A stable spatial optical communication method

Abstract

The present invention provides a stable spatial optical communication method, comprising: obtaining an initialization pointing error distribution of a pointing mechanism; determining the standard deviation of the initialization pointing error in the X and Y directions based on the initialization pointing error distribution; determining the boundary point positions of a scanning range in the X and Y directions based on the standard deviation; constructing a diamond-shaped scanning range based on the boundary point positions; determining multiple diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range, and scanning according to the scanning trajectories to complete spatial optical communication capture. The stable spatial optical communication method provided by the present invention can effectively improve scanning efficiency and reduce link establishment time in spatial optical communication.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a stable spatial optical communication method. Background Art

[0002] In space optical communications, a fast and robust pointing, acquisition, and tracking system can improve link establishment time and stability. Due to the influence of satellite positioning errors and attitude errors, an uncertainty region will be formed in the target satellite during the initial pointing process. Furthermore, satellite platform vibration will also have a certain impact. For ease of calculation, the distribution of pointing deviations in the azimuth and elevation directions in the uncertainty region is usually assumed to be a Gaussian distribution with a mean of 0 and equal variance. The current scanning and acquisition method used in intersatellite laser communication terminals mainly uses spiral scanning. The spiral scanning method is based on the assumption that the uncertainty region generated by the initial pointing error is considered to be a circular region with equal variance. In this case, spiral scanning is the optimal scanning method. However, in reality, the error in the azimuth direction is not equal to the error in the elevation direction. This results in the scanning of some invalid areas within the circular region during spiral scanning, resulting in reduced scanning efficiency. Summary of the Invention

[0003] The present invention provides a stable spatial optical communication method, which can effectively improve scanning efficiency and reduce link establishment time in spatial optical communication.

[0004] The present invention provides a stable spatial optical communication method, the method comprising:

[0005] Obtaining the initialization pointing error distribution of the pointing mechanism;

[0006] Determining the standard deviation of the initialization pointing error in the X direction and the Y direction according to the initialization pointing error distribution;

[0007] Determining the positions of boundary points of the scanning range in the X and Y directions based on the standard deviation;

[0008] Constructing a rhombus-shaped scanning range according to the position of the boundary point;

[0009] Within the rhombus scanning range, a plurality of rhombus scanning trajectories with overlapping centers are determined, and scanning is performed according to the scanning trajectories to complete the capture of spatial optical communication.

[0010] Optionally, determining the positions of boundary points of the scanning range in the X direction and the Y direction based on the standard deviation includes:

[0011] Determine the position of the boundary point in the X direction by taking n times the standard deviation in the X direction as the distance from the boundary point in the X direction to the origin; wherein n is not greater than 3;

[0012] The position of the boundary point in the Y direction is determined by taking m times the standard deviation in the Y direction as the distance from the boundary point in the Y direction to the origin; wherein m is not greater than 3.

[0013] Optionally, determining a plurality of diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range includes:

[0014] Get the standard deviation δ in the X direction x and the Y-direction standard deviation δ y The standard deviation ratio k=min(δ x , δ y ) / max(δ x , δ y ) and beam radius θ;

[0015] The standard deviation in the X and Y directions is min (δ x , δ y ) direction, set the vertex distance d between two adjacent diamond scanning tracks, where d<(k+1)*θ.

[0016] Optionally, the standard deviation in the X direction and the Y direction is min(δ x , δ y ), after setting the vertex distance d between two adjacent diamond-shaped scanning tracks, the method further includes:

[0017] According to the vertex distance d, multiple diamond scanning trajectories are obtained with a standard deviation of min (δ x , δ y ) direction;

[0018] According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) direction.

[0019] Optionally, according to the vertex distance d, the standard deviation of the plurality of diamond scanning trajectories in the X direction and the Y direction is min (δ x , δ y ) include:

[0020] According to the vertex distance d, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is min (δ x , δ y )’s vertex coordinates are ±i*d;

[0021] According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) include:

[0022] According to the vertex distance d and the standard deviation ratio k, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is max (δ x , δ y ) direction is ±i*d / k.

