Laser tracking method of vector optical phased array system

Abstract

The embodiment of the invention provides a laser tracking method for a vector optical phased array system, and the method comprises the steps: repeatedly carrying out the operation of optical axis adjustment in a first maneuvering duration, keeping still in a second maneuvering duration, and carrying out the staring leapfrogging operation until a first end moment, and setting a time-sharing tracking mechanism, dependence on complex and huge tracking equipment in the prior art is avoided, the complexity of a space light detection part is remarkably reduced, the size and weight of the whole system are further reduced, and the terminal is controlled to alternately execute optical axis adjustment, so that the terminal can gradually improve the coupling efficiency according to received light intensity signal feedback, and the coupling efficiency is improved. According to the invention, the method guarantees the establishment and maintenance of a stable communication link, greatly simplifies the space light detection, and effectively reduces the size and weight of a vector optical phased array system.

Description

Technical Field

[0001] This application relates to the field of laser communication technology, and more specifically, to a laser tracking method for a vector optical phased array system. Background Technology

[0002] Currently, free-space laser communication systems mainly sense the position of target stars in two ways to provide position information for dual-terminal acquisition and tracking. One way is to use a camera as an acquisition and tracking detector to guide the laser terminal to complete the acquisition and tracking; the other way is to use a quadrant photodiode (QD) to guide the laser terminal to complete the acquisition and tracking. However, the above-mentioned technologies require space light detection, which brings the disadvantages of large size and weight, making the vector optical phased array system too large and heavy. Summary of the Invention

[0003] This application provides a laser tracking method for a vector optical phased array system, which at least solves the technical problem in the related art that the size and weight of the vector optical phased array system are too large when performing space light detection.

[0004] According to one aspect of the embodiments of this application, a laser tracking method for a vector optical phased array system is provided, executed by a terminal, the method comprising: repeatedly performing the following gaze-skip operation until a first end time is reached: performing optical axis adjustment during a first maneuver duration and remaining stationary during a second maneuver duration; the first end time refers to the moment when the terminal ends the execution of the gaze-skip operation.

[0005] According to another aspect of the embodiments of this application, a laser tracking method for a vector optical phased array system is also provided. The vector optical phased array system includes a first terminal and a second terminal. The method includes: controlling the first terminal to repeatedly perform the following pattern scanning operation until a first end time is reached: starting from the scanning origin of the first scan pattern, controlling the first terminal to cyclically perform optical axis stepping within a preset scanning area; the first end time refers to the moment when the terminal ends the staring jump operation; wherein, after each optical axis stepping is performed, one of the first terminal and the second terminal is alternately controlled to perform optical axis adjustment, and the other terminal is controlled to remain stationary.

[0006] According to another aspect of the embodiments of this application, a laser tracking device for a vector optical phased array system is also provided, executed by a terminal. The device includes: an execution unit for repeatedly performing the following gaze-skip operation until a first end time is reached: optical axis adjustment is performed during a first maneuver duration, and the device remains stationary during a second maneuver duration; the first end time refers to the moment when the terminal ends the execution of the gaze-skip operation.

[0007] According to another aspect of the embodiments of this application, a laser tracking device for a vector optical phased array system is also provided. The vector optical phased array system includes a first terminal and a second terminal. The device includes a control unit for controlling the first terminal to repeatedly perform the following pattern scanning operation until a first end time is reached: starting from the scanning origin of the first scan pattern, controlling the first terminal to cyclically perform optical axis stepping within a preset scanning area; the first end time refers to the moment when the terminal ends the staring jump operation; wherein, after each optical axis stepping is performed, one of the first terminal and the second terminal is alternately controlled to perform optical axis adjustment, and the other terminal is controlled to remain stationary to increase the coupling efficiency between the first terminal and the second terminal.

[0008] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, wherein a computer program is stored therein, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed by a processor.

[0009] According to another aspect of the embodiments of this application, a computer program product or computer program is provided, the computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the computer device to perform the steps in any of the method embodiments described above.

[0010] According to another aspect of the embodiments of this application, an electronic device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to perform the steps of any of the above method embodiments through the computer program.

[0011] This application establishes a time-division tracking mechanism by repeatedly performing optical axis adjustment during the first maneuver duration and remaining stationary during the second maneuver duration until the first end time. This avoids the reliance on complex and bulky tracking equipment found in related technologies, significantly reducing the complexity of the space light detection section and consequently reducing the overall system size and weight. Furthermore, by controlling the terminal to alternately perform optical axis adjustment, the terminal can gradually improve coupling efficiency based on feedback from the received light intensity signal until high-precision optical axis alignment is achieved, ensuring the establishment and maintenance of a stable communication link. This greatly simplifies space light detection and effectively reduces the size and weight of the vector optical phased array system. Therefore, it can solve the technical problem of excessively large size and weight of vector optical phased array systems in related technologies when performing space light detection. Attached Figure Description

[0012] Figure 1 This is a schematic diagram illustrating an application scenario of a laser tracking method for a vector optical phased array system according to an embodiment of this application.

[0013] Figure 2 This is a schematic flowchart of an optional laser tracking method for a vector optical phased array system according to an embodiment of this application.

[0014] Figure 3 This is a schematic diagram of an optional terminal according to an embodiment of this application.

[0015] Figure 4 This is a schematic diagram of an optional TR array element according to an embodiment of this application.

[0016] Figure 5 This is a schematic diagram of an optional incident spatial plane wave coupled into an optical fiber via a lens, according to an embodiment of this application.

[0017] Figure 6 This is a schematic diagram of an optional obliquely incident spatial plane wave coupled into an optical fiber via a lens, according to an embodiment of this application.

[0018] Figure 7 This is a schematic diagram of an optional relative coupling efficiency curve according to an embodiment of this application.

[0019] Figure 8 This is a schematic flowchart of another optional laser tracking method for a vector optical phased array system according to an embodiment of this application.

[0020] Figure 9 This is a schematic diagram of an optional terminal alternating execution process according to an embodiment of this application.

[0021] Figure 10This is a schematic diagram of a process in which an optional first terminal performs a single-field scanning operation according to an embodiment of this application.

[0022] Figure 11 This is a schematic diagram illustrating the process of an optional second terminal performing a single-field scanning operation according to an embodiment of this application.

[0023] Figure 12 This is a schematic diagram of an optional initial capture process according to an embodiment of this application.

[0024] Figure 13 This is a simulation diagram of an optional first capture scenario according to an embodiment of this application.

[0025] Figure 14 This is a schematic diagram of an optional conventional capture tracking process according to an embodiment of this application.

[0026] Figure 15 This is a timing diagram of a conventionally captured tracking method according to an embodiment of this application.

[0027] Figure 16 This is an optional conventionally captured simulation image according to an embodiment of this application.

[0028] Figure 17 This is a time-enlarged diagram showing the coupling efficiency of an optional dual-terminal tracking process according to an embodiment of this application.

[0029] Figure 18 This is a structural block diagram of a laser tracking device for an optional vector optical phased array system according to an embodiment of this application. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] According to one aspect of the embodiments of this application, a laser tracking method for a vector optical phased array system is provided. Optionally, in this embodiment, the laser tracking method for the vector optical phased array system described above can be applied, but is not limited to, to applications such as... Figure 1 The diagram shows the architecture of a satellite communication system. This satellite communication system may include a satellite 101, electronic equipment 102, and a gateway station 103.

[0033] In this embodiment, satellite 101 is an entity used for transmitting or receiving signals, and there can be multiple satellites. This embodiment does not limit the specific technology or equipment form used by the satellites.

[0034] In this embodiment, electronic device 102 refers to a processing device used for communication with a satellite within the satellite's coverage beam range. There can be multiple electronic devices 102; for example, electronic devices can be vehicles with satellite communication capabilities, smart cars, mobile phones, wearable devices, tablets, etc. This embodiment does not limit the specific technology or form of the electronic device. It should be noted that... Figure 1 The example uses two electronic devices 102.

[0035] In one embodiment, gateway station 103 in this example is connected to satellite 101.

[0036] In this embodiment, the gateway station 103 is a ground-based node in a satellite communication system used for sending and receiving data. The embodiments of this disclosure do not limit the specific technologies or equipment forms employed in the gateway station.

[0037] It is understood that the satellite communication system described in this embodiment is for the purpose of more clearly illustrating the technical solution of this embodiment, and does not constitute a limitation on the technical solution provided in this embodiment. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solution provided in this embodiment is also applicable to similar technical problems.

[0038] The laser tracking method of the vector optical phased array system in this application embodiment can be executed by a terminal. Optionally, the terminal can be... Figure 1 The satellite 101 shown could also be a ground gateway station 103. The principle of laser tracking is to achieve spatial pointing alignment and dynamic closed-loop control through a two-way optical communication link between the signal transmitter and receiver. In essence, the signal transmitter periodically emits laser signals in a specified scanning mode (such as grating or helical scanning), while the signal receiver uses a photodiode (PD) to detect only changes in the intensity of the returned light, without relying on image or angle information. When the signal receiver detects that the light intensity exceeds a preset nutation threshold, it triggers a time-division nutation mechanism—within the allocated time slot, the signal receiver uses a microelectromechanical system (MEMS) mirror to oscillate slightly in a two-dimensional plane in a stepping manner to find the direction of the maximum light intensity and feeds this direction back to its beam pointing control unit. Simultaneously, the signal transmitter remains stationary or performs its own nutation in another time slot. Through a strict time-division alternation mechanism, both parties achieve mutual sensing and pointing correction, ultimately aligning their optical axes within a very small angular error and maintaining stable tracking. The signal transmitter and the signal receiver can be either satellite 101 or ground gateway station 103, or they can be two satellites 101.

[0039] Taking the laser tracking method of the vector optical phased array system in this embodiment, executed by a terminal, as an example, Figure 2 This is a schematic flowchart of an optional laser tracking method for a vector optical phased array system according to an embodiment of this application, as shown below. Figure 2 As shown, the process of this method may include the following steps S202.

[0040] Step S202: Repeat the following gaze jump operation until the first end time is reached: adjust the optical axis during the first maneuver duration and remain stationary during the second maneuver duration.

[0041] The laser tracking method of the vector optical phased array system in this embodiment can be applied to the field of space laser communication technology, specifically to laser tracking scenarios within a vector optical phased array system. A vector optical phased array system is a system that utilizes the vector nature of light and the principle of phased arrays to achieve dynamic control and high-precision pointing of a light beam. By adjusting the phase of each transmit / receive element (TR element), beam scanning, acquisition, tracking, and communication can be achieved, making it suitable for inter-satellite and satellite-to-ground laser communication applications.

[0042] In some embodiments, Figure 3 This is a schematic diagram of an optional terminal according to an embodiment of this application, such as... Figure 3As shown, baseband port 1 is connected to the external router terminal, and baseband port 2 is connected to circulator port 1 via optical fiber. Circulator port 3 is connected to photodetector port 1 via optical fiber, and circulator port 2 is connected to phase shifter port 1 via optical fiber. Phase shifter port 2 is connected to delay line port 1 via optical fiber. Delay line port 2 is connected to filter port 1 via optical fiber. Filter port 2 is connected to optical amplifier port 1 via optical fiber, and optical amplifier port 2 is connected to a multi-channel TR array element via optical fiber. The multi-channel TR array element transmits spatial optical signals to the remote vector optical phased array terminal for scanning, acquisition, tracking, and communication.

