Anti-drone system with laser and visible light imaging in common optical path and calibration method thereof

Abstract

The application discloses a laser and visible light imaging common-path anti-UAV system and a calibration method thereof. The system comprises two tracking components, a laser emission component, a light beam pointing component, a light splitting and combining component, a mirror component and a control component. The light splitting and combining component is arranged between the laser emission component exit light path and the second tracking component incident light path. The mirror component is arranged between the light splitting and combining component and the second tracking component. The control component is electrically connected with each component. The laser emission component emits laser which is reflected by the light splitting and combining component to the light beam pointing component and then emitted outward. The second tracking component incident light is sequentially reflected by the light beam pointing component, transmitted by the light splitting and combining component and reflected by the mirror component and then enters the second tracking component, forming a common-path structure shared by the laser emission light path. The laser emission light path and the imaging light path share the light splitting and combining component and the light beam pointing component, the boresight deviation caused by independent installation of the light paths is eliminated, and the consistency of laser striking and target positioning is improved.

Description

Technical Field

[0001] This invention relates to the field of anti-drone defense technology, and in particular to an anti-drone system with laser and visible light imaging sharing a common optical path and its calibration method. Background Technology

[0002] With the rapid proliferation of consumer and industrial drones, their unauthorized flights pose a serious threat to the security of sensitive areas such as military bases, airports, and large event venues. Traditional defense methods, such as missile interception, are costly and prone to secondary damage, while electromagnetic interference is limited by the diversity of drone communication protocols, making universal defense difficult. Against this backdrop, laser weapons, with their significant advantages of fast response speed, high accuracy, controllable cost, and repeatable operation, have become a core technology in the field of counter-drone warfare, demonstrating irreplaceable practical value, especially in dealing with the threat of swarmed and miniaturized drones.

[0003] Existing laser strike devices typically employ a two-stage composite axis tracking structure consisting of a coarse tracking unit and a fine tracking unit to improve tracking accuracy. However, in existing devices, the detection optical path and the laser strike optical path of the fine tracking unit are designed and installed independently, with a physical separation between them. This results in inconsistencies between the fine tracking positioning and the actual laser direction after calibrating them with parallel lines. Furthermore, after calibrating their optical paths to intersect at a fixed distance, the laser cannot strike the target at other distances, affecting the strike effect. Simultaneously, the independent optical path structure is also susceptible to optical path deviation due to environmental factors such as vibration and temperature changes, a phenomenon known as "line-of-sight deviation," further impacting strike accuracy.

[0004] To address the aforementioned issues, this invention proposes a design that integrates the precision tracking unit and the laser with a shared optical path. The precision tracking detection optical path and the laser strike optical path are shared through a beam splitting and combining unit, ensuring that the laser's point of action is located at the real-time positioning center of the precision tracking unit, thereby eliminating line-of-sight deviation. Furthermore, the two are combined in terms of structural space, further optimizing the structural compactness. Summary of the Invention

[0005] The purpose of this invention is to provide an anti-drone system and its calibration method that uses a shared optical path for laser and visible light imaging. By sharing the beam splitting and beam combining component and the beam pointing component to form a shared optical path structure between the laser emission component and the imaging optical path of the second tracking component, the line-of-sight deviation caused by independent installation of the optical path is eliminated, and the consistency between laser strike and target positioning is improved.

[0006] To address the aforementioned technical problems, a first aspect of the present invention provides an anti-drone system with laser and visible light imaging sharing a common optical path, comprising: a first tracking component, a second tracking component, a laser emitting component, a beam pointing component, a beam splitting and combining component, a reflector component, and a control component; The beam splitter and beam combiner is disposed between the outgoing optical path of the laser emitting component and the incoming optical path of the second tracking component; The reflector assembly is disposed between the beam splitter and the second tracking assembly; The control component is electrically connected to the first tracking component for coarse target tracking, the second tracking component for fine target tracking, the laser emission component, and the beam pointing component, respectively. The laser emitted by the laser emitting component is reflected by the beam splitter and beam combiner to the beam pointing component and then emitted outward. The incident light of the second tracking component is reflected by the beam pointing component, transmitted by the beam splitting and combining component, and reflected by the mirror component before entering the second tracking component, forming a common optical path structure shared with the laser emission optical path.

