High-precision laser double-loop tracking system suitable for long-distance moving target and control method

Abstract

The invention discloses a high-precision laser double-loop tracking system suitable for a long-distance moving target and a control method, and relates to the field of laser tracking of moving targets. According to the high-precision laser double-loop tracking system suitable for the long-distance and moving target and the control method, the coarse and fine composite axis double-closed-loop tracking control system of the energy charging target and the miss distance time delay compensation system of the energy charging target are effectively combined; the problem of high-precision laser tracking of a long-distance (greater than 100 meters) moving target is effectively solved. The problem of low energy transfer efficiency caused by low tracking precision in an unmanned aerial vehicle laser wireless energy transfer system is solved, and high precision, high real-time performance and high interference resistance of unmanned aerial vehicle laser energy transfer are realized.

Description

Technical Field

[0001] The present invention relates to the field of laser tracking of moving targets, and in particular to a high-precision laser dual-loop tracking system and a control method suitable for long-distance, moving targets. Background Art

[0002] With the vigorous development of control technology, computer technology, communication technology and new materials, drones have been widely used in military and civilian fields. They have the characteristics of flexibility, efficiency and safety, and have played an important role in battlefield attacks, search and rescue, real-time monitoring and reconnaissance. Judging from the current development status and application needs of drones, the development of high-energy laser technology and artificial intelligence has provided an effective solution for the continuous endurance of drones, which means that light-powered drones are an important development direction, and higher requirements are placed on the energy supply of drones.

[0003] To achieve stable and continuous laser energy supply, UAV-based laser wireless power transmission systems rely on the acquisition, tracking, and pointing (ATP) subsystem within the laser wireless power transmission system. The ATP subsystem is a crucial component of UAV laser wireless power transmission systems. Its primary task is to accurately point the laser beam emitted by the laser transmitter toward the photovoltaic array receiver, enabling real-time tracking and establishing a stable and reliable laser power supply link.

[0004] However, in practical applications, due to the complex trajectory of drones, the long laser transmission distance, signal transmission delays, and platform vibration at the laser transmitter, tracking accuracy is easily affected, resulting in low energy transfer efficiency. Therefore, to improve the charging efficiency of drone laser wireless energy transmission systems and achieve continuous flight of light-powered drones, a high-precision laser dual-loop tracking system and control method suitable for long-range, moving targets is proposed. Summary of the Invention

[0005] The present invention provides a high-precision laser dual-loop tracking system and control method suitable for long-distance, moving targets. It solves the problem of low energy transmission efficiency caused by low tracking accuracy in laser wireless energy transmission systems for unmanned aerial vehicles (UAVs), and achieves high precision, high real-time performance and high anti-interference performance of UAV laser energy transmission.

[0006] The technical solution adopted by the present invention is a high-precision laser dual-loop tracking system suitable for long-distance, moving targets, which includes: a coarse and fine composite axis dual closed-loop tracking control system for an energized target, and a miss-amount time-delay compensation system for the energized target; wherein, the coarse and fine composite axis dual closed-loop tracking control system for the energized target is composed of a coarse tracking system and a fine tracking system, and the coarse tracking system is composed of a two-dimensional pan-tilt platform, a coarse tracking detector, and a coarse tracking controller, and the coarse tracking controller controls the rotation of the two-dimensional pan-tilt platform according to the detection results of the coarse tracking detector; the fine tracking system is composed of a fast reflector, a fine tracking detector, a fine tracking controller, and a voice coil motor, and the fine tracking controller controls the fast reflector and the voice coil motor according to the detection results of the fine tracking detector; the miss-amount time-delay compensation system for the energized target is based on the coarse and fine composite axis dual closed-loop tracking control system for the energized target, and in order to reduce the influence of signal transmission delay on the system, a high-precision predictive filtering algorithm is combined to form a feedforward compensation control to improve tracking accuracy.

[0007] A high-precision laser dual-loop control method suitable for long-distance, moving targets, the method comprising:

[0008] Step 1: Preliminary positioning;

[0009] Step 2: Coarse tracking loop tracking;

[0010] Step 3: Precision tracking loop tracking;

[0011] Step 4: Delay compensation;

[0012] The specific method of the preliminary positioning in step 1 is:

[0013] The Beidou satellite navigation system installed on the charging target obtains the spatial coordinates of the charging target. Combined with the position information of the laser energy transmitter on the ground, the deviation between the target's visual axis and the transmitter's visual axis in azimuth and elevation is calculated. The turntable is rotated to make the transmitter's visual axis point to the target.