[0043] Figure 4 This is a schematic diagram of an optional TR array element according to an embodiment of this application, such as... Figure 4 As shown, the TR array element is a transmit-receive shared optical path system. For the space light portion, the received optical signal passes through two single-axis micro-electro-mechanical systems (MEMS) mirrors and reaches the lens. After being focused by the lens, it converges onto the receiving optical fiber at the focal point. For the optical fiber portion, the received optical signal is processed according to... Figure 3 The connections shown are passed sequentially, ultimately reaching the PD and baseband respectively. The TR array elements include fiber optic heads, lenses, small-angle MEMS (i.e., small-angle, high-bandwidth single-axis MEMS mirrors), large-angle MEMS (i.e., large-angle, single-axis MEMS mirrors), calibration fiber (used for optical path calibration, optical signal reception, and verification of beam pointing accuracy and coupling efficiency), filters (i.e., optical bandpass filters, used to filter stray light and environmental noise, improve the signal-to-noise ratio of the received signal, and protect the photodetector), and reference prisms (i.e., optical path calibration reference elements, which can provide an absolute coordinate reference for initial calibration of the MEMS mirrors and system error compensation, ensuring the pointing accuracy of both stages of MEMS mirrors). Among these, in... Figure 4In this diagram, D represents the vertical distance / beam aperture (or the height / spot diameter of the beam emitted from the lens) from the lens exit surface to the small-angle MEMS mirror, characterizing the size of the parallel beam emitted from the collimating lens. This determines the spot size incident on the small-angle MEMS mirror, affecting coupling efficiency and scanning range. L1 represents the optical path / axial distance from the lens exit surface to the small-angle MEMS mirror, defining the installation position of the small-angle MEMS mirror and serving as the reference parameter for calculating the incident point and reflection angle of the beam on the mirror surface when the small-angle mirror deflects. L2 represents the optical path / axial distance from the small-angle MEMS mirror to the large-angle MEMS mirror, the optical path length between the two MEMS mirrors, determining the beam propagation path of the two reflections and affecting the overall system size and the superposition effect of beam deflection. L3 represents the optical path / axial distance from the large-angle MEMS mirror to the calibration fiber / filter, the optical path / axial distance of the beam emitted from the large-angle MEMS mirror. The propagation distance from the beam to the receiver determines the emissivity of the emitted beam and the coupling efficiency of the calibration fiber, making it a core parameter of the space optical link. Coordinate system 1 represents the input reference (i.e., the reference coordinate system) of the fiber optic head-lens, with the optical axis of the fiber optic head-lens as the +z axis, and +x perpendicular to the +z axis downwards. Coordinate system 2 represents the local coordinates of the large-angle MEMS mirror (i.e., the reference system for large-angle deflection), with the local coordinates centered on the large-angle MEMS mirror and deflected by θc2y degrees around the y-axis relative to coordinate system 1. It is used to describe the deflection attitude of the large-angle MEMS mirror and the coarse scanning direction of the beam. Coordinate system 3 represents the output reference (i.e., the receiver / calibration coordinate system) of the small-angle MEMS mirror + calibration fiber, with the local coordinates centered on the small-angle MEMS mirror and calibration fiber and deflected by θc3y degrees around the y-axis relative to coordinate system 1. It can be used to describe the tracking attitude of the small-angle MEMS mirror and the coordinate reference of the calibration end. x' / y' / z' are the coordinate axes relative to coordinate system 1. θc2y can represent the deflection angle of coordinate system 2 relative to the y-axis direction of coordinate system 1, corresponding to the deflection angle of the large MEMS mirror, and is used to achieve a large-area coarse scan of the beam to cover the search area of ​​the target terminal. θc3y represents the deflection angle of coordinate system 3 relative to the y-axis direction of coordinate system 1, corresponding to the deflection angle of the small-angle MEMS mirror, and is used to achieve high-precision fine tracking of the beam, compensate for large-angle errors, and dynamically stabilize the beam direction.

[0044] Since the size and weight of a vector optical phased array system are directly proportional to the size and weight of a single element, the design of a single element should be as simple and compact as possible. In this system, the spatial optical path of a single element consists only of two angle-controlled maneuvering mirrors (a large-angle MEMS mirror and a small-angle MEMS mirror), a collimating lens, and a receiving fiber. This achieves a minimalist design for the optical antenna part (spatial light part) of the vector optical phased array system, thus avoiding the problem of the large size of the vector optical phased array system. However, PD detection lacks the ability to sense the angle of incident light, that is, it cannot sense the angle between terminals, and therefore cannot realize the tracking function of the vector optical phased array system.

[0045] Currently, free-space laser communication systems primarily sense the position of target stars in two ways to provide location information for dual-terminal acquisition and tracking. One method uses a camera as the acquisition and tracking detector. The camera outputs a light spot image, obtaining light spot intensity and position information. This information, combined with the optical path design, allows calculation of the incident light angle—the angle between the target terminal and the local terminal—thus guiding the laser terminal to complete acquisition and tracking. The other method uses a quadrant detector (Quad)... Photodiode (QD) is a technology that uses a four-quadrant detector to output four photodiode (PD) intensity signals. The intensity difference between the four PD signals is used to inversely solve for the incident angle of the incident light, i.e., the angle between the target terminal and the local terminal, thereby guiding the laser terminal to complete acquisition and tracking. The above-mentioned technologies all have the following characteristics: detection is performed in the spatial optical path; light intensity information can be obtained; and spot position information can be obtained. Therefore, the above-mentioned technologies can detect angle information, but tracking cannot be performed using only PD, and PD detection will greatly simplify the spatial light part. At the same time, since the above-mentioned technologies must perform spatial light detection, they also bring disadvantages such as large size and weight. The size and weight of a vector optical phased array system are directly proportional to the complexity of the spatial optical path of the array elements. Directly applying the above-mentioned technologies to a vector optical phased array system would result in an excessively large size and weight, making it unsuitable for vector optical phased array systems.

[0046] To at least partially solve the above-mentioned technical problems and achieve angle detection and thus tracking using only PD detection, this embodiment relates to a vector optical phased array system and a time-division tracking method based on PD detection. The system uses PD to detect intensity information and time-division to adjust the optical axis to achieve the tracking function of the vector optical phased array system. This method is suitable for the rapid establishment, maintenance, and switching of laser communication links between satellites and between satellites and ground.

[0047] In this embodiment, the terminal can act as a signal transmitter to perform pattern scanning operations, or as a signal receiver to perform gaze skipping operations. In some embodiments, when the terminal acts as a signal receiver, the following gaze skipping operation is repeatedly performed until a first end time is reached: optical axis adjustment is performed during a first maneuver duration, and the terminal remains stationary during a second maneuver duration.

[0048] In this embodiment, the gaze-skip operation refers to the behavior of the terminal temporarily pausing at a designated position during the scanning and tracking process to capture signals or adjust the optical axis, and then jumping to the next potential effective position as needed. The optical axis refers to the ideal straight path of light propagation, which typically starts from the light source, passes through the center of the optical element (such as the geometric center of a lens), and travels along a pre-designed direction to the receiver or the center of the next optical element.

[0049] The first end time refers to the moment when the terminal ends the gaze jump operation. Optionally, the first end time is the end time after the gaze time has elapsed, where the gaze time refers to the period during which the terminal remains stationary in a certain direction, continuously sending optical signals or receiving optical information from another terminal. The first end time can be preset according to actual needs, and will not be elaborated here.

[0050] The first maneuver duration refers to the time spent adjusting the optical axis during one gaze jump cycle, and the second maneuver duration refers to the time spent keeping the optical axis stationary during one gaze jump cycle. Optionally, the terminal's operating time can be divided into multiple alternating first and second maneuver durations. The first and second maneuver durations are continuous and do not overlap, meaning they are closely connected without time intervals and do not intersect. That is, the end time of the first maneuver duration is the start time of the second maneuver duration, and vice versa. The first and second maneuver durations can be set according to requirements.

[0051] In this embodiment, the terminal adjusts its optical axis during the first maneuver duration to increase its optical coupling efficiency. The terminal remains stationary during the second maneuver duration.

[0052] In some embodiments, during a first maneuver duration, the terminal performs discrete angular step adjustments to the propagation direction of the emitted or received light beam by driving the microelectromechanical system (MEMS) mirror in its vector optical phased array system. The adjustment method can be based on feedback from the light intensity signal collected by the photodetector (PD), performing gradient search actions in directions such as "up, down, left, and right" to find the optical axis pointing corresponding to the maximum received light intensity. Direction determination can be based on the intensity change output by the PD. During the second maneuver duration, the terminal stops all optical axis adjustment actions, maintaining the current MEMS mirror angle unchanged, thus fixing the beam direction.

[0053] By repeatedly performing a staring jump operation during the first maneuver duration and the second maneuver duration until the first end time, this time-division tracking mechanism avoids the reliance on complex and bulky tracking equipment in related technologies. This significantly reduces the complexity of the space light detection part, thereby reducing the overall system size and weight. Furthermore, by controlling the terminal to alternately perform optical axis adjustments, the terminal can gradually improve coupling efficiency based on the received light intensity signal feedback until high-precision optical axis alignment is achieved. This ensures the establishment and maintenance of a stable communication link, greatly simplifies space light detection, and effectively reduces the size and weight of the vector optical phased array system. Therefore, it can solve the technical problem of excessively large size and weight of the vector optical phased array system in related technologies when performing space light detection.

[0054] In one exemplary embodiment, before repeatedly performing the following gaze skipping operation until a first end time is reached, the method further includes: repeatedly performing the following gaze skipping operation until a second end time is reached: performing optical axis adjustment within a first minimum capture duration.

[0055] Without alignment, the terminal will be unable to capture the optical signal and thus unable to adjust the optical axis. Therefore, in this embodiment, the terminal needs to perform alignment before performing a gaze jump operation as a signal receiver or a pattern scan operation as a signal transmitter. Alignment refers to a brief closed-loop adjustment of the PD (Power Distribution Detector) intensity feedback before the terminal performs any tracking or scanning action (including gaze jumps or pattern scans) to spatially align the mode field center of the receiving fiber with the peak region of the incident Airy disk, thereby ensuring the system is at its initial operating point with maximum coupling efficiency.

[0056] The second end time refers to the preset time when the terminal determines that the capture and alignment have been completed by detecting changes in light intensity through PD. It should be noted that the second end time is different from the first end time, and the second end time is before the first end time.

[0057] The first minimum acquisition time refers to the shortest time required for the terminal to perform one optical axis adjustment. Optionally, the terminal performs optical axis adjustment within the first minimum acquisition time.

[0058] By repeating the gaze jump operation within the first minimum capture time until the second end time is reached through this embodiment, the reliability and robustness of the system capture alignment can be significantly improved.

[0059] In one exemplary embodiment, optical axis adjustment within a first minimum acquisition duration includes: in response to the terminal's current coupling efficiency being greater than or equal to a coupling efficiency threshold, performing at least one nutation within the first minimum acquisition duration; nutation refers to multi-directional adjustment of the terminal's optical axis; the number of at least one nutation is less than or equal to the maximum number of nutation steps required for the terminal to complete alignment.

[0060] In this embodiment, when the terminal acts as a signal receiver and repeatedly performs the following gaze-skip operation, the coupling efficiency is a measure of the energy conversion ratio of the optical signal entering the receiving optical fiber from free space. Optionally, the coupling efficiency refers to the ratio of the received optical power to the transmitted optical power. The current coupling efficiency of the terminal refers to the energy conversion ratio of the terminal's current optical signal entering the receiving optical fiber from free space. Optionally, the current coupling efficiency of the terminal can be calculated based on the optical signal intensity and other relevant parameters (such as the optical signal power, beam diameter, receiver size, etc.).

[0061] For example, the terminal's receiving system can calculate the current coupling efficiency based on the light intensity, beam diameter, and optical signal power.

[0062] The coupling efficiency threshold is a value used to determine whether an optical signal is within a preset alignment range of the terminal.

[0063] Optionally, the coupling efficiency threshold is a preset value. When the current coupling efficiency is greater than or equal to the coupling efficiency threshold, it indicates that the optical signal has entered the effective reception range of the terminal, meaning that the terminal has captured the optical signal. Therefore, nutation adjustment is required for tracking. In response to the current coupling efficiency being greater than or equal to the coupling efficiency threshold, the control terminal performs at least one nutation step within the first minimum acquisition time.

[0064] It should be noted that performing at least one nutation step within the first minimum acquisition time is to ensure acquisition robustness while also considering system response efficiency and power consumption control. Since the PD can only output light intensity signals and cannot directly provide the optical axis deviation direction, it is necessary to find the maximum light intensity point through step-by-step nutation (such as up-down and left-right multi-directional scanning). However, in actual scenarios, if the current coupling efficiency of the terminal is close to or reaches the threshold (i.e., the optical axis is roughly aligned), it is not necessary to perform a full-range scan with a full number of steps. Only one or more minimum necessary adjustments are needed to achieve closed-loop convergence, thereby avoiding redundant maneuvers, shortening the acquisition time, reducing MEMS power consumption and mechanical wear. Fine-tuning can be performed when the deviation is small, and multiple nutation steps can be performed when the deviation is large, ensuring effective alignment within a limited time, balancing accuracy, speed, and system reliability.