[0023] Optionally, scanning according to the scanning trajectory includes:

[0024] For multiple diamond-shaped scanning trajectories with overlapping centers, scan them sequentially from the inside to the outside.

[0025] Optionally, scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence includes:

[0026] Setting a ratio α of the beam diameter 2θ to the vertex distance d, wherein α>1.065;

[0027] According to the ratio α, the ratio β of the scanning step length to the vertex distance d is determined, where: ;

[0028] The scanning step length is determined according to the ratio β and the vertex distance d.

[0029] Optionally, scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence includes:

[0030] Get the side length of the i-th diamond scanning trajectory from inside to outside;

[0031] Determine the number of scanning points on each side of the diamond scanning trajectory based on the side length and scanning step length ;

[0032] The coordinates of the jth scanning point on each side of the i-th diamond scanning track are determined according to the number of scanning points as follows:

[0033] ;

[0034] in, , , , are the x-coordinates of the vertices of the i-th diamond scanning trajectory, , , , are the y coordinates of the vertices of the i-th diamond scanning trajectory.

[0035] Optionally, before scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence, the method further comprises: scanning the origin position.

[0036] Optionally, obtaining the initialization pointing error distribution of the pointing mechanism includes: performing multiple pointing tests with a detection device and a load to obtain the pointing error distribution of the pointing mechanism in the X direction and the Y direction.

[0037] In the technical solution provided by the present invention, the initialization pointing error distribution of the pointing mechanism is first obtained, a diamond-shaped scanning range is determined based on the standard deviations in the X and Y directions, and finally scanning is performed within the diamond-shaped scanning range. Thus, during the scanning process, areas with higher probability density are scanned preferentially, and invalid areas are scanned as little as possible, thereby effectively improving the scanning efficiency and reducing the link establishment time in space optical communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is a flow chart of a stable spatial optical communication method according to an embodiment of the present invention;

[0039] Figure 2 A schematic diagram of multiple diamond-shaped scanning trajectories of a stable spatial optical communication method according to another embodiment of the present invention;

[0040] Figure 3 A schematic diagram of a stable spatial optical communication method for calculating the vertex distance d of multiple diamond-shaped scanning trajectories according to another embodiment of the present invention;

[0041] Figure 4 A schematic diagram of a stable spatial optical communication method for calculating the vertex distance d of multiple diamond-shaped scanning trajectories according to another embodiment of the present invention;

[0042] Figure 5 This is a comparison diagram of the scanning time of a stable spatial optical communication method under different k values ​​according to another embodiment of the present invention and a traditional scanning method. DETAILED DESCRIPTION

[0043] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0044] The embodiment of the present invention provides a stable spatial optical communication method, such as Figure 1 As shown, the method includes:

[0045] Obtaining the initialization pointing error distribution of the pointing mechanism;

[0046] In some embodiments, obtaining the initialization pointing error distribution of the pointing mechanism refers to obtaining the probability density distribution function of the pointing mechanism in the X direction and the Y direction through multiple tests.

[0047] Determining the standard deviation of the initialization pointing error in the X direction and the Y direction according to the initialization pointing error distribution;

[0048] In some embodiments, the standard deviation of the pointing position in the X and Y directions can be determined based on the initial pointing error distribution. The standard deviation can be calculated using statistical methods. In this embodiment, statistics based on prior data indicate that the pointing mechanism errors in the X and Y directions are not the same. The standard deviation in the X direction may be greater or smaller than the standard deviation in the Y direction.

[0049] Determining the positions of boundary points of the scanning range in the X and Y directions based on the standard deviation;

[0050] In some embodiments, when determining the scanning range, a boundary point of the scanning range can be determined on the X-coordinate axis using an X-coordinate that is a multiple of the standard deviation in the X-direction. Similarly, a boundary point of the scanning range can be determined on the Y-coordinate axis using a Y-coordinate that is a multiple of the standard deviation in the Y-direction. The specific coordinate values ​​of the boundary point can be set according to specific needs.