[0014] The specific method of the coarse tracking loop tracking in step 2 is:

[0015] The coarse tracking loop tracking process includes: a coarse tracking detector, a coarse tracking controller and a coarse tracking control object. The coarse tracking detector is composed of a CCD camera and a corner reflector on the photovoltaic cell array. The coarse tracking control object is a two-dimensional pan-tilt platform that can rotate in the pitch direction and the horizontal direction. Its working steps are as follows: the laser energy emitting end emits a beam of beacon laser, and the beacon laser performs a "matrix spiral scan" on the area of ​​preliminary positioning. When the beacon laser scans the corner reflector, it will cause the incident light to be reflected parallel to the incident direction. Then, the CCD detector at the laser energy emitting end is used to capture the image position of the reflected beacon light spot. Then, the relative error in the spatial position of the energized target and the laser emitting end is calculated, and the two-dimensional pan-tilt platform at the laser emitting end is rotated so that the reflected beacon light spot is located in the center of the CCD captured image.

[0016] The specific method of the step 3 fine tracking loop tracking is:

[0017] The fine tracking loop is composed of a fine tracking detector, a fine tracking controller and a fine tracking control object. The fine tracking detector includes: a photovoltaic array with a TCT structure, a current symmetry information detection circuit composed of four groups of photoresistors, the four groups of photoresistors form a "cross" structure, each group of photoresistors is located on one side of the "cross" structure, and the photoresistors are located in the gaps between the photovoltaic units in the entire photovoltaic array; the fine tracking control object is composed of a fast reflector and a voice coil motor that can swing in both the pitch and horizontal directions, and the voice coil motor is used to drive the fast reflector to deflect in the horizontal and pitch directions; its specific working steps are: after the coarse tracking loop quickly tracks the charged target, the laser energy transmitting end can now quickly point to the photovoltaic array energy receiving end, and the laser is emitted at this time. The laser can irradiate the photovoltaic array, but at this time the laser light The center of the spot is not able to coincide precisely with the center of the photovoltaic array, resulting in reduced energy transmission efficiency. At this time, the position of the laser spot is detected by a current symmetry information detection circuit composed of four groups of photoresistors placed on the photovoltaic array to see whether it is inscribed in the photovoltaic array. When the laser spot is exactly inscribed in the receiving end of the photovoltaic array, the four photoresistors are irradiated with the same laser and the currents generated are consistent. When there is a slight deviation between the center of the laser spot and the center of the photovoltaic array receiving end, the currents generated by the upper and lower photoresistors are judged to see whether the spot has an up-down deviation, and the currents generated by the left and right photoresistors are judged to see whether the spot has a left-right deviation. Then, the feedback is fed back to the laser transmitting end through the communication module to control the precise tracking actuator, and the fast reflector fine-tunes the direction of the laser beam to achieve the coincidence of the center of the laser spot with the center of the photovoltaic array receiving end.

[0018] Furthermore, the coarse tracking loop of step 2 and the fine tracking loop of step 3 are to form a control loop; the specific method is: T1(s) and T2(s) are used to represent the transfer functions of the coarse tracking detector and the fine tracking detector respectively, when the signal-to-noise ratio of the tracked target is good, it is regarded as a delay link, C1(s) and C2(s) are the controllers of the coarse tracking system and the fine tracking system respectively, P1(s) and P2(s) are the control objects of the coarse tracking system and the fine tracking system respectively; the coarse tracking detector detects the control result of the coarse tracking loop, and the coarse tracking detector transfer function T1 is (s) passes through the coarse tracking system controller C1(s) and the coarse tracking system control object P1(s) in sequence, and then returns the current target position to the coarse detector. When the coarse detector detects and determines that the coarse tracking loop positioning meets the requirements, the fine tracking loop is started; the fine tracking detector detects the control result of the fine tracking loop, and the transfer function T2(s) of the fine tracking detector passes through the fine tracking system controller C2(s) and the fine tracking system control object P2(s) in sequence, and then returns the current target position to the fine tracking detector. The coarse tracking loop and the fine tracking loop work together in the composite tracking system.

[0019] The error transfer function E1(s) of the coarse tracking loop, the error transfer function E2(s) of the fine tracking loop, and the error transfer function E3(s) of the composite axis system are obtained as follows:

[0020]

[0021] Wherein, W1(s) represents the closed-loop transfer function of the coarse tracking loop, and W2(s) represents the closed-loop transfer function of the fine tracking loop.