[0065] Nucleation refers to the operation of adjusting the optical axis of the terminal in multiple directions. Optionally, nutation can refer to the operation of adjusting the optical axis of the terminal in multiple directions such as up, down, left, and right. For example, by controlling optical axis guiding elements such as reflectors, the terminal can achieve fine-tuning in multiple directions of the optical axis to receive the maximum intensity light signal.

[0066] The maximum number of nutation steps required for the terminal to complete alignment refers to the theoretically maximum number of nutation steps required to align the optical axis of the receiving terminal from the edge of the field of view with the incident laser signal source, under the constraints of step control accuracy and full field of view angle.

[0067] The requirement that the number of nutation steps be less than or equal to the maximum number of nutation steps required for the terminal to complete alignment is to ensure that the terminal's nutation actions are completed within the theoretical nutation step range of the terminal, thereby reducing the time wastage or system resource overload caused by unlimited search.

[0068] In this embodiment, within the first minimum capture time, when the current coupling efficiency is greater than or equal to the coupling efficiency threshold, at least one nutation step is executed, realizing the conditional triggering and step constraint of the optical axis adjustment action. This can effectively avoid invalid search in the low coupling state, suppress false triggering and resource waste, and at the same time ensure that all necessary adjustments required for alignment are completed within the optimal response window, thereby improving the determinism and efficiency of the capture process.

[0069] In one exemplary embodiment, adjusting the optical axis during a first maneuver duration includes: in response to the terminal's current coupling efficiency being greater than or equal to a coupling efficiency threshold, performing a nutation step during the first maneuver duration; nutation refers to adjusting the optical axis of the terminal in multiple directions.

[0070] In this embodiment, when the terminal acts as a signal receiver, and the following gaze jump operation is repeatedly executed, if the current coupling efficiency is greater than or equal to the coupling efficiency threshold, it means that the optical signal has entered the effective receiving range of the terminal, indicating that the terminal is aligned with the optical signal. In order to track, a nutation step is required. In response to the current coupling efficiency being greater than or equal to the coupling efficiency threshold, the terminal is controlled to perform a nutation step within the first maneuver duration.

[0071] It should be noted that performing one nutation within the first maneuver duration is due to the system's time-division alternating tracking mechanism, which distinguishes the terminal maneuver window for each duration period to avoid optical axis control conflicts and signal interference. Performing multiple nutations within a single duration would prolong the time of each maneuver, disrupt the timing constraints of time-division alignment, and reduce tracking efficiency. A single nutation is sufficient to reliably determine the optical axis offset direction and achieve optimal approximation; multiple nutations, on the other hand, introduce time delay uncertainties and noise accumulation risks. Therefore, a single nutation achieves the optimal balance between timing controllability, control accuracy, and noise robustness, and is the smallest effective action unit that satisfies the core constraints of the time-division PD tracking mechanism.

[0072] Nucleation refers to the operation of adjusting the optical axis of the terminal in multiple directions. Optionally, nutation can refer to the operation of adjusting the optical axis of the terminal in multiple directions such as up, down, left, and right. For example, by controlling optical axis guiding elements such as reflectors, the terminal can achieve fine-tuning in multiple directions of the optical axis to receive the maximum intensity light signal.

[0073] Optionally, during the first maneuver duration, the optical axis of the terminal is adjusted once by controlling the multi-axis microelectromechanical system (MEMS) reflector. For example, bidirectional tentative micro-motions (i.e., maneuvers in four directions, up / down, left / right) are performed sequentially in two orthogonal axes, vertical and horizontal, according to a preset step accuracy (e.g., 60 μrad). After each maneuver, the PD light intensity is collected, and the direction corresponding to the maximum light intensity is selected as the final optical axis direction of the adjustment.

[0074] It should be noted that only one nutation is performed within the first maneuver duration.

[0075] In this embodiment, by triggering a discrete multi-directional optical axis trial adjustment within a limited maneuvering time based on whether the current coupling efficiency meets the threshold condition, steady-state closed-loop control of the optical axis based solely on intensity detection is achieved. Without relying on position sensing devices, the response accuracy and noise immunity of the optical axis alignment are effectively improved, enabling the system to maintain a stable optical coupling state even in low signal-to-noise ratio and dynamic disturbance environments.

[0076] In one exemplary embodiment, the method further includes: maintaining the gaze direction unchanged during a first maneuver duration in response to the current coupling efficiency of the terminal being less than a coupling efficiency threshold.

[0077] In this embodiment, when the terminal acts as a signal receiver, and the following gaze-skipping operation is repeatedly performed, if the current coupling efficiency is less than the coupling efficiency threshold, it indicates that the optical signal has not yet entered the effective receiving range of the terminal, meaning the terminal has not captured the signal. Therefore, it remains stationary, maintaining the gaze direction unchanged. For example, the divergence angle of the optical signal may be too large, or the receiving angle of the terminal may be limited, causing excessive loss of the optical signal during propagation, or only a small portion of the optical signal can be received by the terminal.

[0078] The gaze direction can refer to the fixed optical axis direction maintained by the terminal through a MEMS mirror in a vector optical phased array system. Optionally, in the gaze state, the mirror angle does not change, and the receiving fiber is always aligned with the current spatial light incident direction, which can be used to stabilize the received signal and evaluate coupling efficiency.

[0079] In this embodiment, in response to the terminal's current coupling efficiency being less than the coupling efficiency threshold, the gaze direction remains unchanged during the first maneuver duration, effectively reducing ineffective mechanical actions and improving the stability and reliability of the time-sharing tracking process.

[0080] In an exemplary embodiment, performing a nutation step within a first maneuver duration includes: controlling the optical axis of the terminal to maneuver upward from an initial position once within the first maneuver duration to obtain a first optical axis position, and acquiring the light intensity of the light signal at the first optical axis position; controlling the optical axis of the terminal to maneuver downward from the first optical axis position once to obtain a second optical axis position, and acquiring the light intensity of the light signal at the second optical axis position; the first optical axis position and the second optical axis position are symmetrical about the initial position; the optical axis of the terminal moves from the second optical axis position to a first target optical axis position; the first target optical axis position refers to the first optical axis position. The control terminal's optical axis moves to the left from the first target optical axis position to obtain the third optical axis position, and the light intensity of the optical signal is collected at the third optical axis position; the control terminal's optical axis moves to the right from the third optical axis position to obtain the fourth optical axis position, and the light intensity of the optical signal is collected at the fourth optical axis position; the third and fourth optical axis positions are symmetrical about the initial position; the control terminal's optical axis moves from the fourth optical axis position to the second target optical axis position; the second target optical axis position refers to the position with the greater light intensity between the third and fourth optical axis positions.

[0081] In this embodiment, when the terminal acts as a signal receiver, and the following gaze-stepping operation is repeatedly performed, one step of nutation includes multiple movements and can be performed in multiple directions, such as upward movement, downward movement, right movement, left movement, etc.

[0082] The first optical axis position refers to the optical axis position obtained by the terminal's optical axis moving upward once from the initial position, and the second optical axis position refers to the optical axis position obtained by the terminal's optical axis moving downward once from the first optical axis position. The first optical axis position and the second optical axis position are symmetrical about the initial position.

[0083] It should be noted that during the process of the optical axis of the control terminal moving from the first optical axis position to the second optical axis position, the optical axis of the terminal does not need to move from the first optical axis position to the initial position and then from the initial position to the second optical axis position. It can be understood that the optical axis of the terminal moves directly from the first optical axis position to the second optical axis position without returning to the initial position.

[0084] Optionally, after acquiring the light intensity of the light signal at the first optical axis position and the light intensity of the light signal at the second optical axis position, the magnitudes of the light intensity acquired at the first optical axis position and the light intensity acquired at the second optical axis position are compared, and the position with the larger light intensity between the first optical axis position and the second optical axis position is selected as the first target optical axis position.

[0085] For example, if the light intensity value collected at the first optical axis position is greater than the light intensity value collected at the second optical axis position, then the first optical axis position is determined as the first target optical axis position, and the terminal's optical axis is controlled to move from the second optical axis position to the first optical axis position. As another example, if the light intensity value collected at the first optical axis position is less than the light intensity value collected at the second optical axis position, then the second optical axis position is determined as the first target optical axis position. Since the terminal's optical axis is located at the second optical axis position, i.e., the first target optical axis position, the terminal's optical axis does not need to move and remains stationary.

[0086] The third optical axis position refers to the optical axis position obtained by the terminal's optical axis moving left once from the first target optical axis position, and the fourth optical axis position refers to the position obtained by the terminal's optical axis moving right once from the third optical axis position.

[0087] It should be noted that during the process of the control terminal's optical axis moving from the third optical axis position to the fourth optical axis position, the terminal's optical axis does not need to move from the third optical axis position to the first target optical axis position and then from the first target optical axis position to the fourth optical axis position. It can be understood that the terminal's optical axis moves directly from the third optical axis position to the fourth optical axis position without returning to the first target optical axis position.

[0088] Optionally, after collecting the light intensity of the light signal at the third optical axis position and the light intensity of the light signal at the fourth optical axis position, the magnitudes of the light intensity collected at the third optical axis position and the light intensity collected at the fourth optical axis position are compared, and the position with the larger light intensity between the third optical axis position and the fourth optical axis position is selected as the second target optical axis position.

[0089] For example, if the light intensity value collected at the third optical axis position is greater than the light intensity value collected at the fourth optical axis position, then the third optical axis position is determined as the second target optical axis position, and the terminal's optical axis is controlled to move from the fourth optical axis position to the third optical axis position. As another example, if the light intensity value collected at the third optical axis position is less than the light intensity value collected at the fourth optical axis position, then the fourth optical axis position is determined as the second target optical axis position. Since the terminal's optical axis is located at the fourth optical axis position, i.e., the second target optical axis position, the terminal's optical axis does not need to move and remains stationary.

[0090] In this embodiment, by controlling the optical axis of the terminal to maneuver in multiple directions, and by collecting the intensity of light signals at different locations and moving the optical axis towards the location with greater light intensity, the system can maximize the reception of light signals in order to track and capture the light signals with the highest intensity, thereby improving coupling efficiency.

[0091] In an exemplary embodiment, the method further includes: repeatedly performing the following pattern scanning operation until a first end time is reached: starting from the scanning origin of the first scan pattern, cyclically performing optical axis stepping within a preset scanning area; wherein, after each optical axis stepping is performed, the device remains stationary for a first maneuver duration and performs optical axis adjustment for a second maneuver duration.

[0092] In this embodiment, the terminal acts as a signal transmitter to perform pattern scanning. Pattern scanning refers to the process of systematically scanning a preset scanning area according to a predefined spatial trajectory (such as a grid, spiral, sawtooth, etc.), which can be used to achieve full coverage search under conditions of unknown target location.

[0093] The first scan pattern is a preset scan pattern for the execution beam scan of the terminal, and the preset scan area refers to a preset area of ​​the first scan pattern. For example, the preset scan area can be an area calculated with a preset error precision based on the recursive position of the track, that is, an uncertain area (Field of Uncertainty, abbreviated as FOU).

[0094] Optionally, the first scan pattern can be of various shapes, such as a grid pattern. The first scan pattern is designed to cover potential target areas to facilitate the detection of optical signals. The scanning origin of the first scan pattern refers to the starting position where the terminal begins the scanning operation. In the spatial coordinate system, the scanning origin can be regarded as the reference zero point for optical axis adjustment. From here, the terminal will gradually perform optical axis stepping according to the first scan pattern to search for and locate the target.

[0095] Optical axis stepping in a terminal refers to the minute and precise adjustment of the optical axis direction made by the terminal through its optical system (such as MEMS mirrors, beam deflectors, etc.). Optionally, the optical axis stepping of the terminal is performed according to a predetermined step size and direction (such as the first scan pattern), which can be for searching and aligning with a target in space, thereby establishing or maintaining a laser communication link. For example, as... Figure 4 As shown, by controlling two single-axis microelectromechanical system (MEMS) mirrors or other optical axis adjustment components, the terminal can change the direction of its optical axis. Each step is part of the optical axis adjustment, which aims to align the terminal more accurately with the target and improve the coupling efficiency of the terminal.

[0096] In this embodiment, the terminal starts from the scanning origin of the first scan pattern and gradually performs optical axis stepping. After each optical axis step, the working time of the vector optical phased array system is divided into multiple alternating first and second maneuver durations, which are continuous and do not overlap. During the first maneuver duration, the terminal remains stationary; during the second maneuver duration, the terminal performs optical axis adjustment. This process is repeated until a first end time is reached.