[0007] Furthermore, the anti-drone system with a shared optical path for laser and visible light imaging also includes: The rotating assembly is electrically connected to the control assembly. The first tracking assembly, the second tracking assembly, the laser emitting assembly, the beam pointing assembly, the beam splitting and combining assembly, the mirror assembly, and the control assembly are all fixed on the support platform of the rotating assembly.

[0008] Furthermore, the rotating assembly is a two-dimensional turntable; The carrier platform can rotate in the horizontal and vertical directions, driving the first tracking component and the second tracking component to track the target.

[0009] Furthermore, the first tracking component is a large field-of-view imaging unit that performs coarse tracking of the target; The second tracking component is a small field-of-view imaging unit for precise target tracking; The field of view center of the first tracking component is coaxially arranged with the field of view center of the second tracking component.

[0010] Furthermore, the optical centers of the laser emitting component, the beam pointing component, the beam splitting and combining component, and the reflector component are located in the same optical reference plane.

[0011] Accordingly, a second aspect of the present invention provides a calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path, used to calibrate the aforementioned anti-drone system with laser and visible light imaging sharing a common optical path, comprising the following steps: The low-power calibration guide light output by the laser emitting component has the same wavelength as the striking laser output by the laser emitting component. The low-power calibration guide light is reflected by the beam splitter and beam combiner to the beam pointing component and then emitted outward. The external image is acquired based on the second tracking component, and the external image includes the guide light spot formed by the low-power calibration guide light projected onto the target surface and the target image of the target; Calculate the pixel deviation between the guide spot and the target image in the external image, determine whether the pixel deviation is greater than a preset deviation threshold, and if it is greater, calculate the angle compensation of the beam pointing component based on the pixel deviation and drive the beam pointing component to change the reflection angle. Repeat the steps of outputting the low-power calibration guide light, acquiring the external image, calculating the pixel deviation, determining the pixel deviation, and driving the beam pointing component to change the reflection angle until the pixel deviation is less than or equal to the preset deviation threshold.

[0012] Furthermore, the step of outputting low-power calibration guide light based on the laser emitting component includes: The laser emitting component is controlled to output the low-power calibration guide light in a pulse modulation mode, wherein the pulse modulation mode includes a preset pulse width and pulse repetition frequency; The acquisition of external images based on the second tracking component includes: The second tracking component is controlled to acquire external images in a timing sequence synchronized with the pulse repetition frequency, so that the exposure period of the second tracking component is aligned with the pulse output period of the low-power calibration guide light in time. Synchronous differential processing is performed on the external image, and a differential operation is performed between the synchronously acquired image and the asynchronously acquired image. The pixel position of the guide spot is extracted from the external image based on the differential operation result.

[0013] Further, controlling the second tracking component to perform image acquisition at an acquisition timing synchronized with the pulse repetition frequency includes: Obtain the time offset between the actual pulse output time of the low-power calibration guide light and the actual exposure start time of the second tracking component; The exposure trigger delay correction value is calculated based on the time offset, and the exposure trigger time of the second tracking component is adjusted according to the exposure trigger delay correction value so that the exposure period of the second tracking component is aligned with the pulse output period of the low-power calibration guide light in time. After adjusting the exposure trigger time, the time offset is reacquired. If the absolute value of the time offset is greater than the preset time synchronization threshold, the steps of acquiring the time offset, calculating the exposure trigger delay correction value, and adjusting the exposure trigger time are repeated until the absolute value of the time offset is less than or equal to the preset time synchronization threshold.