[0051] Constructing a rhombus-shaped scanning range according to the position of the boundary point;

[0052] In some embodiments, in this embodiment, a diamond-shaped scanning range is constructed instead of a circular scanning range. This is because, in this embodiment, it is believed that the distribution of the pointing mechanism in the X direction and the distribution in the Y direction are different. Therefore, after determining the boundary point positions in the X direction and the Y direction respectively, a diamond-shaped scanning range is constructed, thereby avoiding scanning invalid areas, thereby improving scanning efficiency and reducing the time to establish a link in space optical communication.

[0053] Within the rhombus scanning range, a plurality of rhombus scanning trajectories with overlapping centers are determined, and scanning is performed according to the scanning trajectories to complete the capture of spatial optical communication.

[0054] In some embodiments, within the diamond-shaped scanning range, such as Figure 2As shown, multiple diamond-shaped scanning trajectories with overlapping centers are determined, and scanning is performed along the multiple diamond-shaped scanning trajectories from the inside out. Since the pointing probability density of the pointing mechanism is higher closer to the center area, scanning from the inside out is more conducive to quickly completing the capture and establishing a communication link.

[0055] In the technical solution provided by the embodiment of the present invention, the initialization pointing error distribution of the pointing mechanism is first obtained, a diamond-shaped scanning range is determined based on the standard deviations in the X and Y directions, and finally scanning is performed within the diamond-shaped scanning range. Therefore, during the scanning process, areas with higher probability density are scanned preferentially, and invalid areas are scanned as little as possible, thereby effectively improving the scanning efficiency and reducing the link establishment time in space optical communication.

[0056] As an optional implementation manner, determining the boundary point positions of the scanning range in the X direction and the Y direction based on the standard deviation includes:

[0057] Determine the position of the boundary point in the X direction by taking n times the standard deviation in the X direction as the distance from the boundary point in the X direction to the origin; wherein n is not greater than 3;

[0058] The position of the boundary point in the Y direction is determined by taking m times the standard deviation in the Y direction as the distance from the boundary point in the Y direction to the origin; wherein m is not greater than 3.

[0059] In some embodiments, when the probability densities in the X and Y directions follow a Gaussian distribution, when n is equal to 3, the determined range can cover at least a 99% probability range in the X direction. Similarly, when m is equal to 3, the determined range can cover at least a 99% probability range in the Y direction. Therefore, to avoid scanning invalid areas, m and n need to be determined to be values ​​no greater than 3.

[0060] As an optional implementation manner, determining a plurality of diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range includes:

[0061] Get the standard deviation δ in the X direction x and the Y-direction standard deviation δ y The standard deviation ratio k=min(δ x , δ y ) / max(δ x , δ y ) and beam radius θ;

[0062] The standard deviation in the X and Y directions is min (δ x , δ y ) direction, set the vertex distance d between two adjacent diamond scanning tracks, where d<(k+1)*θ.

[0063] In some embodiments, as Figure 3 As shown in the figure, a situation in which the standard deviation in the X direction is smaller than the standard deviation in the Y direction is shown. In this case, the vertex distance d is as follows Figure 3 As shown in , it is the distance between the vertices of two diamond scanning tracks in the X direction. Figure 4 As shown, in multiple scanning trajectories, the origin can be considered as a trajectory consisting of four overlapping vertices. To avoid missed scans, (d-θ) / k < θ in the Y direction and d-θ < θ in the X direction. Since k is less than 1, the range where the vertex distance d in the X and Y directions is smaller is d < (k+1)*θ.

[0064] As an optional embodiment, the standard deviation in the X direction and the Y direction is min (δ x , δ y ), after setting the vertex distance d between two adjacent diamond-shaped scanning tracks, the method further includes:

[0065] According to the vertex distance d, multiple diamond scanning trajectories are obtained with a standard deviation of min (δ x , δ y ) direction;

[0066] According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) direction.