[0097] It should be noted that optical axis stepping involves systematically changing the direction or position of the terminal's optical axis according to a preset scanning pattern to scan a specific area. Stepping is performed according to a certain step size (angular increment or displacement increment). Optical axis adjustment is an operation performed after one optical axis stepping to align the optical axis to the appropriate position and increase the terminal's coupling efficiency. In short, optical axis stepping is a scanning operation performed according to a preset scanning pattern, while optical axis adjustment is a small-range adjustment performed after optical axis stepping to achieve optical axis alignment.

[0098] In this embodiment, by cyclically performing pattern scanning in a time sequence of alternating "optical axis stepping - stationary - optical axis adjustment" within a preset scanning area, a systematic spatial search of the target beam is achieved solely by relying on the PD intensity signal. Through the time-slicing mechanism, full coverage capture of unknown targets can be achieved without increasing the complexity of the optical antenna, significantly reducing the system size and weight.

[0099] In an exemplary embodiment, before repeatedly performing the following pattern scanning operation until a first end time is reached, the method further includes: repeatedly performing the following single-field scanning operation until a second end time is reached: starting from the scanning origin of the first scan pattern, gradually performing optical axis stepping until the scanning area exceeds a preset scanning area; wherein, after each optical axis stepping is performed, the device remains stationary for a first minimum capture time.

[0100] In this embodiment, the terminal acts as a signal transmitter to perform pattern scanning. In this embodiment, single-field scanning refers to the terminal performing optical axis scanning within the scanning area for preliminary target localization.

[0101] The control terminal repeatedly performs single-field scanning operations until the second end time is reached, at which point the control terminal terminates the single-field scanning operation. That is, starting from the scanning origin of the first scan pattern, the control terminal gradually performs optical axis stepping. After completing one optical axis step, the terminal pauses for a first minimum capture time, remaining stationary during this duration. This process is repeated after each optical axis step, until the terminal's scanning area exceeds the preset scanning area. Then, starting from the scanning origin of the first scan pattern, the aforementioned process of gradually performing optical axis stepping is repeated until the second end time is reached.

[0102] In this embodiment, by remaining stationary for the first minimum acquisition time after each optical axis step, the receiver has a sufficient time window to complete the stable acquisition and judgment of the PD intensity signal. This enables reliable acquisition of the target optical signal without relying on position information, thereby improving the synchronization of the scanning process and the acquisition success rate.

[0103] In an exemplary embodiment, the first minimum capture time characterizes the minimum time required for the terminal to complete alignment; the method further includes: determining the maximum number of nutation steps required for the terminal to complete alignment based on a first ratio between the terminal's field of view and the terminal's optical axis stepping control accuracy; determining a second ratio between the maximum number of nutation steps and the terminal's microelectromechanical system control frequency; and determining the first minimum capture time as the product of the second ratio and the maximum number of maneuvers contained in each of the maximum number of nutation steps.

[0104] In this embodiment, the field of view is the viewing angle range within which the terminal receives and processes optical signals, and the optical axis stepping control precision is the minimum angular change that can be achieved each time the optical axis is adjusted. The microelectromechanical system (MEMS) control frequency is the frequency at which the MEMS performs optical axis adjustment operations. Optionally, a higher MEMS control frequency means that the system can respond to optical axis adjustment commands faster, and the tracking speed and acquisition capability are also faster.

[0105] In some embodiments, acquisition can be completed when the optical signal covers the terminal and the target appears within the terminal's field of view. The limiting case is when the target appears at the edge of the terminal's field of view. For example, let the optical axis stepping control accuracy of a vector optical phased array system be... The field of view (full angle) is MEMS control frequency is When the target's light signal covers the terminal, the maximum number of nutation steps required for the terminal to complete alignment. It can be calculated according to the following formula (1):

[0106]

[0107] In each step, the terminal maneuvers upwards and downwards, selecting the maximum value of the light intensity received by the PD, and then maneuvers left and right, again selecting the maximum value of the light intensity received by the PD. Therefore, each step requires a maximum of 6 maneuvers (e.g., one each in the up, down, left, and right directions, plus possibly 2 intermediate state adjustments). The minimum time required for the terminal to complete alignment is... (i.e., the first minimum capture duration) can be obtained according to the following formula (2):

[0108]

[0109] This is the minimum time required for the terminal to complete alignment (i.e., the first minimum acquisition time). During the initial acquisition, the target remains stationary within this first minimum acquisition time. This is the minimum time interval for the first capture (i.e., the first minimum capture duration).

[0110] By calculating the first minimum capture time required to complete alignment, the optical axis adjustment time can be planned more reasonably, the maximum number of nutation steps and the number of maneuvers per step can be determined, the predictability and controllability of the optical axis adjustment process can be enhanced, and the microelectromechanical system control frequency is considered when calculating the first minimum capture time, ensuring that the system can complete alignment in the shortest time, thereby improving the system's response speed and flexibility.

[0111] In one exemplary embodiment, optical axis adjustment during a second maneuver duration includes: performing a nutation step during the second maneuver duration in response to the terminal's current coupling efficiency being greater than or equal to a coupling efficiency threshold; nutation refers to multi-directional adjustment of the terminal's optical axis.

[0112] In this embodiment, the terminal performs the pattern scanning operation as a signal transmitter. This embodiment can refer to the above-described embodiment of the optical axis adjustment process during the first maneuver duration, and will not be repeated here.

[0113] In this embodiment, by performing a nutation step within the second maneuver duration when the current coupling efficiency is greater than or equal to the coupling efficiency threshold, selective optical axis adjustment can be performed based on the significance of the coupling efficiency change without the presence of spot position information. This effectively suppresses false triggering caused by environmental noise, light intensity fluctuations, or system jitter, thereby improving the reliability and energy efficiency of optical axis adjustment.

[0114] In one exemplary embodiment, the method further includes: maintaining the gaze direction unchanged during a second maneuver duration in response to the current coupling efficiency of the terminal being less than a coupling efficiency threshold.

[0115] In this embodiment, the terminal performs the pattern scanning operation as a signal transmitter. This embodiment can be referenced from the above-described embodiment that maintains the gaze direction unchanged during the first maneuver duration, and will not be repeated here.

[0116] In this embodiment, in response to the terminal's current coupling efficiency being less than the coupling efficiency threshold, the gaze direction remains unchanged during the second maneuver duration, effectively reducing ineffective mechanical actions and improving the stability and reliability of the time-sharing tracking process.

[0117] In an exemplary embodiment, performing a nutation step within the second maneuver duration includes: within the second maneuver duration, the optical axis of the control terminal maneuvers upward from the initial position to obtain a fifth optical axis position, and acquiring the light intensity of the light signal at the fifth optical axis position; the optical axis of the control terminal maneuvers downward from the fifth optical axis position to obtain a sixth optical axis position, and acquiring the light intensity of the light signal at the sixth optical axis position; the fifth optical axis position and the sixth optical axis position are symmetrical about the initial position; the optical axis of the control terminal moves from the sixth optical axis position to a third target optical axis position; the third target optical axis position refers to the fifth optical axis position. The control terminal's optical axis moves to the left from the third target optical axis position to obtain the seventh optical axis position, and the light intensity of the light signal is collected at the seventh optical axis position; the control terminal's optical axis moves to the right from the seventh optical axis position to obtain the eighth optical axis position, and the light intensity of the light signal is collected at the eighth optical axis position; the seventh and eighth optical axis positions are symmetrical about the initial position; the control terminal's optical axis moves from the eighth optical axis position to the fourth target optical axis position; the fourth target optical axis position refers to the position with the greater light intensity between the seventh and eighth optical axis positions.

[0118] In this embodiment, the terminal performs pattern scanning as a signal transmitter. In this embodiment, a single nutation includes multiple maneuvers, and can be performed in multiple directions, such as upward, downward, rightward, and leftward maneuvers.

[0119] The fifth optical axis position refers to the optical axis position obtained by the terminal's optical axis moving upward once from the initial position, and the sixth optical axis position refers to the optical axis position obtained by the terminal's optical axis moving downward once from the fifth optical axis position. The fifth and sixth optical axis positions are symmetrical about the initial position.

[0120] It should be noted that during the process of the control terminal's optical axis moving from the fifth optical axis position to the sixth optical axis position, the terminal's optical axis does not need to move from the fifth optical axis position to the initial position and then from the initial position to the sixth optical axis position. It can be understood that the terminal's optical axis moves directly from the fifth optical axis position to the sixth optical axis position without returning to the initial position.

[0121] Optionally, after collecting the light intensity of the light signal at the fifth optical axis position and the light intensity of the light signal at the sixth optical axis position, the magnitudes of the light intensity collected at the fifth optical axis position and the sixth optical axis position are compared, and the position with the larger light intensity between the fifth optical axis position and the sixth optical axis position is selected as the third target optical axis position.

[0122] For example, if the light intensity value collected at the fifth optical axis position is greater than the light intensity value collected at the sixth optical axis position, then the fifth optical axis position is determined as the third target optical axis position, and the terminal's optical axis is controlled to move from the sixth optical axis position to the fifth optical axis position. As another example, if the light intensity value collected at the fifth optical axis position is less than the light intensity value collected at the sixth optical axis position, then the sixth optical axis position is determined as the third target optical axis position. Since the terminal's optical axis is located at the sixth optical axis position, i.e., the third target optical axis position, the terminal's optical axis does not need to move and remains stationary.

[0123] The seventh optical axis position refers to the position obtained by the terminal's optical axis moving left from the third target optical axis position once, and the eighth optical axis position refers to the position obtained by the terminal's optical axis moving right from the seventh optical axis position once.

[0124] It should be noted that during the process of the control terminal's optical axis moving from the seventh optical axis position to the eighth optical axis position, the terminal's optical axis does not need to move from the seventh optical axis position to the third target optical axis position, and then from the third target optical axis position to the eighth optical axis position. It can be understood that the terminal's optical axis moves directly from the seventh optical axis position to the eighth optical axis position, without needing to return to the third target optical axis position.

[0125] Optionally, after collecting the light intensity of the light signal at the seventh optical axis position and the light intensity of the light signal at the eighth optical axis position, the magnitudes of the light intensity collected at the seventh optical axis position and the light intensity collected at the eighth optical axis position are compared, and the position with the larger light intensity between the seventh optical axis position and the eighth optical axis position is selected as the fourth target optical axis position.

[0126] For example, if the light intensity value collected at the seventh optical axis position is greater than the light intensity value collected at the eighth optical axis position, then the seventh optical axis position is determined as the fourth target optical axis position, and the terminal's optical axis is controlled to move from the eighth optical axis position to the seventh optical axis position. As another example, if the light intensity value collected at the seventh optical axis position is less than the light intensity value collected at the eighth optical axis position, then the eighth optical axis position is determined as the fourth target optical axis position. Since the terminal's optical axis is located at the eighth optical axis position, i.e., the fourth target optical axis position, the terminal's optical axis does not need to move and remains stationary.

[0127] In this embodiment, by controlling the optical axis of the terminal to maneuver in multiple directions, and by collecting the intensity of light signals at different locations and moving the optical axis towards the location with greater light intensity, the system can maximize the reception of light signals in order to track and capture the light signals with the highest intensity, thereby improving coupling efficiency.

[0128] In an exemplary embodiment, in related technologies, the coupling efficiency threshold is usually preset and fixed. This may not be able to adapt to the characteristics of the coupling efficiency in the laser communication link changing with time and spatial location, resulting in a mismatch between the set coupling efficiency threshold and the actual coupling efficiency change. In order to solve the above problem, this embodiment dynamically adjusts the coupling efficiency threshold, which can significantly improve the tracking accuracy and communication link stability of the laser communication system in dynamic environments, while reducing unnecessary adjustment operations, improving communication efficiency, and overcoming the limitations of setting a fixed coupling efficiency threshold in related technologies.

[0129] In some embodiments, the above method further includes: determining the coupling efficiency threshold by multiplying the difference between the current coupling efficiency of the terminal and the previous coupling efficiency of the terminal with a preset coefficient.

[0130] In this embodiment, the previous coupling efficiency of the terminal refers to the coupling efficiency of the terminal during the most recent optical axis stepping before the terminal obtains the current coupling efficiency. The preset coefficient is a preset value that can be used to adjust the contribution weight of the coupling efficiency change gradient to the coupling efficiency threshold.