[0014] Further, controlling the laser emitting component to output the low-power calibration guide light in a pulse-modulated manner includes: The signal-to-noise ratio (SNR) of the guiding light spot in the external image is obtained, and the SNR is compared with a preset SNR threshold. When the signal-to-noise ratio is less than the preset signal-to-noise ratio threshold, the output parameters of the pulse modulation method are adjusted, including the pulse width, pulse repetition frequency and / or pulse peak power, to improve the signal-to-noise ratio. When the signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio threshold, the current output parameters are maintained or the output parameters are reduced to decrease the output energy of the guide light.

[0015] Further, calculating the angle compensation amount of the beam pointing component based on the pixel deviation includes: The angular velocity of the target is obtained, and the angular velocity is calculated based on the positional changes of the target image in multiple consecutive frames of the external image; The predicted compensation amount is calculated based on the pixel deviation, the angular velocity, and the system delay time from the acquisition of the external image to the driving of the beam pointing component to change the reflection angle. The predicted compensation amount is used as the angle compensation amount to drive the beam pointing component to change the reflection angle.

[0016] The above-described technical solutions of the embodiments of the present invention have the following beneficial technical effects: 1. By sharing a beam splitter and beam combiner and a beam pointing component to form a common optical path structure between the laser emitting component and the second tracking component, the laser strike optical path and the fine tracking imaging optical path are made to be coaxial and of the same origin on the optical reference. The laser point of action is always located at the real-time positioning center of the fine tracking unit, which fundamentally eliminates the line-of-sight deviation caused by physical intervals, vibrations, temperature changes and other factors in traditional independent optical paths. This significantly improves the consistency between laser strike and target positioning and ensures the accuracy of strike at different distances. 2. By controlling the laser emission component to output a low-power calibration guide light of the same wavelength as the strike laser during system operation, and using the second tracking component to acquire real-time external images containing the guide light spot and the target image, the pixel deviation is calculated and the beam pointing component is driven to perform closed-loop compensation. The process is iteratively converged until the deviation meets the threshold, thus realizing dynamic real-time calibration throughout the entire operating cycle. This effectively addresses dynamic interferences such as vibration, thermal drift, and long-term cumulative errors, and significantly improves the system's adaptability and stability in complex dynamic environments such as vehicle-mounted and airborne systems. 3. By outputting calibration guide light in a pulse modulation manner and synchronizing the acquisition timing of the second tracking component with the pulse repetition frequency, and then performing differential operations on the synchronously acquired image and the asynchronously acquired image to extract the pixel position of the guide light spot, background interference such as strong ambient light and differences in target surface reflection are effectively suppressed, ensuring reliable detection of the guide light spot under complex lighting conditions. At the same time, by obtaining the signal-to-noise ratio of the guide light spot and adaptively adjusting the pulse width, repetition frequency or peak power accordingly, the output energy of the guide light is minimized while meeting the detection requirements, thus balancing system concealment and energy consumption optimization. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of a system without rotating components provided in an embodiment of the present invention; Figure 2 This is a front view of a system without rotating components provided in an embodiment of the present invention; Figure 3 This is a top view schematic diagram of a system without rotating components provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the left side of the system without rotating components provided in an embodiment of the present invention; Figure 5 This is a right-side side view of a system without rotating components provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the common optical path for laser and imaging provided in an embodiment of the present invention; Figure 7 This is a three-dimensional schematic diagram of a system containing a rotating component provided in an embodiment of the present invention; Figure 8 This is a front view of a system containing a rotating component provided in an embodiment of the present invention; Figure 9 This is a side view of a system containing a rotating component provided in an embodiment of the present invention; Figure 10 This is a flowchart of the calibration method for an anti-drone system with a shared optical path for laser and visible light imaging provided in an embodiment of the present invention.