[0067] As an optional embodiment, the standard deviation of the plurality of diamond scanning trajectories in the X direction and the Y direction is min (δ x , δ y ) include:

[0068] According to the vertex distance d, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is min (δ x , δ y )’s vertex coordinates are ±i*d;

[0069] According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) include:

[0070] According to the vertex distance d and the standard deviation ratio k, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is max (δ x , δ y ) direction is ±i*d / k.

[0071] In some embodiments, continuing as Figure 3 As shown, the vertices in the X direction The coordinates are [0, i*d] and the vertex The coordinates are [0, -i*d], the vertex in the Y direction The coordinates of the vertex are [-i*d / k, 0] and The coordinates of are [-i*d / k, 0]. In this way, multiple diamond scanning trajectories with overlapping centers and parallel sides can be determined.

[0072] As an optional implementation, the scanning according to the scanning trajectory includes:

[0073] For multiple diamond-shaped scanning trajectories with overlapping centers, scan them sequentially from the inside to the outside.

[0074] In some embodiments, when the probability distribution of the receiving end position in the X and Y directions obeys a Gaussian distribution, the closer to the center area, the higher the probability density. Therefore, scanning from the inside to the outside can be performed from an area with high probability density to an area with low probability density, which is more conducive to establishing a communication link as quickly as possible.

[0075] As an optional implementation, scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence includes:

[0076] Setting a ratio α of the beam diameter 2θ to the vertex distance d, wherein α>1.065;

[0077] According to the ratio α, the ratio β of the scanning step length to the vertex distance d is determined, where: ;

[0078] The scanning step length is determined according to the ratio β and the vertex distance d.

[0079] In some embodiments, during the determination of all scanning parameters, the vertex distance d is first determined based on the beam diameter, and then the scanning step length is determined based on the vertex distance. It should be understood that the beam diameter is typically known or fixed, so the vertex distance d must first be determined based on the beam diameter to ensure that no areas are missed. Only after the vertex distance d is determined can the positional differences between the multiple diamond-shaped scanning trajectories be determined, and then the scanning step length can be determined.

[0080] As an optional implementation, scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence includes:

[0081] Get the side length of the i-th diamond scanning trajectory from inside to outside;

[0082] Determine the number of scanning points on each side of the diamond scanning trajectory based on the side length and scanning step length ;

[0083] The coordinates of the jth scanning point on each side of the i-th diamond scanning track are determined according to the number of scanning points as follows:

[0084] ;

[0085] in, , , , are the x-coordinates of the vertices of the i-th diamond scanning trajectory, , , , are the y-coordinates of the vertices of the i-th diamond scan. According to the above formula, when scanning along the diamond scan trajectory, for the scanning point position between vertices A and B, the j-th scanning point is calculated using the X-axis and Y-axis coordinates of A and B. Similarly, for the scanning point position between vertices B and C, the j-th scanning point is calculated using the X-axis and Y-axis coordinates of B and C. For the scanning point position between vertices C and D, the j-th scanning point is calculated using the X-axis and Y-axis coordinates of C and D. For the scanning point position between vertices D and A, the j-th scanning point is calculated using the X-axis and Y-axis coordinates of D and A.

[0086] As an optional implementation, before scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence, the method further includes: scanning the origin position.

[0087] As an optional implementation, obtaining the initialization pointing error distribution of the pointing mechanism includes: performing multiple pointing tests with a detection device and a load to obtain the pointing error distribution of the pointing mechanism in the X direction and the Y direction.

[0088] like Figure 5 As shown in FIG, the scanning time of each embodiment described above and the scanning time of the traditional spiral scanning method are shown. Figure 5 In FIG, the data pairs formed by the scanning time and k of the aforementioned embodiments are marked with dots, and the data pairs formed by the scanning time and k of the traditional spiral scanning are marked with square dots. Figure 5It can be seen that the smaller k is, that is, the larger the difference in standard deviation between the X and Y directions, the more scanning time the aforementioned embodiments save compared to the traditional spiral scanning method. This is because, as k becomes smaller, the traditional spiral scanning method scans more ineffective areas, resulting in more wasted time. However, the aforementioned embodiments minimize the scanning of ineffective areas, effectively saving scanning time.