[0131] Optionally, the vector optical phased array system continuously records the coupling efficiency of each optical axis adjustment, forming a coupling efficiency history sequence. After the optical axis adjustment is completed at the terminal, the new coupling efficiency value is immediately measured and recorded to obtain the current coupling efficiency. Each time the optical axis adjustment is performed, the system internally records or marks a timestamp to determine the specific time point of the optical axis adjustment. Using the timestamp of the current optical axis adjustment, the system finds the most recently recorded coupling efficiency value before the timestamp of the current optical axis adjustment in the coupling efficiency history sequence and determines it as the coupling efficiency of the previous step.

[0132] In an optional embodiment, after the control terminal completes the optical axis stepping and obtains the current coupling efficiency, it obtains the previous coupling efficiency, calculates the difference between the previous coupling efficiency and the current coupling efficiency, and determines the difference between the previous coupling efficiency and the current coupling efficiency as the coupling efficiency threshold.

[0133] In this embodiment, by determining the previous coupling efficiency of the second terminal during the most recent optical axis stepping before the terminal obtains the current coupling efficiency, the product of the difference between the previous coupling efficiency and the current coupling efficiency and a preset coefficient is determined as the coupling efficiency threshold. This makes the coupling efficiency threshold no longer a fixed value. The dynamic adjustment of the coupling efficiency threshold helps to optimize the optical axis adjustment decision, thereby optimizing the communication quality and improving the tracking accuracy and alignment efficiency between terminals.

[0134] In an exemplary embodiment, the method further includes: obtaining a relative coupling efficiency curve; the horizontal axis of the relative coupling efficiency curve represents the optical axis offset angle of the terminal, and the vertical axis of the relative coupling efficiency curve represents the optical coupling efficiency of the terminal; determining the current optical axis offset angle corresponding to the current coupling efficiency of the terminal on the relative coupling efficiency curve, and determining the coupling efficiency corresponding to the difference between the current optical axis offset angle on the relative coupling efficiency curve and the step control accuracy of the terminal as the previous step coupling efficiency of the terminal.

[0135] In this embodiment, the relative coupling efficiency curve is a curve that represents the relationship between the optical axis offset angle and the optical coupling efficiency. The optical axis offset angle refers to the actual offset angle of the optical axis relative to the ideal alignment position, which is used to reflect the degree of optical axis adjustment.

[0136] Alternatively, the relative coupling efficiency curve can be obtained through mathematical model prediction or experimental measurement. For example, in space laser communication, the received optical signal is a parallel optical signal. The parallel light is incident on a lens, and after being focused by the lens, Airy disk diffraction is formed on the back focal plane. Figure 5 This is a schematic diagram of an optional incident spatial plane wave coupled into an optical fiber via a lens, according to an embodiment of this application. Figure 5 As shown, its electric field distribution This can be expressed as formulas (3) and (4) below:

[0137]

[0138]

[0139] in, The radius of the aperture (in this embodiment, the aperture refers to the effective working area of ​​the lens) is denoted by x / y, which represents the coordinates in a coordinate system established with the center of the optical fiber as the origin. C is a coefficient, A is the amplitude of the light wave, and k is the wavenumber, k=2. / λ, where λ represents the wavelength and f represents the focal length of the lens.

[0140] In single-mode fiber mode, the electric field distribution can be expressed by formula (5):

[0141]

[0142] in, It is expressed as the fiber mode field radius, representing the fiber's ability to receive light.

[0143] When the Airy disk is perfectly aligned with the optical fiber, according to the mode field matching principle, the coupling efficiency of spatial light to single-mode fiber can be expressed by formula (6):

[0144]

[0145] Where Ein represents the incident light field, and Efiber represents the electric field distribution in the single-mode fiber mode. This represents the conjugate multiplication and integration of the incident light field and the single-mode fiber mode.

[0146] Substituting equations (3) to (5) into equation (6), the coupling efficiency of spatial light to single-mode fiber is expressed by equation (7):

[0147]

[0148] in, . For communication wavelength, The radius of the fiber mode field. This is the focal length of the lens.

[0149] Figure 6 This is a schematic diagram of an optional obliquely incident spatial plane wave coupled into an optical fiber via a lens, according to an embodiment of this application. Figure 6 As shown, the current optical axis offset angle of the terminal is At this point, the single-mode fiber end face is simultaneously laterally offset relative to the Airy disk of the focal plane. .

[0150] Under the influence of lateral offset, the parallel light coupling efficiency can be expressed by formula (8):

[0151]

[0152] The relative coupling efficiency curve is obtained according to the above formula (8).

[0153] Optionally, when the terminal obtains the current coupling efficiency, the value corresponding to the current coupling efficiency is found on the vertical axis of the relative coupling efficiency curve, and the current optical axis offset angle corresponding to the current coupling efficiency is found on the horizontal axis of the relative coupling efficiency curve. The coupling efficiency corresponding to the difference between the current optical axis offset angle and the step control accuracy of the terminal on the relative coupling efficiency curve is determined as the previous step coupling efficiency of the terminal.

[0154] For example, the above The calculation formula, combined with the stepping control accuracy of the vector optical phased array system, is... The field of view (full angle) is The change in relative coupling efficiency under the minimum time-sharing condition (i.e., the first minimum acquisition duration) can be calculated, and the change in relative coupling efficiency between each step can be multiplied by a certain coefficient. As nutation threshold The coupling efficiency threshold can effectively eliminate the influence of noise. Nutting will occur when the current coupling efficiency is greater than the nutation threshold, and otherwise it will remain stationary.

[0155] In some embodiments, the steps for adjusting the coupling efficiency threshold are as follows: First, calculate the current coupling efficiency based on the current PD light intensity value. Step 2, according to The calculation formula is used to plot the relative coupling efficiency curve; the third step is to find the current coupling efficiency on the relative coupling efficiency curve. Corresponding position Fourth step: The coupling efficiency corresponding to the difference between the current optical axis offset angle and the stepping control accuracy of the terminal on the relative coupling efficiency curve. The first step is to determine the coupling efficiency of the terminal in the previous step; the fifth step is to calculate the nutation threshold (i.e., the coupling efficiency threshold) for this step: .

[0156] For example, taking step control accuracy as The field of view (full angle) is Let's take an example to illustrate. Current optical axis offset angle. The nutation threshold coefficient is set to .according to The calculation formula shows that alignment can be achieved through 7 steps of nutation. The nutation threshold adjustment steps are as follows: Step 1: Calculate the current coupling efficiency based on the current PD light intensity value. Step 2, according to The calculation formula is used to plot the relative coupling efficiency curve. Figure 7 This is a schematic diagram of an optional relative coupling efficiency curve according to an embodiment of this application, such as... Figure 7 As shown; the third step is to find the relative coupling efficiency curve. Location Step 4: Determine the relative coupling efficiency curve. relative coupling efficiency at the point Step 5: Calculate the nutation threshold for this step. .

[0157] In this embodiment, by obtaining the coupling efficiency of the current step and the previous step, the change in coupling efficiency before and after the optical axis adjustment can be quantitatively compared, thereby better determining whether the adjustment operation is effective, whether it is necessary to continue to perform optical axis adjustment or change the adjustment strategy. Furthermore, by utilizing the real-time analysis of the relative coupling efficiency curve, the system can quickly adapt to the coupling efficiency fluctuations caused by the change in optical axis offset angle, and take timely measures to optimize the optical axis position, thereby enhancing the dynamic adaptability and flexibility of the optical axis adjustment mechanism.

[0158] In an exemplary embodiment, the method further includes: determining a second minimum acquisition duration by a third ratio between the maximum number of maneuvers required for the terminal to perform one nutation and the microelectromechanical system control frequency of the terminal; and determining an integer multiple of the second minimum acquisition duration as a first maneuver duration or a second maneuver duration.

[0159] In this embodiment, the second minimum acquisition time refers to the shortest time required for the terminal to perform one optical axis adjustment. A single nutation step refers to a complete directional search action performed by the terminal during tracking to adjust the optical axis direction. A single nutation step includes maneuvers in four directions: up, down, left, and right, as well as a decision-making action to select the maximum light intensity in each direction. There are a maximum of six independent microelectromechanical system (MEMS) mirror displacement control actions. The MEMS control frequency refers to the update frequency of the control signals used to drive the MEMS mirror in the terminal, measured in Hz, and can represent the maximum number of control steps that can be executed per unit time.

[0160] Optionally, during normal acquisition, the minimum time-division multiplexing time can be further compressed. The terminal maneuvers upwards and downwards, selecting the value of the larger light intensity received by the PD, and then maneuvers left and right, selecting the value of the largest light intensity received by the PD. In this case, the minimum time-division multiplexing time for normal acquisition is reduced. (i.e., the second minimum capture duration) can be obtained according to the following formula (9):

[0161]

[0162] The calculated second minimum capture duration is used as the basic time unit, and the first or second maneuver duration is set by taking an integer multiple of it (such as 1x, 2x, etc.). For example, if the second minimum capture duration is 5 seconds, the first maneuver duration can be set to 10 seconds and the second maneuver duration to 15 seconds. This ensures that the terminal has enough time to complete at least one complete nutation action within the allocated first or second maneuver duration, avoiding control interruption or incomplete action due to insufficient time.

[0163] In this embodiment, the ratio of the maximum number of maneuvers required for one nutation step to the microelectromechanical system control frequency is used as the second minimum acquisition duration, and integer multiples of this duration are used as the first or second maneuver duration. This achieves precise quantization and synchronous allocation of terminal maneuver time slots during time-sharing. This method ensures that each terminal has sufficient time to complete a full nutation control cycle within the allocated time slot, avoiding control failures or action interruptions due to insufficient timing, thereby guaranteeing the stable operation and action integrity of the time-sharing mechanism under hardware constraints.

[0164] According to one aspect of the embodiments of this application, a laser tracking method for a vector optical phased array system is provided. The laser tracking method for the vector optical phased array system of this application embodiment can be executed by the vector optical phased array system, which includes a first terminal and a second terminal. Optionally, the first terminal and the second terminal can be… Figure 1 The two satellites 101 shown, or the first terminal and the second terminal, can be satellite 101 and ground gateway station 103, respectively. In this embodiment, the first terminal acts as a signal transmitter to perform a single-field scanning operation, and the second terminal acts as a signal receiver to perform a staring step operation. Taking the laser tracking method of the vector optical phased array system in this embodiment, executed by the vector optical phased array system, as an example. Figure 8 This is a schematic flowchart of another optional laser tracking method for a vector optical phased array system according to an embodiment of this application, as shown below. Figure 8 As shown, the process of this method may include the following steps S802.

[0165] Step S802: Control the first terminal to repeatedly perform the following pattern scanning operation until the first end time is reached: Starting from the scanning origin of the first scan pattern, control the first terminal to perform optical axis stepping cyclically within the preset scanning area; wherein, after each optical axis stepping is completed, control one of the first terminal and the second terminal to perform optical axis adjustment alternately, and control the other terminal of the first terminal and the second terminal to remain stationary.

[0166] In some embodiments, the vector optical phased array system includes a first terminal and a second terminal. Figure 3 This is a schematic diagram of an optional first terminal according to an embodiment of this application, such as... Figure 3 As shown, the second terminal is similar in structure to the first terminal and can also be used. Figure 3 It is shown.

[0167] The optical axis stepping of the first terminal is performed according to a predetermined step size and direction (such as the first scan pattern), typically to search for and align the optical axis of the second terminal in space, thereby establishing or maintaining a laser communication link. For example, as... Figure 4As shown, by controlling two single-axis microelectromechanical system (MEMS) mirrors or other optical axis adjustment components, the first terminal can change the direction of its optical axis, wherein each step is part of the optical axis adjustment, which aims to more accurately align with the target and improve the coupling efficiency between the first terminal and the second terminal.

[0168] In this embodiment, the first terminal starts from the scanning origin of the first scan pattern and gradually performs optical axis stepping. After each optical axis step, the working time of the vector optical phased array system is divided into multiple alternating first and second maneuver durations. During the first maneuver duration, the first terminal remains stationary while the second terminal adjusts its optical axis to increase the coupling efficiency between the first and second terminals. During the second maneuver duration, the second terminal remains stationary while the first terminal adjusts its optical axis to further increase the coupling efficiency between the first and second terminals. This cycle continues until a first end time is reached.