[0022] Furthermore, the time lag compensation method of step 4 is as follows: the miss distance of the energized target is obtained through a coarse tracking detector; in order to reduce the influence of the miss distance signal transmission delay on the tracking accuracy, the gimbal angular position is artificially delayed by M cycles, and data fused with the miss distance is performed to obtain the target motion state information delayed by M cycles, where M cycles is the time of the signal transmission delay; the target motion state information is predictively filtered to predict the motion state information of the moving target at the current moment, and the predicted position of the moving target at the current moment is used as the input of the position loop controller, and the predicted speed of the moving target at the current moment is used as the feedforward input signal to constitute an equivalent composite control.

[0023] At this point, preliminary positioning, coarse tracking loop tracking, and fine tracking loop tracking have been completed, and high-precision laser dual-loop tracking of long-distance and moving targets can be achieved. However, in actual engineering projects, preliminary positioning, coarse tracking loop tracking, and fine tracking loop tracking need to communicate position errors in order to form a closed-loop feedback. Especially for the coarse tracking loop tracking, the CCD camera performs a series of operations such as image processing and spot centroid identification on the reflected beacon laser spot. The calculation of the miss amount is much more complicated than that of the fine tracking detector, which will cause time lag, which will have a certain impact on the tracking accuracy. For this reason, in the high-precision laser dual-loop tracking system, a miss amount time lag compensation algorithm for the charged target is designed, and a high-precision predictive filtering algorithm is used to predict the charged target motion information with data fusion lag, and obtain the miss amount information with predicted lag, and pass the position information to the position loop, and the velocity information is fed forward to the velocity loop, thereby reducing the impact of the miss amount time lag on the tracking accuracy.

[0024] The present invention adopts a high-precision laser dual-loop tracking system and control method suitable for long-distance and moving targets. By effectively combining the coarse and fine composite axis dual closed-loop tracking control system of the energized target with the off-target time-lag compensation system of the energized target, the high-precision laser tracking problem of long-distance (greater than 100 meters) and moving targets is effectively solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a diagram of a high-precision laser dual-ring tracking system suitable for long-distance, moving targets according to the present invention.

[0026] Figure 2 This is the coarse and fine tracking field of view of the UAV laser energy transmission system.

[0027] Figure 3 This is the dual closed-loop control block diagram of the coarse and fine composite axes of the UAV laser energy transmission system.

[0028] Figure 4 It is a high-precision tracking flow chart of the UAV laser energy transmission system.

[0029] Figure 5 This is the schematic diagram of the coarse tracking loop control principle.

[0030] Figure 6 It is a matrix spiral scanning diagram of the beacon laser on the charged target.

[0031] Figure 7 This is the principle diagram of the precision tracking loop control.

[0032] Figure 8 This is the design principle diagram of the photovoltaic array receiving end.

[0033] Figure 9 This is a diagram of the time-lag compensation system for the missed distance of the charging target.

[0034] Figure 10 This is the principle diagram of the time delay compensation of the coarse tracking loop miss distance. DETAILED DESCRIPTION

[0035] The technical solution of the present invention is described in detail below through a specific embodiment in conjunction with the accompanying drawings:

[0036] like Figure 1 As shown in Figure 1, this is a detailed tracking diagram of a high-precision laser dual-loop tracking system suitable for long-range, moving targets in this embodiment. It consists of a laser energy transmission system, a photovoltaic array receiving system, and a high-precision tracking system. The laser energy transmission system consists of an electro-optical converter, a two-dimensional pan-tilt platform, a CCD camera, a fast reflector, and a communication device; the photovoltaic array receiving system consists of an electro-optical converter, a corner reflector, a current detection circuit, a light-powered drone, a storage battery, and a Beidou satellite navigation system; and the high-precision tracking system comprises a coarse and fine composite axis dual closed-loop tracking control algorithm for the energized target and a time-lag compensation algorithm for the energized target's miss distance.

[0037] like Figure 2 As shown in the figure, this is the coarse and fine tracking field of view of the UAV laser tracking system. It consists of a coarse tracking field of view and a fine tracking field of view. The coarse tracking loop stabilizes the charging target at the center of the coarse tracking field of view through closed-loop tracking, and then introduces the fine tracking field of view. The fine tracking loop further eliminates the tracking residual of the coarse tracking through closed-loop tracking, and stabilizes the energy target at the center of the fine tracking field of view.