[0089] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable storage medium. When executed, the program can include the processes in the above-described method embodiments. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0090] 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 changes 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 stable spatial optical communication method, characterized in that: The method comprises: Obtaining the initialization pointing error distribution of the pointing mechanism; Determining the standard deviation of the initialization pointing error in the X direction and the Y direction according to the initialization pointing error distribution; Determining the positions of boundary points of the scanning range in the X and Y directions based on the standard deviation; Constructing a rhombus-shaped scanning range according to the position of the boundary point; Determining a plurality of diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range, and performing scanning according to the scanning trajectories to complete the capture of spatial optical communication; Wherein, determining a plurality of diamond-shaped scanning trajectories with overlapping centers within the diamond-shaped scanning range includes: Get the standard deviation δ in the X direction x and the Y-direction standard deviation δ y The standard deviation ratio k=min(δ x , δ y ) / max(δ x , δ y ) and beam radius θ; The standard deviation in the X and Y directions is min (δ x , δ y ) direction, set the vertex distance d between two adjacent diamond scanning tracks, where d < (k+1) θ; Wherein, the standard deviation in the X direction and the Y direction is min (δ x , δ y ), after setting the vertex distance d between two adjacent diamond-shaped scanning tracks, the method further includes: According to the vertex distance d, multiple diamond scanning trajectories are obtained with a standard deviation of min (δ x , δ y ) direction; According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) direction; Wherein, according to the vertex distance d, the standard deviation of multiple diamond scanning trajectories in the X direction and the Y direction is min (δ x , δ y ) include: According to the vertex distance d, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is min (δ x , δ y ) is the vertex coordinate of ±i d; According to the vertex distance d and the standard deviation ratio k, multiple diamond scanning trajectories are obtained with a standard deviation of max (δ x , δ y ) include: According to the vertex distance d and the standard deviation ratio k, the standard deviation of the i-th diamond scanning track from the inside to the outside in the X direction and the Y direction is max (δ x , δ y ) is the vertex coordinate of ±i d / k.

2. The method according to claim 1, characterized in that Determining the positions of boundary points of the scanning range in the X direction and the Y direction based on the standard deviation includes: Determine the position of the boundary point in the X direction by taking n times the standard deviation in the X direction as the distance from the boundary point in the X direction to the origin; wherein n is not greater than 3; The position of the boundary point in the Y direction is determined by taking m times the standard deviation in the Y direction as the distance from the boundary point in the Y direction to the origin; wherein m is not greater than 3.

3. The method according to claim 1, characterized in that The scanning according to the scanning trajectory includes: For multiple diamond-shaped scanning trajectories with overlapping centers, scan them sequentially from the inside to the outside.

4. The method according to claim 3, characterized in that The scanning of the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out comprises: Set the ratio α of the beam diameter 2θ to the vertex distance d, where α>1.065; According to the ratio α, the ratio β of the scanning step length to the vertex distance d is determined, where: ; The scanning step length is determined according to the ratio β and the vertex distance d.

5. The method according to claim 4, characterized in that The scanning of the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out comprises: Get the side length of the i-th diamond scanning trajectory from inside to outside; Determine the number of scanning points on each side of the diamond scanning trajectory based on the side length and scanning step length ; The coordinates of the jth scanning point on each side of the i-th diamond scanning track are determined according to the number of scanning points as follows: ； in, , , , are the x-coordinates of the vertices of the i-th diamond scanning trajectory, , , , are the y coordinates of the vertices of the i-th diamond scanning trajectory.

6. The method according to claim 3, characterized in that Before scanning the plurality of diamond-shaped scanning trajectories with overlapping centers from the inside out in sequence, the method further includes: scanning the origin position.

7. The method according to claim 1, characterized in that The obtaining of the initialization pointing error distribution of the pointing mechanism includes: performing multiple pointing tests with a detection device and a load to obtain the pointing error distribution of the pointing mechanism in the X direction and the Y direction.

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