first-order model and the second-order model to fit the segmented interval data respectively, make residual judgments based on the fitting calculation results, and automatically select the first-order model or second-order model fitting parameters according to the interval residual distribution.

[0068] First-order model: .

[0069] Second-order model: .

[0070] In the above formula, is the position data fed back by the autocollimator, is the position instruction sent by the host computer, and k, a, b, and c are the parameters generated after fitting.

[0071] Interval residual distribution: step unit: urad, first-order model fitting and second-order model fitting are performed on each interval data.

[0072] In S4, dynamic calibration parameters are generated through data segmentation and data fitting, including steps S41-S45:

[0073] S41. Data segmentation: Divide the full range angle into multiple sub-intervals according to the fitting interval length setting. In this embodiment, each interval of 2 mrad is divided into a fitting interval.

[0074] S42. Perform first-order model fitting calculation and second-order model fitting calculation on each interval data based on the least squares method.

[0075] S43, residual judgment: According to the fitting result obtained in step S42, the residual is judged. If there are abnormal points in the residual that exceed the threshold, the abnormal points with residuals exceeding the threshold are eliminated and the process returns to step S42 for refitting. In this embodiment, the residual threshold is set to 8urad, and the abnormal points with the maximum residual exceeding 8urad are eliminated until all residuals are normal and the next step is carried out.

[0076] In step S43, eliminating abnormal points whose residuals exceed a threshold value includes: an abnormal data elimination mechanism based on residual analysis to ensure fitting robustness.

[0077] Remove outliers whose maximum residual exceeds 8urad.

[0078] S44. Calculate the residual standard deviation after fitting the first-order model and the second-order model for different interval data and the maximum residual .

[0079] S45. Select a first-order model or a second-order model according to the residual standard deviation and the maximum residual to perform fitting calculations on data in different intervals, and generate corresponding dynamic calibration parameters.

[0080] Specific model selection: If both 、 , the first-order model is used; otherwise, the second-order model is used.

[0081] S5. Calibration output: Generate a dynamic calibration parameter table based on the dynamic calibration parameters corresponding to different segmented intervals according to the length of the fitting interval and export it as a compensation configuration file for the fast mirror controller.

[0082] S6, real-time compensation: When the fast mirror is working, according to the range to which the current angle belongs, the fast mirror controller enables the compensation configuration file, calls the corresponding dynamic calibration parameters in the dynamic calibration parameter table, and performs linear correction on the fast mirror sensor output.

[0083] In another embodiment, the present invention provides a fast mirror sensor automatic calibration system, the fast mirror sensor automatic calibration system is used to implement the above-mentioned fast mirror sensor automatic calibration method, such as Figure 3 As shown, the automatic calibration system includes:

[0084] The autocollimator and autocollimator monitoring system use laser reflection to collect and feedback the angle information of the quick-reflection mirror. The quick-reflection mirror is installed on the quick-reflection mirror fixture. The autocollimator is used to collect the angle data of the quick-reflection mirror and feedback it to the host computer. The autocollimator system has a built-in RS485: the measured angle data is uploaded through RS485 at a fixed period of 100ms, with a resolution of ≤0.1urad and an accuracy of ≤0.5urad.

[0085] The host computer is installed in the computer and is used to receive the angle data of the fast mirror collected and fed back by the autocollimator; generate dynamic calibration parameters for the angle data fed back by the autocollimator through data segmentation and data fitting; generate an instruction sequence including angle instructions, and output the angle instructions to the fast mirror controller.

[0086] The host computer is equipped with dual communication interfaces, RS422 and RS485. The RS422 interface is connected to the fast-reflection mirror controller for outputting angle commands to the fast-reflection mirror controller. The RS485 interface is connected to the autocollimator monitoring system for receiving and feeding back the fast-reflection mirror body angle data in real time.

[0087] The host computer is equipped with a control system, such as Figure 4 As shown, the control system includes:

[0088] The real-time angle feedback receiving module includes RS422, which is used to receive the real-time collected feedback angle data of the fast-reflecting mirror uploaded by the autocollimator system and store it in the database, and calculate the average of the forward feedback data and the return feedback data.