[0038] The principle diagram of dual-loop tracking control for coarse and fine tracking fields is shown in Figure 3 As shown, the dual-loop tracking control system for the coarse and fine composite axis is divided into a coarse tracking control loop and a fine tracking control loop. In the schematic diagram of the coarse and fine tracking composite axis, T1(s) and T2(s) represent the transfer functions of the coarse tracking detector and the fine tracking detector, respectively. When the signal-to-noise ratio of the tracked target is good, they can be regarded as delay links. C1(s) and C2(s) are the controllers of the coarse and fine tracking systems, respectively, and P1(s) and P2(s) are the control objects of the coarse and fine tracking systems, respectively. At the same time, the error transfer functions of the coarse tracking loop and the fine tracking loop, as well as the error transfer function of the composite axis system, are obtained as follows:

[0039]

[0040] It can be seen that the error transfer function E3(s) of the coarse-fine composite tracking system is the product of the error transfer functions of the coarse and fine tracking loops. Therefore, the zero-difference order of the coarse-fine composite system is the sum of the zero-difference orders of the coarse and fine tracking systems, indicating that dual-loop tracking has higher tracking accuracy.

[0041] like Figure 4As shown, the high-precision laser dual-loop tracking system and control method suitable for long-distance and moving targets are mainly divided into three steps: preliminary positioning, coarse tracking loop tracking, and fine tracking loop tracking.

[0042] The preliminary positioning completes the initial pointing of the tracked target, that is, the spatial position coordinates of the energetic target are obtained through the Beidou satellite navigation system placed on the energetic target, and combined with the position information of the laser energy transmitter on the ground, the deviation between the target line of sight and the transmitter line of sight in the azimuth and pitch axes is calculated, and the turntable is rotated to make the transmitter line of sight point to the target.

[0043] like Figure 5 As shown in the figure, the coarse tracking loop is mainly composed of a coarse tracking detector, a coarse tracking controller and a coarse tracking control object. The coarse tracking detector is composed of a CCD camera and a corner reflector placed on the photovoltaic cell array carried by the charging target. The coarse tracking control object is a two-dimensional pan-tilt head that can rotate in the pitch direction and the horizontal direction. It mainly realizes the rapid tracking of the charging target in a large range and a large field of view. Its working steps are as follows: the laser energy transmitting end emits a beacon laser beam, which performs a "matrix spiral scan" on the uncertain area of ​​the preliminary positioning, such as Figure 6 As shown in the figure, when the beacon laser scans the corner reflector placed on the photovoltaic cell array, the incident light will be reflected parallel to the incident direction. The CCD detector at the laser energy emitting end is then used to capture the image position of the reflected beacon light spot. The relative error in the spatial position between the charging target and the laser emitting end is then calculated, and the two-dimensional pan-tilt platform at the laser emitting end is rotated so that the reflected beacon light spot is located in the center of the CCD captured image.

[0044] like Figure 7 As shown in Figure 2, the fine tracking loop is mainly composed of a fine tracking detector, a fine tracking controller, and a fine tracking control object. Figure 8As shown, the fine tracking detector is composed of a photovoltaic array with a TCT structure and a current symmetry information detection circuit composed of four groups of high-sensitivity, high-resolution photoresistors. At the same time, in order to reduce the load of the light-powered drone, the laser spot is designed to be intersected with the photovoltaic array. The fine tracking control object is composed of a fast reflector and voice coil motor that can swing in both pitch and horizontal directions. It mainly further eliminates the tracking residual existing in the coarse tracking loop, thereby achieving higher tracking accuracy. Its specific working steps are as follows: After the coarse tracking loop quickly tracks the charging target with a large field of view and a large range, the laser energy transmitter can now quickly and accurately point to the photovoltaic array energy receiver. At this time, the laser is emitted and the laser can illuminate the photovoltaic array. However, the center of the laser spot is not able to accurately coincide with the center of the photovoltaic array, resulting in reduced energy transfer efficiency. At this time, the current symmetry information detection circuit composed of four groups of high-sensitivity, high-resolution photoresistors placed on the photovoltaic array detects the position of the laser spot to see if it is intersected with the photovoltaic array. Figure 8 As shown in the figure, when the laser spot is irradiated on the receiving end of the photovoltaic array and the center of the laser spot coincides with the center of the photovoltaic array receiving end, the laser spot is just inscribed in the receiving end of the photovoltaic array. At this time, the four photoresistors receive the same laser irradiation and the currents generated are the same, that is, i a1 、i a2 、i b1 、i b2 、i c1 、i c2 、i d1 、i d2 When the center of the laser spot is slightly different from the center of the photovoltaic array receiving end, it can be judged by i a with i b The size of the spot can be seen to see whether there is an upward or downward deviation, and the i c with i d The size of the light spot is used to see whether there is any deviation from the left or right, and then feedback is given to the laser transmitter to control the fine tracking actuator to fine-tune the direction of the laser beam, so that the center of the laser spot coincides with the center of the photovoltaic array receiving end, achieving higher tracking accuracy.