[0169] The coupling efficiency between the first and second terminals refers to the ratio of the optical power coupled into the optical fiber to the spatial optical power at the entrance pupil of the collimator, and is an important indicator of the quality of the optical link between the two terminals. A higher coupling efficiency occurs when the beam from the transmitting terminal is precisely aligned with the optical receiving aperture of the receiving terminal, indicating that more optical energy is effectively captured and guided into the receiving optical fiber. Coupling efficiency can be indirectly estimated by measuring the received light intensity on the photodetector (PD) of the receiving terminal. For example, by detecting the total intensity and the change in light intensity of the received optical signal at the receiving end, the sum of the initial coupling efficiency calculated at the receiving end and the change in coupling efficiency is determined as the coupling efficiency after the optical axis step at the transmitting end. Here, the change in coupling efficiency refers to the product of a first ratio and a second ratio; the first ratio is the ratio between the change in light intensity and the total intensity of the light signal, and the second ratio is the ratio between the total intensity of the light signal and the preset ideal coupling strength of the light signal.

[0170] After the transmitting terminal completes the optical axis stepping, the receiving terminal adjusts the optical axis according to the intensity of the received optical signal. During the optical axis adjustment period, if the intensity of the optical signal received by the receiving terminal increases after the adjustment, that is, the coupling efficiency increases, the receiving terminal will continue to adjust in this direction until the end of the optical axis adjustment period or the coupling efficiency no longer increases significantly, thereby improving the coupling efficiency of the optical signal.

[0171] Optionally, the first end time is the end time of the gaze time, where the gaze time refers to the period of time during which the terminal remains stationary in a certain direction and continuously sends optical signals or receives optical information from another terminal.

[0172] After each optical axis step is performed, one of the first terminal and the second terminal is alternately controlled to adjust the optical axis, while the other terminal is controlled to remain stationary. The optical axis adjustment refers to the terminal changing its own optical axis direction in order to track the target. In this embodiment, the optical axis adjustment is performed alternately by the first terminal and the second terminal.

[0173] Optionally, Figure 9 This is a schematic diagram of an optional terminal alternating execution process according to an embodiment of this application, such as... Figure 9 As shown, the first terminal performs a pattern scanning operation, and the second terminal performs a gaze jump operation (a gaze jump refers to the behavior of the terminal temporarily pausing at a specific position to capture signals or adjust the optical axis during the scanning and tracking process, and then jumping to the next potential effective position as needed). After the first terminal completes one optical axis step, it is controlled to remain stationary, while the second terminal is controlled to adjust the optical axis. During the optical axis adjustment period (i.e., the first maneuver duration), if the light intensity signal received by the second terminal increases after adjustment, i.e., the coupling efficiency increases, the second terminal will continue to adjust in this direction until the end of the optical axis adjustment period or when the coupling efficiency no longer increases significantly, in order to increase the coupling efficiency of the optical signal received by the second terminal from the first terminal. Afterwards, the second terminal is controlled to remain stationary, and the control... The first terminal adjusts its optical axis, determining whether its scanning area exceeds a preset scanning area. Simultaneously, it determines whether the second terminal's operation end time exceeds the end time of the gaze time. If the gaze time end time is not exceeded, the gaze jump operation is repeated until it exceeds the end time, at which point the operation ends. If the first terminal's scanning area does not exceed the preset scanning area, the process of controlling the first terminal to complete one optical axis step is repeated until the first terminal's scanning area exceeds the preset scanning area. After the first terminal's scanning area exceeds the preset scanning area, it determines whether the first terminal's scanning end time exceeds the end time of the gaze time. If the gaze time end time is not exceeded, the pattern scanning operation is repeated until it exceeds the end time of the gaze time, at which point the pattern scanning operation ends.

[0174] The embodiments provided in this application control the second terminal to remain stationary while the first terminal performs optical axis stepping, and the first terminal to remain stationary while the second terminal performs optical axis adjustment, until the first end time is reached. This time-division tracking mechanism avoids the reliance on complex and bulky tracking equipment in related technologies, significantly reducing the complexity of the space light detection part, and thus reducing the size and weight of the entire system. Furthermore, by controlling the alternating execution of the first and second terminals during optical axis stepping, the two terminals can gradually improve the coupling efficiency based on the feedback of the received light intensity signal until high-precision optical axis alignment is achieved. This avoids the instability of coupling efficiency caused by the simultaneous movement of the two terminals during optical axis adjustment, ensuring the establishment and maintenance of a stable communication link. It realizes efficient coupling of the two laser communication terminals, greatly simplifies space light detection, and effectively reduces the size and weight of the vector optical phased array system. Therefore, it can solve the technical problem of excessively large size and weight of the vector optical phased array system in related technologies when performing space light detection.

[0175] In an exemplary embodiment, before controlling the first terminal to repeatedly perform the following pattern scanning operation until a first end time is reached, the method further includes: controlling the first terminal to repeatedly perform the following single-field scanning operation until a second end time is reached: starting from the scanning origin of the first scan pattern, controlling the first terminal to gradually perform optical axis stepping until the scanning area of ​​the first terminal exceeds a preset scanning area, wherein after each optical axis stepping, controlling the first terminal to pause for a first minimum capture time, and during the paused first minimum capture time, controlling the second terminal to perform optical axis adjustment to maximize the intensity of the optical signal received by the second terminal from the first terminal; controlling the second terminal to repeatedly perform the following single-field scanning operation until a third end time is reached: starting from the scanning origin of the second scan pattern, controlling the second terminal to gradually perform optical axis stepping until the scanning area of ​​the second terminal exceeds the second scanning area, wherein after each optical axis stepping, controlling the second terminal to pause for a first minimum capture time, and during the paused first minimum capture time, controlling the first terminal to perform optical axis adjustment to maximize the intensity of the optical signal received by the first terminal from the second terminal.

[0176] In this embodiment, single-field scanning operation refers to the operation of the terminal performing optical axis scanning in the scanning area for preliminary positioning of another terminal. Both the first terminal and the second terminal will perform single-sided scanning operation.

[0177] The system controls the first terminal to repeatedly perform a single-field scanning operation until a second end time is reached, at which point the first terminal ends the single-field scanning operation. That is, starting from the scanning origin of the first scan pattern, the first terminal is controlled to gradually perform optical axis stepping. After the first terminal completes one optical axis step, it pauses for a first minimum acquisition time. Within this first minimum acquisition time, the second terminal is controlled to adjust its optical axis to improve the received intensity of the light signal emitted by the first terminal. After the second terminal adjusts its optical axis, the first terminal performs the next optical axis step. After the next optical axis step, the process of the first terminal pausing for the first minimum acquisition time and adjusting its optical axis within that time is repeated. This process is repeated every time the first terminal performs an optical axis step, followed by a pause for the first minimum acquisition time and adjustment of the second terminal's optical axis, until the scanning area of ​​the first terminal exceeds the preset scanning area. Then, starting from the scanning origin of the first scan pattern, the process of gradually performing optical axis stepping on the first terminal is repeated until the second end time is reached. The second end time refers to the time when the first terminal completes the single-field scanning operation. Optionally, the second end time can be a preset end time, such as the end time of the gaze time.

[0178] For example, after the first terminal performs an optical axis step, the first terminal remains stationary within the first minimum acquisition time. The second terminal fine-tunes the optical axis direction according to the intensity of the optical signal from the first terminal, so that the receiving unit of the second terminal can better receive the optical signal from the first terminal, thereby maximizing the intensity of the optical signal from the first terminal received by the second terminal. Figure 10 This is a schematic flowchart illustrating an optional first terminal performing a single-field scanning operation according to an embodiment of this application, as shown below. Figure 10 As shown, the first terminal performs a single-field scan, and the second terminal performs a gaze jump. After the first terminal performs one optical axis step, it pauses for a first minimum capture time. Within the first minimum capture time, the second terminal adjusts the optical axis. Then, it is determined whether the scanning area of ​​the first terminal exceeds the preset scanning area, and simultaneously, it is determined whether the end time of the gaze jump of the second terminal exceeds the end time of the gaze time. If the scanning area of ​​the first terminal does not exceed the preset scanning area, the above-mentioned one optical axis step process continues until the scanning area of ​​the first terminal exceeds the preset scanning area. Then, it is determined whether the scanning operation has reached the second end time. If the second end time has not been reached, the above-mentioned single-field scan operation continues until the second end time is reached. If the second end time is reached, the single-field scan operation ends. If the end time of the gaze jump of the second terminal does not exceed the end time of the gaze time, the gaze jump operation is repeated until the end time of the gaze jump of the second terminal exceeds the gaze time.

[0179] The second terminal is controlled to repeatedly perform a single-field scanning operation until the second end time is reached, at which point the second terminal ends the single-field scanning operation. That is, starting from the scanning origin of the second scan pattern, the second terminal is controlled to gradually perform optical axis stepping. After the second terminal completes one optical axis step, it pauses for a first minimum acquisition time. Within this first minimum acquisition time, the first terminal is controlled to adjust its optical axis to improve the received intensity of the light signal emitted by the second terminal. After adjusting the optical axis, the second terminal performs the next optical axis step. After completing the next optical axis step, the process of the second terminal pausing for the first minimum acquisition time and adjusting its optical axis within that time is repeated. This process is repeated every time the second terminal performs an optical axis step, followed by a pause for the first minimum acquisition time and adjustment of its optical axis within that time, until the scanning area of ​​the second terminal exceeds the second scan area. Then, starting from the scanning origin of the second scan pattern, the process of gradually performing optical axis stepping is repeated until the third end time is reached. The third end time refers to the time when the second terminal completes the single-field scanning operation. Optionally, the third end time can be a preset end time, such as the end time of the gaze duration. The third end time can be the same as or different from the second end time. The second scan pattern is a preset scan pattern for performing beam scanning by the second terminal, used to search for the position of the first terminal.

[0180] For example, the second scanning area can be a region, FOU, calculated based on the recursive position of the track as the starting point and with a preset error precision. The second scanning area can be the same as or different from the preset scanning area.

[0181] For example, after the second terminal performs an optical axis step, it remains stationary during the first minimum acquisition time. The first terminal fine-tunes the optical axis direction according to the intensity of the optical signal from the second terminal, so that the receiving unit of the first terminal can better receive the optical signal from the second terminal, thereby maximizing the intensity of the optical signal from the second terminal received by the first terminal. Figure 11 This is a schematic flowchart illustrating an optional second terminal performing a single-field scanning operation according to an embodiment of this application, as shown below. Figure 11As shown, the second terminal performs a single-field scan, and the first terminal performs a gaze jump. After the second terminal performs one optical axis step, it pauses for a first minimum capture time. Within the first minimum capture time, the first terminal adjusts the optical axis. Then, it is determined whether the scanning area of ​​the second terminal exceeds the second scanning area, and simultaneously, it is determined whether the end time of the gaze jump of the first terminal exceeds the end time of the gaze time. If the scanning area of ​​the second terminal does not exceed the second scanning area, the above-mentioned one optical axis step process continues until the scanning area of ​​the second terminal exceeds the second scanning area. Then, it is determined whether the scanning operation has reached a third end time. If the third end time has not been reached, the above-mentioned single-field scan operation continues until the third end time is reached. If the third end time is reached, the single-field scan operation ends. If the end time of the gaze jump of the first terminal does not exceed the end time of the gaze time, the gaze jump operation is repeated until the end time of the gaze jump of the first terminal exceeds the gaze time.

[0182] In this embodiment, before controlling the first terminal to repeatedly perform pattern scanning, the first terminal is controlled to repeatedly perform single-field scanning operations until the second end time is reached, and the second terminal is controlled to repeatedly perform single-sided scanning operations until the third end time is reached. After each optical axis step, a rest period of the first minimum acquisition time is introduced, which provides an opportunity for the two terminals to mutually optimize optical axis alignment. During this process, the two terminals alternately become one adjusting the optical axis and the other waiting in a static position. Through real-time monitoring of optical signal strength and fine adjustment of the optical axis, the strength of optical signal reception and coupling efficiency are effectively improved. In addition, by adjusting the optical axis to maximize the optical signal strength, the reliability of communication is further improved.