[0089] The real-time angle feedback receiving module receives the angle data of the fast mirror uploaded by the autocollimator system in real time, parses it and stores it as a timestamp aligned Data pair.

[0090] The segmented fitting and optimization module is used to retrieve angle data from the database and generate dynamic calibration parameters based on data segmentation and data fitting. It has built-in first-order and second-order models and automatically selects first-order model fitting or second-order model fitting based on the interval residual distribution.

[0091] First-order model: .

[0092] Second-order model: .

[0093] In the above formula, is the position data fed back by the autocollimator, is the position instruction sent by the host computer, and k, a, b, and c are the parameters generated after fitting.

[0094] Angle command issuing module, including RS485, generates a command sequence containing angle commands based on the real-time feedback of the angle data of the fast-reflection mirror , the step size is adjustable, and it is sent through RS422 to send angle instructions to the fast mirror controller to drive the fast mirror body to rotate.

[0095] The quick-reflection mirror controller has a built-in RS422, which receives angle commands from the host computer through RS422 and drives the quick-reflection mirror to rotate. The response time is ≤10ms, and the quick-reflection mirror sensor output is linearly corrected according to the compensation configuration file;

[0096] Communication parameter settings:

[0097] RS422 communication: baud rate 115200, 8 data bits, no parity bit, 1 stop bit.

[0098] RS485 communication: baud rate 9600, 8 data bits, even parity, 1 stop bit.

[0099] The control system of the host computer can be a processor or a collective term for multiple processing elements, such as one or more central processing units (CPUs), application-specific integrated circuits (ASICs), or one or more integrated circuits configured to implement embodiments of the present invention, such as one or more digital signal processors (DSPs) or one or more field programmable gate arrays (FPGAs).

[0100] The above embodiments can be implemented in whole or in part via software, hardware (e.g., circuits), firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present invention are fully or partially performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired means (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium accessible by a computer or a data storage device such as a server or data center that contains a collection of one or more available media. The available medium can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0101] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. A and B can be singular or plural. Furthermore, the character " / " as used herein generally indicates an "or" relationship between the associated objects, but it may also indicate an "and / or" relationship. For specific understanding, please refer to the context.

[0102] In this disclosure, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, "at least one of a, b, or c" can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or plural.

[0103] It should be understood that in various embodiments of the present invention, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0104] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present invention.

[0105] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0106] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of the device or unit, which can be electrical, mechanical or other forms.

[0107] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0108] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0109] If the functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage media include various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical disks.

[0110] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A method for automatic calibration of a fast mirror sensor, characterized in that: The following steps are involved: S1. Initialization configuration: Set the control system calibration parameters of the host computer, including calibration angle range setting, instruction step setting, residual threshold setting and fitting interval length setting; S2. Command sequence generation and transmission: Generate an initial command sequence based on the initialization configuration, drive the fast mirror to rotate to the target angle according to the initial command in the command sequence, determine the feedback angle stability based on the angle data fed back by the autocollimator, and control the transmission of the commands in the command sequence based on the determination result; S3, data storage: storing the angle data of the fast mirror fed back by the autocollimator; S4. Generate dynamic calibration parameters through data segmentation and data fitting: segment the data according to the length of the fitting interval, use the first-order model and the second-order model to fit the segmented interval data respectively, make residual judgment based on the fitting calculation results, and automatically select the fitting parameters of the first-order model or the second-order model according to the interval residual distribution; First-order model: ; Second-order model: ; In the above formula, is the position data fed back by the autocollimator, is the position instruction sent by the host computer, k, a, b, c are the parameters generated after fitting; Interval residual distribution: step unit: urad, perform first-order model fitting and second-order model fitting for each interval data, and calculate the residual standard deviation and the maximum residual ; If both meet 、 , then the first-order model is used; otherwise, the second-order model is used; S5. Calibration output: generating a dynamic calibration parameter table based on the dynamic calibration parameters corresponding to different segmented intervals according to the length of the fitting interval and exporting the table as a compensation configuration file for the fast mirror controller; S6, real-time compensation: When the fast mirror is working, according to the range to which the current angle belongs, the fast mirror controller enables the compensation configuration file, calls the corresponding dynamic calibration parameters in the dynamic calibration parameter table, and performs linear correction on the fast mirror sensor output.