[0045] like Figure 9 As shown in the figure, in the process of coarse tracking loop tracking and fine tracking loop tracking, the position error feedback is required to form a dual closed-loop tracking control system. However, there is a time lag in signal transmission, especially in the coarse tracking loop tracking. Its CCD camera performs a series of operations such as image processing and spot centroid recognition on the reflected beacon laser spot. The calculation of the miss distance is much more complicated than that of the fine tracking detector, which will cause a time lag, which will have a certain impact on the tracking accuracy. Therefore, Figure 10As shown in the figure, a high-precision prediction filtering algorithm is added to the coarse tracking loop tracking system to predict the motion information of the energized target with data fusion lag, and obtain the miss distance information with prediction lag. The position information is then passed to the position loop, and the velocity information is fed forward to the velocity loop, thereby reducing the impact of the miss distance lag on the tracking accuracy.

[0046] In summary, the present invention effectively combines the coarse and fine composite axis dual closed-loop tracking control system of the energized target with the off-target time-delay compensation system of the energized target to invent a high-precision laser dual-loop tracking system and control method suitable for long-distance and moving targets, providing a good solution to the problem of high-precision laser tracking of long-distance (greater than 100 meters) and moving targets.

Claims

1. A high-precision laser dual-loop tracking system suitable for long-range, moving targets, the system comprising: A coarse and fine composite axis dual closed-loop tracking and control system for an energized target, and a miss-amount time-delay compensation system for an energized target; wherein, the coarse and fine composite axis dual closed-loop tracking and control system for an energized target consists of a coarse tracking system and a fine tracking system, the coarse tracking system consists of a two-dimensional pan-tilt platform, a coarse tracking detector, and a coarse tracking controller, the coarse tracking controller controls the rotation of the two-dimensional pan-tilt platform according to the detection result of the coarse tracking detector; the fine tracking system consists of a fast reflector, a fine tracking detector, a fine tracking controller, and a voice coil motor, the fine tracking controller controls the fast reflector and the voice coil motor according to the detection result of the fine tracking detector; the miss-amount time-delay compensation system for an energized target is based on the coarse and fine composite axis dual closed-loop tracking and control system for an energized target, in order to reduce the influence of signal transmission delay on the system, combined with a high-precision predictive filtering algorithm, to form a feedforward compensation control to improve tracking accuracy.

2. A control method for the high-precision laser dual-loop tracking system according to claim 1, the method comprising: Step 1: Preliminary positioning; Step 2: Coarse tracking loop tracking; Step 3: Precision tracking loop tracking; Step 4: Delay compensation; The specific method of the preliminary positioning in step 1 is: The Beidou satellite navigation system installed on the charging target obtains the spatial coordinates of the charging target. Combined with the position information of the laser energy transmitter on the ground, the deviation between the target's visual axis and the transmitter's visual axis in azimuth and elevation is calculated. The turntable is rotated to make the transmitter's visual axis point to the target. The specific method of the coarse tracking loop tracking in step 2 is: The coarse tracking loop tracking process includes: a coarse tracking detector, a coarse tracking controller and a coarse tracking control object. The coarse tracking detector is composed of a CCD camera and a corner reflector on the photovoltaic cell array. The coarse tracking control object is a two-dimensional pan-tilt platform that can rotate in the pitch and horizontal directions. Its working steps are as follows: the laser energy emitting end emits a beam of beacon laser, which performs a "matrix spiral scan" on the area of ​​preliminary positioning. When the beacon laser scans the corner reflector, it will cause the incident light to be reflected parallel to the incident direction. Then, the CCD detector at the laser energy emitting end is used to capture the image position of the reflected beacon light spot. Then, the relative error in the spatial position of the energized target and the laser emitting end is calculated, and the two-dimensional pan-tilt platform at the laser emitting end is rotated so that the reflected beacon light spot is located in the center of the CCD captured image.