[0183] In an exemplary embodiment, controlling the second terminal to adjust its optical axis includes: controlling the second terminal to collect the light intensity of the light signal sent by the first terminal, and determining the current coupling efficiency of the second terminal based on the light intensity collected by the second terminal; in response to the current coupling efficiency being greater than or equal to a coupling efficiency threshold, controlling the second terminal to perform a nutation step; nutation refers to adjusting the optical axis of the second terminal in multiple directions so that the second terminal receives the maximum light intensity.

[0184] Optionally, after the first terminal completes each optical axis step, within the first minimum acquisition time, the first terminal is controlled to remain stationary, and the photodetector of the second terminal is controlled to receive the optical signal emitted by the first terminal, convert the received optical signal into an electrical signal, and collect the light intensity of the optical signal sent by the first terminal.

[0185] Optionally, the optical signal propagates from the first terminal through space to the second terminal and is ultimately effectively received by the receiving system (such as an optical fiber) of the second terminal. The receiving system of the second terminal calculates the current coupling efficiency based on the light intensity, beam diameter, and power of the optical signal.

[0186] If the current coupling efficiency is greater than or equal to the coupling efficiency threshold, it indicates that the optical signal from the first terminal has entered the effective receiving range of the second terminal. Therefore, in response to the current coupling efficiency being greater than or equal to the coupling efficiency threshold, the second terminal is controlled to perform a nutation step. For example, by controlling optical axis guiding elements such as reflectors, the second terminal can achieve multi-directional fine-tuning of the optical axis direction to receive the maximum intensity optical signal from the first terminal.

[0187] In some embodiments, time-division PD tracking is divided into two operating conditions. Operating condition one is the initial acquisition condition. Figure 12 This is a schematic diagram of an optional initial capture process according to an embodiment of this application, such as... Figure 12 As shown, the first terminal performs a single-field scan operation, and the second terminal performs a gaze jump. The first terminal steps once per optical axis according to the first scan pattern, and stays for a first minimum acquisition time. The first minimum acquisition time is the first duration. The second terminal receives the light intensity and determines whether the current coupling efficiency exceeds the nutation threshold (i.e., the coupling efficiency threshold). If it exceeds the nutation threshold, the second terminal executes according to the light intensity. The first terminal performs one nutation step (i.e., one nutation step). Within the first minimum capture time, the second terminal can complete alignment. If the nutation threshold is not exceeded, the gaze direction is maintained (i.e., it remains stationary). The first terminal continues to step according to the first scan pattern, repeating the above steps until it exceeds the uncertain area (i.e., the preset scan area), completing a single-field scan. Then, the scan time is checked to determine if the gaze time (i.e., the second end time) has been exceeded. If not, the first terminal returns to the scan origin and re-executes the single-field scan pattern operation, while the second terminal performs a gaze jump step. If the gaze time is exceeded, the process ends. In this way, the second terminal can achieve alignment of the first terminal with the first terminal in the first capture case.

[0188] For example, Figure 13 This is a simulation diagram of an optional initial capture scenario according to an embodiment of this application, such as... Figure 13 As shown, Figure 13 (a) shows the scanning trajectory of the first terminal. Figure 13 (b) shows the gaze trajectory of the second terminal. Figure 13 In the figure, (c) represents the coupling efficiency of the first terminal. Figure 13 In the figure (d), the coupling efficiency of the second terminal is represented.

[0189] In an exemplary embodiment, in related technologies, two terminals typically perform optical axis adjustments simultaneously, which can lead to mutual interference of optical signals in space, affecting signal quality and reducing coupling efficiency. To solve the above problems, this embodiment sets two time periods to alternately control one of the first and second terminals to perform optical axis adjustments, while controlling the other terminal to remain stationary. This ensures that the system can clearly separate the adjustment and stationary phases of the terminals when performing optical axis adjustments, avoiding signal conflicts or reduced coupling efficiency that may result from two terminals performing optical axis adjustments at the same time.

[0190] In some embodiments, alternately controlling one of the first terminal and the second terminal to adjust the optical axis, and controlling the other terminal to remain stationary, includes: during a first maneuver duration, controlling the second terminal to remain stationary and controlling the first terminal to adjust the optical axis to increase the coupling efficiency of the first terminal; during a second maneuver duration, controlling the first terminal to remain stationary and controlling the second terminal to adjust the optical axis to increase the coupling efficiency of the second terminal, wherein the first maneuver duration and the second maneuver duration are continuous and do not overlap.

[0191] In this embodiment, the first maneuver duration refers to the period during which the second terminal remains stationary while the first terminal adjusts its optical axis, and the second maneuver duration refers to the period during which the first terminal remains stationary while the second terminal adjusts its optical axis.

[0192] It should be noted that the duration of the first maneuver and the duration of the second maneuver are consecutive and do not overlap, which means that the duration of the first maneuver and the duration of the second maneuver are closely connected, without any time interval, and will not occur at the same time. That is, the end time of the first maneuver is the start time of the second maneuver, and the end time of the second maneuver is the start time of the first maneuver.

[0193] In this embodiment, by controlling the second terminal to remain stationary during the first maneuver period and controlling the first terminal to adjust the optical axis, and then controlling the first terminal to remain stationary during the second maneuver period and controlling the second terminal to adjust the optical axis, it is ensured that only one terminal is activated during each optical axis adjustment process. This alternating control mechanism effectively avoids mutual interference caused by the simultaneous adjustment of two terminals, improves the efficiency and success rate of optical axis adjustment, and ensures that each terminal can achieve optimal coupling efficiency without interference from the other, thereby improving the quality and stability of the overall communication link.

[0194] In an optional embodiment, Figure 14 This is a schematic diagram of an optional conventional capture tracking process according to an embodiment of this application, such as... Figure 14As shown, the above time-sharing PD tracking is divided into two operating conditions. Operating condition two is the normal capture condition, where the first terminal performs scanning and the second terminal performs gaze skipping. In this condition, all execution times are... The period is divided into a first terminal maneuver duration (i.e., the first maneuver duration) and a second terminal maneuver duration (i.e., the second maneuver duration). During the first terminal maneuver duration... Inside, the first terminal performs one nutation, while the second terminal remains stationary. The duration of the second terminal's movement... Inside, the second terminal performs a nutation step, while the first terminal remains stationary. Among these, , It is a positive integer. Figure 15 This is a timing diagram of a conventionally captured tracking method according to an embodiment of this application, such as... Figure 15 As shown, when one terminal is maneuvering, the other terminal remains stationary. , The timing diagram of the conventional capture condition time-sharing PD tracking method is as follows: Figure 15 As shown. The first terminal continues to step according to the scan pattern, repeating the above steps until it exceeds the uncertain area, completing a single-field scan. It is then determined whether the gaze time has been exceeded. If not, the first terminal returns to the scanning origin and re-executes the scan pattern, while the second terminal performs a gaze jump. If the gaze time has been exceeded, the process ends. In this way, mutual tracking between the first and second terminals can be achieved under normal capture conditions. The following parameters are used as an example for illustration, with a stepping control accuracy of... The field of view (full angle) is The divergence angle (full angle) is MEMS control frequency The nutation threshold coefficient (coupling efficiency threshold) is set to... The initial pointing error from the first terminal to the second terminal is... The initial pointing error from the second terminal to the first terminal is .

[0195] For example, Figure 16 This is an optional conventionally captured simulation image according to an embodiment of this application, such as... Figure 16 As shown, the simulation results of the conventional capture condition for the above-mentioned working condition two are as follows: Figure 16 As shown, in Figure 16 In the middle (a), the scanning trajectory of the first terminal is shown. Figure 16 (b) shows the gaze trajectory of the second terminal. Figure 16 In the figure (c), the coupling efficiency of the first terminal is represented. Figure 16 In the middle (d), the coupling efficiency of the second terminal is represented.

[0196] For example, Figure 17This is a time-enlarged diagram showing the coupling efficiency of an optional dual-terminal tracking process according to an embodiment of this application, such as... Figure 17 As shown, a magnified time-series diagram illustrating the coupling efficiency of the dual-terminal-to-tracking process under the aforementioned conventional acquisition conditions is presented. Figure 17 In the figure (a), the coupling efficiency of the first terminal is... Figure 16 In Figure (b), the coupling efficiency of the second terminal is shown. It can be seen that the first terminal and the second terminal alternately perform tracking loop according to the maneuvering time of the first terminal and the maneuvering time of the second terminal.

[0197] Through the above embodiments, compared with the camera as the acquisition and tracking detector or the four-quadrant detector (QD) as the acquisition and tracking detector in related technologies, the above embodiments use PD to detect intensity information, realize the extremely simplified design of the optical antenna part (space light part) of the vector optical phased array system, and realize the vector optical phased array system and time-division tracking method based on PD detection through the design of the vector optical phased array system based on PD detection, the minimum time division setting method, the nutation threshold setting method, and the time-division PD tracking method. This solves the problem that the direct application of the two related technologies to the vector optical phased array system will cause the vector optical phased array system to be too large in size and weight.

[0198] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.

[0199] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods according to the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as read-only memory (ROM) / random access memory (RAM), magnetic disk, optical disk), and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0200] According to another aspect of the embodiments of this application, a laser tracking device for a vector optical phased array system is also provided. This laser tracking device for a vector optical phased array system can be used to implement the laser tracking method for a vector optical phased array system provided in the above embodiments, and will not be repeated hereafter. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0201] Figure 18 This is a structural block diagram of a laser tracking device for an optional vector optical phased array system according to an embodiment of this application. The vector optical phased array system includes a first terminal and a second terminal; as shown... Figure 18 As shown, the laser tracking device of the vector optical phased array system includes an execution unit 1802.

[0202] The execution unit 1802 is used to repeatedly perform the following gaze jump operation until the first end time is reached: optical axis adjustment is performed during the first maneuver duration, and the unit remains stationary during the second maneuver duration.

[0203] It should be noted that the execution unit 1802 in this embodiment can be used to execute the above step S202.

[0204] The embodiments provided in this application employ a time-division tracking mechanism that repeatedly performs optical axis adjustment during the first maneuver duration and remains stationary during the second maneuver duration until the first end time. This avoids the reliance on complex and bulky tracking equipment found in related technologies, significantly reducing the complexity of the space light detection section and consequently reducing the overall system size and weight. Furthermore, by controlling the terminal to alternately perform optical axis adjustment, the terminal can gradually improve coupling efficiency based on feedback from the received light intensity signal until high-precision optical axis alignment is achieved, ensuring the establishment and maintenance of a stable communication link. This greatly simplifies space light detection and effectively reduces the size and weight of the vector optical phased array system. Therefore, it can solve the technical problem of excessively large size and weight of vector optical phased array systems in related technologies when performing space light detection.

[0205] In one exemplary embodiment, the execution unit also repeatedly performs the following gaze skipping operation until the first end time is reached, and repeats the following gaze skipping operation until the second end time is reached: optical axis adjustment is performed within the first minimum capture duration.

[0206] In an exemplary embodiment, the execution unit is further configured to perform at least one nutation within a first minimum capture duration in response to the current coupling efficiency of the terminal being greater than or equal to a coupling efficiency threshold; nutation refers to adjusting the optical axis of the terminal in multiple directions; the number of at least one nutation is less than or equal to the maximum number of nutation steps required for the terminal to complete alignment.

[0207] In an exemplary embodiment, the execution unit is further configured to perform a nutation step within a first maneuver duration in response to the current coupling efficiency of the terminal being greater than or equal to a coupling efficiency threshold; nutation refers to multi-directional adjustment of the optical axis of the terminal.

[0208] In one exemplary embodiment, the above-described apparatus further includes a response unit, which is configured to maintain the gaze direction unchanged during a first maneuver duration in response to the current coupling efficiency of the terminal being less than a coupling efficiency threshold.

[0209] In an exemplary embodiment, the response unit is further configured to: control the optical axis of the terminal to move upward from the initial position once during the first maneuver duration to obtain a first optical axis position, and collect the light intensity of the light signal at the first optical axis position; control the optical axis of the terminal to move downward from the first optical axis position once to obtain a second optical axis position, and collect the light intensity of the light signal at the second optical axis position; the first optical axis position and the second optical axis position are symmetrical about the initial position; control the optical axis of the terminal to move from the second optical axis position to a first target optical axis position; the first target optical axis position refers to the position with greater light intensity between the first optical axis position and the second optical axis position; control the optical axis of the terminal to move to the left from the first target optical axis position once to obtain a third optical axis position, and collect the light intensity of the light signal at the third optical axis position; control the optical axis of the terminal to move to the right from the third optical axis position once to obtain a fourth optical axis position, and collect the light intensity of the light signal at the fourth optical axis position; the third optical axis position and the fourth optical axis position are symmetrical about the initial position; control the optical axis of the terminal to move from the fourth optical axis position to a second target optical axis position; the second target optical axis position refers to the position with greater light intensity between the third optical axis position and the fourth optical axis position.