[0018] Figure label: 101. Rotation component; 102. First tracking component; 103. Second tracking component; 104. Control component; 105. Laser emission component; 106. Beam pointing component; 107. Beam splitting and combining component; 108. Mirror component. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. It should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0020] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 A first aspect of this invention provides an anti-drone system with a shared optical path for laser and visible light imaging, comprising: a first tracking component 102, a second tracking component 103, a laser emitting component 105, a beam pointing component 106, a beam splitter and combiner component 107, a reflector component 108, and a control component 104; the beam splitter and combiner component 107 is disposed between the output optical path of the laser emitting component 105 and the incident optical path of the second tracking component 103; the reflector component 108 is disposed between the beam splitter and combiner component 107 and the second tracking component 103; and the control component 104. Component 104 is electrically connected to the first tracking component 102 for coarse target tracking, the second tracking component 103 for fine target tracking, the laser emitting component 105, and the beam pointing component 106, respectively. The laser emitted by the laser emitting component 105 is reflected by the beam splitter and beam combiner 107 to the beam pointing component 106 and then emitted outward. The incident light of the second tracking component 103 is reflected by the beam pointing component 106, transmitted by the beam splitter and beam combiner 107, and reflected by the mirror component 108 before entering the second tracking component 103, forming a common optical path structure shared with the laser emitting optical path.

[0021] The aforementioned anti-drone system employs a two-stage tracking mode combining coarse and fine tracking in its overall architecture. The first tracking component 102, acting as the coarse tracking unit, is responsible for initial detection and acquisition of targets within a large field of view. Its large imaging field of view enables it to quickly detect drone targets entering the defense airspace. The second tracking component 103, acting as the fine tracking unit, is responsible for high-precision and stable tracking of targets within a small field of view. Its smaller imaging field of view but higher resolution provides accurate target position information. The laser emission component 105 outputs a high-power strike laser to achieve targeted destruction of drones. The beam pointing component 106, as a unit for adjusting both the laser emission direction and the imaging optical path direction, performs the dual functions of laser pointing control and imaging optical path reflection. The beam splitter and combiner component 107 and the reflector component 108 together constitute the core optical structure for optical path synthesis and reversal. The control component 104, as the system's computation and control center, is electrically connected to each component and is responsible for receiving image data, executing target detection and tracking algorithms, calculating control commands, and driving the corresponding components to complete tracking and strike tasks.

[0022] The imaging optical path of the second tracking component 103 and the emission optical path of the laser emitting component 105 are designed to share a common optical path. Specifically, a beam splitter and combiner component 107 is positioned between the output optical path of the laser emitting component 105 and the incident optical path of the second tracking component 103, and a reflector component 108 is positioned between the beam splitter and combiner component 107 and the second tracking component 103. The high-power laser emitted by the laser emitting component 105 first enters the beam splitter and combiner component 107, and after being reflected by the beam splitter and combiner component 107, its propagation direction is changed. It then enters the beam pointing component 106, and after being reflected by the beam pointing component 106, it is emitted outward and finally projected onto the target surface. At the same time, incident light from the external environment (including visible light reflected by the target) is first reflected by the beam pointing component 106, then transmitted through the beam splitter and combiner component 107, and then reflected by the reflector component 108 before entering the second tracking component 103 to form a target image. Through the above optical path design, the laser emission optical path and the imaging optical path of the second tracking component 103 are shared at the beam splitting and combining component 107 and the beam pointing component 106. The laser emission direction and the incident direction of the imaging optical path are consistent on the optical reference, so that the laser action point is always located at the real-time positioning center of the second tracking component 103.