3. The control method of the high-precision laser dual-loop tracking system according to claim 2, characterized in that: The specific method of the step 3 fine tracking loop tracking is: The fine tracking loop is composed of a fine tracking detector, a fine tracking controller and a fine tracking control object. The fine tracking detector includes: a photovoltaic array with a TCT structure, a current symmetry information detection circuit composed of four groups of photoresistors, the four groups of photoresistors form a "cross" structure, each group of photoresistors is located on one side of the "cross" structure, and the photoresistors are located in the gaps between photovoltaic units in the entire photovoltaic array; the fine tracking control object is composed of a fast reflector and a voice coil motor that can swing in both the pitch and horizontal directions, and the voice coil motor is used to drive the fast reflector to deflect in the horizontal and pitch directions; its specific working steps are: after the coarse tracking loop quickly tracks the charged target, the laser energy transmitting end can quickly point to the photovoltaic array energy receiving end, and the laser is emitted at this time. The laser can be irradiated on the photovoltaic array, but at this time the laser light The center of the spot is not able to coincide precisely with the center of the photovoltaic array, resulting in reduced energy transmission efficiency. At this time, the position of the laser spot is detected by a current symmetry information detection circuit composed of four groups of photoresistors placed on the photovoltaic array to see whether it is inscribed in the photovoltaic array. When the laser spot is exactly inscribed in the receiving end of the photovoltaic array, the four photoresistors are irradiated with the same laser and the currents generated are consistent. When there is a slight deviation between the center of the laser spot and the center of the photovoltaic array receiving end, the currents generated by the upper and lower photoresistors are judged to see whether the spot has an up-down deviation, and the currents generated by the left and right photoresistors are judged to see whether the spot has a left-right deviation. Then, the feedback is fed back to the laser transmitting end through the communication module to control the precise tracking actuator, and the fast reflector fine-tunes the direction of the laser beam to achieve the coincidence of the center of the laser spot with the center of the photovoltaic array receiving end.

4. The control method of the high-precision laser dual-loop tracking system according to claim 2, characterized in that: The coarse tracking loop of step 2 and the fine tracking loop of step 3 are to form a control loop; the specific method is as follows: T1(s) and T2(s) are used to represent the transfer functions of the coarse tracking detector and the fine tracking detector respectively; when the signal-to-noise ratio of the tracked target is good, they are regarded as delay links; C1(s) and C2(s) are the controllers of the coarse tracking system and the fine tracking system respectively; P1(s) and P2(s) are the control objects of the coarse tracking system and the fine tracking system respectively; the coarse tracking detector detects the control result of the coarse tracking loop; the coarse tracking detector transfer function T1(s) passes through the coarse tracking system controller C1(s) and the coarse tracking system control object P1(s) in sequence and then returns the current target position to the coarse detector; when the coarse detector detects and determines that the detection coarse tracking loop positioning meets the requirements, the fine tracking loop is started; The fine tracking detector detects the control results of the fine tracking loop. The transfer function T2(s) of the fine tracking detector passes through the controller C2(s) of the fine tracking system and the control object P2(s) of the fine tracking system in sequence, and then returns the current target position to the fine tracking detector. The coarse tracking loop and the fine tracking loop work together in a composite tracking system. The error transfer function E1(s) of the coarse tracking loop, the error transfer function E2(s) of the fine tracking loop, and the error transfer function E3(s) of the composite axis system are obtained as follows: Wherein, W1(s) represents the closed-loop transfer function of the coarse tracking loop, and W2(s) represents the closed-loop transfer function of the fine tracking loop.

5. The control method of the high-precision laser dual-loop tracking system according to claim 2, characterized in that: The time lag compensation method of step 4 is as follows: the miss distance of the energized target is obtained through a coarse tracking detector; in order to reduce the influence of the miss distance signal transmission delay on the tracking accuracy, the gimbal angular position is artificially delayed by M cycles, and data fused with the miss distance is performed to obtain the target motion state information delayed by M cycles, where M cycles is the time of the signal transmission delay; the target motion state information is predictively filtered to predict the motion state information of the moving target at the current moment, and the predicted position of the moving target at the current moment is used as the input of the position loop controller, and the predicted speed of the moving target at the current moment is used as the feedforward input signal to form an equivalent composite control.

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