2. The automatic calibration method for a fast mirror sensor according to claim 1, wherein: In S2, the instruction sequence generation and sending process includes the following steps: S21. Generate an initial instruction sequence according to the initialization configuration, where the instruction sequence includes a forward instruction sequence and a return instruction sequence; S22, sending instructions according to the forward instruction sequence and the return instruction sequence in step length to drive the fast reflection mirror to rotate to the target angle; S23, autocollimator feedback data collection: the autocollimator collects the feedback angle data of the fast-reflecting mirror in real time; S24, command trigger mechanism: After each command is sent, the angle data fed back by the autocollimator is judged for feedback angle stability. When the stability condition is met, the next command is sent.

3. The automatic calibration method for a fast mirror sensor according to claim 2, characterized in that: In S24, the stability condition is defined as: after each instruction is sent, the following formula is used to calculate: , t is the current moment. If the feedback angle deviation is ≤3urad for three consecutive times, the next instruction will be sent.

4. The automatic calibration method for a fast mirror sensor according to claim 1, characterized in that: In step S3, data storage includes: storing the angle data of the fast mirror fed back by the autocollimator into a database; and averaging the forward feedback data and the return feedback data at the same angle point.

5. The automatic calibration method for a fast mirror sensor according to claim 1, characterized in that: In S4, generating dynamic calibration parameters through data segmentation and data fitting includes the following steps: S41, data segmentation: divide the full range angle into multiple sub-intervals according to the fitting interval length setting; S42, performing first-order model fitting calculation and second-order model fitting calculation on each interval data based on the least squares method; S43, residual judgment: Based on the fitting results obtained in step S42, residual judgment is performed. If there are abnormal points in the residual that exceed the threshold, the abnormal points with residuals exceeding the threshold are removed and the process returns to step S42 for refitting until all residuals are normal and the next step is performed. S44, calculating the residual standard deviation and maximum residual after fitting the first-order model and the second-order model for data in different intervals; S45. Select a first-order model or a second-order model according to the residual standard deviation and the maximum residual to perform fitting calculations on data in different intervals, and generate corresponding dynamic calibration parameters.

6. A fast mirror sensor automatic calibration system, the fast mirror sensor automatic calibration system is used to implement the fast mirror sensor automatic calibration method according to any one of claims 1 to 5, characterized in that: The automatic calibration system includes: Autocollimator, used to collect the angle data of the fast mirror and feed it back to the host computer; The host computer is used to receive the angle data of the fast mirror collected and fed back by the autocollimator; perform data segmentation and data fitting on the angle data fed back by the autocollimator to generate dynamic calibration parameters, generate an instruction sequence including angle instructions, and output the angle instructions to the fast mirror controller; The quick reflex mirror controller is used to receive angle commands from the host computer, drive the quick reflex mirror body to rotate, and perform linear correction on the quick reflex mirror sensor output according to the compensation configuration file.

7. The automatic calibration system for a fast mirror sensor according to claim 6, characterized in that: The host computer is equipped with a control system, which includes: The real-time angle feedback receiving module is used to receive the real-time feedback angle data of the fast-reflecting mirror uploaded by the autocollimator system and store it in the database, and calculate the average of the forward feedback data and the return feedback data; The segmented fitting and optimization module is used to retrieve the angle data in the database and generate dynamic calibration parameters based on data segmentation and data fitting; The angle instruction issuing module generates an instruction sequence including angle instructions based on the real-time feedback angle data of the fast reflex mirror, issues the angle instructions to the fast reflex mirror controller, and drives the fast reflex mirror body to rotate.

8. The automatic calibration system for a fast mirror sensor according to claim 7, characterized in that: The real-time angle feedback receiving module receives the angle data of the fast mirror uploaded by the autocollimator system in real time, parses it and stores it as a time-stamp aligned data pair.

9. The automatic calibration system for a fast mirror sensor according to claim 6, characterized in that: The host computer is equipped with dual communication interfaces, RS422 and RS485. The RS422 interface is connected to the fast-reflection mirror controller for outputting angle commands to the fast-reflection mirror controller. The RS485 interface is connected to the autocollimator monitoring system for receiving and feeding back the fast-reflection mirror body angle data in real time.

Images