[0023] The beam splitter and combiner assembly 107 plays a core role in the common optical path structure, splitting and combining the light paths. For the striking laser output from the laser emitting assembly 105, the beam splitter and combiner assembly 107 exhibits high reflectivity, guiding the laser to the beam pointing assembly 106. For the visible light incident from the beam pointing assembly 106, the beam splitter and combiner assembly 107 exhibits high transmission characteristics, allowing the target image to pass through and continue propagating to the reflector assembly 108. The reflector assembly 108 is positioned between the beam splitter and combiner assembly 107 and the second tracking assembly 103. Its function is to deflect the visible light transmitted through the beam splitter and combiner assembly 107, aligning the light path direction with the incident light axis of the second tracking assembly 103, ensuring that the target image is clearly imaged on the detector of the second tracking assembly 103. The beam pointing assembly 106, as a shared element in the common optical path, participates both in the laser emission path as the last stage of reflection before the laser is emitted outwards and in the imaging path as the first reflection surface for external incident light entering the system. This dual role allows the angle adjustment of the beam pointing component 106 to simultaneously affect the laser pointing and the imaging line of sight.

[0024] The control component 104 is electrically connected to the first tracking component 102, the second tracking component 103, the laser emitting component 105, and the beam pointing component 106, respectively. The electrical connection between the control component 104 and the first tracking component 102 is used to receive coarse tracking image data and send control commands to drive the rotation component 101 to achieve coarse tracking. The electrical connection between the control component 104 and the second tracking component 103 is used to receive fine tracking image data and configure the operating parameters of the second tracking component 103. The electrical connection between the control component 104 and the laser emitting component 105 is used to control the timing and parameters of the laser emitting component 105. The electrical connection between the control component 104 and the beam pointing component 106 is used to adjust the reflection angle of the beam pointing component 106 in real time according to the fine tracking miss distance or calibration deviation, thereby achieving dynamic adjustment of the laser pointing and imaging axis. Through the aforementioned electrical connections, the control component 104 can acquire image data from the two-stage tracking units in real time, run target detection and tracking algorithms, calculate miss distances and compensation amounts, and issue control commands to the execution component, forming a complete closed-loop control link. Optionally, the control component 104 adopts a processing module based on an FPGA and ARM architecture. The FPGA part is responsible for parallel processing of high-speed image data and hardware acceleration of the target detection algorithm, while the ARM part is responsible for system scheduling, miss distance calculation, control command generation, and communication management. The control component 104 is electrically connected to the first tracking component 102, the second tracking component 103, the laser emission component 105, the beam pointing component 106, and the rotation component 101, forming a multi-level, multi-channel control network. The control component 104 embeds an image processing module and a servo drive module. The image processing module acquires image data from the first tracking component 102 and the second tracking component 103, executes target detection, recognition and tracking algorithms, and outputs miss distance information. The servo drive module calculates the driving amount of the rotation component 101 and the beam pointing component 106 based on the miss distance information, and sends control commands to the corresponding components to realize the coordinated control of coarse tracking and fine tracking.

[0025] As can be seen from the above, the present invention forms a common optical path structure by sharing a beam splitter and combiner 107 and a beam pointing component 106 between the laser emission optical path of the laser emission component 105 and the imaging optical path of the second tracking component 103. This enables the laser strike optical path and the fine tracking imaging optical path to be coaxial and of the same origin on the optical reference. The laser point of action is always located at the real-time positioning center of the fine tracking unit. This fundamentally eliminates the line-of-sight deviation caused by physical intervals, vibrations, temperature changes, and other factors in traditional independent optical paths. It significantly improves the consistency between laser strike and target positioning, while reducing the number of optical components, simplifying the optomechanical structure, reducing optical path loss, and improving energy utilization efficiency. This lays a structural foundation for subsequent high-precision tracking and stable strike.

[0026] Further, please refer to Figure 7 , Figure 8 , Figure 9 The anti-drone system with laser and visible light imaging sharing the same optical path also includes: a rotating component 101 electrically connected to a control component 104; a first tracking component 102, a second tracking component 103, a laser emitting component 105, a beam pointing component 106, a beam splitting and combining component 107, a reflector component 108, and a control component 104, all of which are fixed on the support platform of the rotating component 101.