[0210] In an exemplary embodiment, the above-described apparatus further includes an adjustment unit, which is configured to repeatedly perform the following pattern scanning operation until a first end time is reached: starting from the scanning origin of the first scan pattern, cyclically performing optical axis stepping within a preset scanning area; wherein, after each optical axis stepping is performed, the device remains stationary for a first maneuver duration and performs optical axis adjustment for a second maneuver duration.

[0211] In an exemplary embodiment, the adjustment unit is used to repeatedly perform the following single-field scanning operation until a second end time is reached, while repeatedly performing the following pattern scanning operation until a first end time is reached: starting from the scanning origin of the first scan pattern, the optical axis stepping is performed step by step until the scanning area exceeds the preset scanning area; wherein, after each optical axis stepping is performed, the unit remains stationary for a first minimum capture time.

[0212] In an exemplary embodiment, the first minimum capture time characterizes the minimum time required for the terminal to complete alignment; the execution unit further determines the maximum number of nutation steps required for the terminal to complete alignment based on a first ratio between the terminal's field of view and the terminal's optical axis stepping control accuracy; determines a second ratio between the maximum number of nutation steps and the terminal's microelectromechanical system control frequency, and determines the first minimum capture time by multiplying the second ratio by the maximum number of maneuvers contained in each of the maximum number of nutation steps.

[0213] In an exemplary embodiment, the adjustment unit is used to perform a nutation step within a second maneuver duration in response to the current coupling efficiency of the terminal being greater than or equal to a coupling efficiency threshold; nutation refers to multi-directional adjustment of the optical axis of the terminal.

[0214] In one exemplary embodiment, the execution unit is configured to maintain the gaze direction unchanged during a second maneuver duration in response to the terminal's current coupling efficiency being less than a coupling efficiency threshold.

[0215] In an exemplary embodiment, the execution unit is configured to control the optical axis of the terminal to move upward from the initial position once during a second maneuver duration, to obtain a fifth optical axis position, and to collect the light intensity of the light signal at the fifth optical axis position; control the optical axis of the terminal to move downward from the fifth optical axis position once, to obtain a sixth optical axis position, and to collect the light intensity of the light signal at the sixth optical axis position; the fifth and sixth optical axis positions are symmetrical about the initial position; the optical axis of the terminal moves from the sixth optical axis position to a third target optical axis position; the third target optical axis position refers to the position with the greater light intensity between the fifth and sixth optical axis positions; the optical axis of the terminal moves to the left from the third target optical axis position once, to obtain a seventh optical axis position, and to collect the light intensity of the light signal at the seventh optical axis position; the optical axis of the terminal moves to the right from the seventh optical axis position once, to obtain an eighth optical axis position, and to collect the light intensity of the light signal at the eighth optical axis position; the seventh and eighth optical axis positions are symmetrical about the initial position; the optical axis of the terminal moves from the eighth optical axis position to a fourth target optical axis position; the fourth target optical axis position refers to the position with the greater light intensity between the seventh and eighth optical axis positions.

[0216] In an exemplary embodiment, the execution unit is configured to determine the coupling efficiency threshold by multiplying the difference between the current coupling efficiency of the terminal and the previous coupling efficiency of the terminal with a preset coefficient.

[0217] In an exemplary embodiment, the execution unit is configured to acquire a relative coupling efficiency curve; the horizontal axis of the relative coupling efficiency curve represents the optical axis offset angle of the terminal, and the vertical axis of the relative coupling efficiency curve represents the optical coupling efficiency of the terminal; the current optical axis offset angle corresponding to the current coupling efficiency of the terminal is determined on the relative coupling efficiency curve, and the coupling efficiency corresponding to the difference between the current optical axis offset angle on the relative coupling efficiency curve and the step control accuracy of the terminal is determined as the previous step coupling efficiency of the terminal.

[0218] In an exemplary embodiment, the execution unit is configured to determine a second minimum capture duration as a third ratio between the maximum number of maneuvers required for the terminal to perform one nutation step and the microelectromechanical system control frequency of the terminal; and to determine an integer multiple of the second minimum capture duration as a first maneuver duration or a second maneuver duration.

[0219] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0220] According to another aspect of the embodiments of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program executes the steps in any of the above method embodiments when it is run.

[0221] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as USB flash drives, ROMs, RAMs, portable hard drives, magnetic disks, or optical disks.

[0222] According to another aspect of the embodiments of this application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor is configured to perform the steps of any of the method embodiments described above via the computer program. In an exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor, and the input / output device is connected to the processor.

[0223] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

Claims

1. A laser tracking method for a vector optical phased array system, characterized in that, The method, executed by a terminal, includes: Repeat the following gaze jump operation until the first end time is reached: perform optical axis adjustment during the first maneuver duration and remain stationary during the second maneuver duration; the first end time refers to the moment when the terminal ends the gaze jump operation.

2. The method according to claim 1, characterized in that, The method further includes, before repeatedly performing the following gaze skipping operation until the first end time is reached: Repeat the following gaze jump operation until the second end time is reached: perform optical axis adjustment within the first minimum capture duration; the second end time refers to the preset time when the terminal determines that the capture alignment has been completed by detecting changes in light intensity through PD.

3. The method according to claim 2, characterized in that, The optical axis adjustment within the first minimum acquisition time includes: In response to the current coupling efficiency of the terminal being greater than or equal to the coupling efficiency threshold, at least one nutation step is performed within the first minimum acquisition duration; the nutation refers to adjusting the optical axis of the terminal in multiple directions; the number of the at least one nutation step is less than or equal to the maximum number of nutation steps required for the terminal to complete alignment.

4. The method according to claim 1, characterized in that, The optical axis adjustment during the first maneuver duration includes: In response to the current coupling efficiency of the terminal being greater than or equal to the coupling efficiency threshold, a nutation step is performed within the first maneuver duration; the nutation refers to adjusting the optical axis of the terminal in multiple directions.

5. The method according to claim 4, characterized in that, The method further includes: In response to the terminal's current coupling efficiency being less than the coupling efficiency threshold, the gaze direction remains unchanged during the first maneuver duration.

6. The method according to claim 4, characterized in that, The step of performing a nutation within the first maneuver duration includes: Within the first maneuvering duration, the optical axis of the terminal is controlled to maneuver upward from the initial position once to obtain the first optical axis position, and the light intensity of the light signal is collected at the first optical axis position. The optical axis of the terminal is controlled to move downward from the first optical axis position to obtain the second optical axis position, and the light intensity of the optical signal is collected at the second optical axis position; the first optical axis position and the second optical axis position are symmetrical about the initial position; The optical axis of the terminal is controlled to move from the second optical axis position to the first target optical axis position; the first target optical axis position refers to the position with greater light intensity between the first optical axis position and the second optical axis position. The optical axis of the terminal is controlled to move to the left once from the first target optical axis position to obtain the third optical axis position, and the light intensity of the light signal is collected at the third optical axis position; The optical axis of the terminal is controlled to move to the right once from the third optical axis position to obtain the fourth optical axis position, and the light intensity of the optical signal is collected at the fourth optical axis position; the third optical axis position and the fourth optical axis position are symmetrical about the initial position; The optical axis of the terminal is controlled to move from the fourth optical axis position to the second target optical axis position; the second target optical axis position refers to the position with greater light intensity between the third optical axis position and the fourth optical axis position.

7. The method according to claim 1, characterized in that, The method further includes: Repeat the following pattern scanning operation until the first end time is reached: starting from the scanning origin of the first scan pattern, perform optical axis stepping cyclically within the preset scanning area; After each optical axis step is completed, the system remains stationary for the first maneuver duration and performs optical axis adjustment for the second maneuver duration.

8. The method according to claim 7, characterized in that, The method further includes, before repeatedly performing the following pattern scanning operation until the first end time is reached: Repeat the following single-field scanning operation until the second end time is reached: starting from the scanning origin of the first scan pattern, gradually perform optical axis stepping until the scanning area exceeds the preset scanning area; After each optical axis step is completed, the system remains stationary for the first minimum capture duration.

9. The method according to claim 8, characterized in that, The first minimum acquisition time characterizes the minimum time required for the terminal to complete alignment; the method further includes: Based on a first ratio between the field of view of the terminal and the optical axis stepping control accuracy of the terminal, the maximum number of nutation steps required for the terminal to complete alignment is determined. A second ratio is determined between the maximum number of nutation steps and the microelectromechanical system control frequency of the terminal. The product of the second ratio and the maximum number of maneuvers contained in each of the maximum number of nutation steps is determined as the first minimum capture duration.

10. The method according to claim 7, characterized in that, The optical axis adjustment during the second maneuver duration includes: In response to the current coupling efficiency of the terminal being greater than or equal to the coupling efficiency threshold, a nutation step is performed within the second maneuver duration; the nutation refers to multi-directional adjustment of the optical axis of the terminal.

11. The method according to claim 10, characterized in that, The method further includes: In response to the terminal's current coupling efficiency being less than the coupling efficiency threshold, the gaze direction remains unchanged during the second maneuver duration.

12. The method according to claim 10, characterized in that, The step of nutation during the second maneuver duration includes: During the second maneuvering time, the optical axis of the terminal is controlled to maneuver upward from the initial position once to obtain the fifth optical axis position, and the light intensity of the light signal is collected at the fifth optical axis position. The optical axis of the terminal is controlled to move downward from the fifth optical axis position to obtain the sixth optical axis position, and the light intensity of the optical signal is collected at the sixth optical axis position; the fifth optical axis position and the sixth optical axis position are symmetrical about the initial position; The optical axis of the terminal is controlled to move from the sixth optical axis position to the third target optical axis position; the third target optical axis position refers to the position with greater light intensity between the fifth optical axis position and the sixth optical axis position; The optical axis of the terminal is controlled to move to the left once from the third target optical axis position to obtain the seventh optical axis position, and the light intensity of the light signal is collected at the seventh optical axis position; The optical axis of the terminal is controlled to move to the right once from the seventh optical axis position to obtain the eighth optical axis position, and the light intensity of the optical signal is collected at the eighth optical axis position; the seventh optical axis position and the eighth optical axis position are symmetrical about the initial position; The optical axis of the terminal is controlled to move from the eighth optical axis position to the fourth target optical axis position; the fourth target optical axis position refers to the position with greater light intensity between the seventh optical axis position and the eighth optical axis position.

13. The method according to any one of claims 3 to 6 and 10 to 12, characterized in that, The method further includes: The coupling efficiency threshold is determined by multiplying the difference between the current coupling efficiency of the terminal and the previous coupling efficiency of the terminal with a preset coefficient.

14. The method according to claim 13, characterized in that, The method further includes: Obtain the relative coupling efficiency curve; the horizontal axis of the relative coupling efficiency curve represents the optical axis offset angle of the terminal, and the vertical axis of the relative coupling efficiency curve represents the optical coupling efficiency of the terminal; The current optical axis offset angle corresponding to the current coupling efficiency of the terminal is determined on the relative coupling efficiency curve. The coupling efficiency corresponding to the difference between the current optical axis offset angle on the relative coupling efficiency curve and the step control accuracy of the terminal is determined as the previous step coupling efficiency of the terminal.

15. The method according to claim 1, characterized in that, The method further includes: The third ratio between the maximum number of maneuvers required for the terminal to perform one nutation step and the microelectromechanical system control frequency of the terminal is determined as the second minimum capture time; An integer multiple of the second minimum capture duration is determined as either the first maneuver duration or the second maneuver duration.

16. A laser tracking method for a vector optical phased array system, the vector optical phased array system comprising a first terminal and a second terminal, characterized in that, The method is performed by the vector optical phased array system, and the method includes: The first terminal is controlled to repeatedly perform the following pattern scanning operation until the first end time is reached: starting from the scanning origin of the first scan pattern, the first terminal is controlled to cyclically perform optical axis stepping within a preset scanning area; the first end time refers to the moment when the terminal ends the gaze jump operation. After each optical axis step is completed, one of the first terminal and the second terminal is alternately controlled to adjust the optical axis, while the other terminal is controlled to remain stationary.

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