[0027] The anti-drone system of this embodiment further includes a rotating assembly 101, which is electrically connected to a control assembly 104 and receives drive commands from the control assembly 104 to perform rotation in azimuth and pitch directions. The first tracking assembly 102, the second tracking assembly 103, the laser emitting assembly 105, the beam pointing assembly 106, the beam splitting and combining assembly 107, the reflector assembly 108, and the control assembly 104 are all fixed on the support platform of the rotating assembly 101. All optical and detection units move as a whole with the rotating assembly 101, achieving a high degree of integration in the physical structure of the system. As the driving core of the system, the rotating assembly 101 bears the unified load of all components and drives them to point towards the target, enabling the line-of-sight adjustment during the coarse tracking stage to be directly achieved through the movement of the rotating assembly 101, without the need for additional independent adjustment mechanisms between the components. By fixing all components to the same support platform, the system forms a structural layout that is stable internally and rotates as a whole. The relative positional relationship between the components remains unchanged during rotation, and the calibration state of the common optical path structure is not affected by rotation, simplifying the system calibration process. At the same time, the rotating component 101 only needs to support the movement of the entire platform, eliminating the need for complex optical path connection mechanisms between the rotating component 101 and each optical component. This reduces the complexity of the mechanical structure and the difficulty of processing and assembly. The overall rotating layout makes the center of gravity of the system more concentrated, which is beneficial to improving the dynamic response performance and motion stability of the rotating component 101.

[0028] The control component 104 is electrically connected to the rotation component 101, forming a coarse tracking closed-loop control link. The first tracking component 102, as a large field-of-view imaging unit, calculates the coarse tracking miss distance of the target relative to the center of the field of view after detecting the target, and transmits the miss distance to the control component 104. The control component 104 calculates the required rotation angle of the rotation component 101 based on the coarse tracking miss distance, and sends a drive command to the rotation component 101, causing the support platform of the rotation component 101 to rotate as a whole, guiding the target to the center area of ​​the field of view of the first tracking component 102, and ensuring that the target simultaneously falls within the small field-of-view imaging range of the second tracking component 103, thereby achieving rapid acquisition and locking of targets over a large area. During the tracking process, the control component 104 continuously acquires real-time data of the target image from the first tracking component 102, runs the target detection and tracking algorithm, calculates the target miss distance, and converts the miss distance into angular velocity and angular acceleration commands for the rotation component 101, forming a continuous closed-loop control to ensure that the target is always in the center of the field of view of the first tracking component 102. At the same time, the motion parameters of the rotation component 101 are dynamically adjusted according to the target's motion state to achieve smooth tracking while ensuring tracking accuracy, and to avoid image jitter or target loss caused by frequent acceleration and deceleration of the rotation component 101. The support platform provides an installation reference and fixed support for each component. Each component can be detachably fixed to a predetermined installation position on the support platform through mounting holes or positioning structures. The design of the support platform fully considers the external dimensions, weight distribution, and optical path of each component. The first tracking component 102 and the control component 104 are arranged in one area of ​​the platform, while the second tracking component 103, the laser emitting component 105, the beam pointing component 106, the beam splitting and combining component 107, and the reflector component 108 are arranged in another area of ​​the platform, forming a reasonable spatial layout. This layout is beneficial for shortening the optical path length and reducing optical path loss, as well as for optimizing the system's center of gravity position, improving the load-bearing balance and motion stability of the rotating component 101, and ensuring that the torque output by the rotating component 101 can be efficiently transmitted to each component on the platform to achieve precise pointing control. Through the above settings, the system achieves fast and stable coarse tracking capability over a wide range. At the same time, the relative positional relationship of each component remains constant during rotation, and the calibration state of the common optical path structure is not affected by rotation, simplifying the system calibration and maintenance process. The overall rotation layout reduces the number of independent adjustment mechanisms and optical path connection links, reduces structural complexity and processing and assembly difficulty, improves the dynamic response performance and motion stability of the system, and provides a reliable target pointing basis for subsequent fine tracking and laser strikes.

[0029] Furthermore, the rotating component 101 is a two-dimensional turntable; the supporting platform can rotate in both the horizontal and pitch directions, thereby driving the first tracking component 102 and the second tracking component 103 fixed thereon to achieve pointing adjustments in the horizontal azimuth and pitch angle. The control component 104 calculates the angular deviation in the horizontal and pitch directions based on the target position detected by the first tracking component 102, and drives the two-dimensional turntable to rotate in both directions respectively, so that the target is guided to the center area of ​​the large field of view of the first tracking component 102 and simultaneously falls into the small field of view of the second tracking component 103, realizing rapid acquisition and coarse tracking of the target. The dual-axis rotation structure of the two-dimensional turntable provides the system with omnidirectional and wide-range pointing capability. At the same time, since all optical components and detection components rotate with the turntable as a whole, the relative positional relationship between the components remains constant during the rotation. The optical axis consistency of the common optical path structure is not affected by the turntable movement, eliminating the need for additional optical path compensation mechanisms between the turntable and the components, simplifying the system structure and improving the reliability of the tracking response.

[0030] Furthermore, the first tracking component 102 is a large field-of-view imaging unit for coarse tracking of the target; the second tracking component 103 is a small field-of-view imaging unit for fine tracking of the target; the field-of-view center of the first tracking component 102 and the field-of-view center of the second tracking component 103 are coaxially arranged.

[0031] The first tracking component 102 employs a large field-of-view imaging unit for preliminary detection and coarse tracking of targets over a wide airspace, enabling rapid acquisition of UAV targets entering the defense zone. The second tracking component 103 employs a small field-of-view imaging unit for high-precision tracking of targets; its smaller field of view provides higher spatial resolution and positioning accuracy. The center of the field of view of the first tracking component 102 and the center of the field of view of the second tracking component 103 are coaxially aligned, ensuring that the optical axes of the two tracking units remain consistent. When the rotating component 101 guides the target to the center of its field of view based on the coarse tracking miss distance of the first tracking component 102, the target will naturally fall into the small field-of-view imaging range of the second tracking component 103, allowing the fine tracking process to begin without additional adjustments. This configuration, combining large field-of-view coarse tracking with small field-of-view fine tracking and coaxial field-of-view centers, effectively connects target acquisition with high-precision tracking, ensuring the system's ability to acquire fast-moving targets and providing a precise target positioning basis for subsequent laser strikes.

[0032] Specifically, the optical centers of the laser emitting component 105, beam pointing component 106, beam splitter and combiner component 107, and reflector component 108 are located within the same optical reference plane. Placing the optical centers of these components within the same optical reference plane further optimizes the spatial layout of the common optical path structure. This optical reference plane serves as a common reference plane for all key optical components, ensuring that the path of the striking laser emitted from the laser emitting component 105, after reflection by the beam splitter and combiner component 107 and the beam pointing component 106, before propagating outwards, maintains strict optical axis consistency with the imaging path of external incident light after reflection by the beam pointing component 106, transmission through the beam splitter and combiner component 107, and reflection by the reflector component 108 before entering the second tracking component 103. By constraining the optical centers of the above four components within the same reference plane, the laser optical path and the imaging optical path do not deviate from the reference plane during propagation between optical elements. This eliminates additional line-of-sight errors introduced by differences in the installation height or angle deviation of optical elements, simplifies the optical path calibration process of the system, and reduces energy loss caused by optical path deflection. This provides a spatial layout guarantee for the high-precision pointing and stable imaging of the common optical path structure.

[0033] Furthermore, in the selection and performance design of optical components, the beam splitter and combiner assembly 107 employs a dichroic mirror, which has high reflectivity for the specific wavelength laser output from the laser emitting assembly 105 and high transmittance for the visible light band received by the second tracking assembly 103, thereby achieving efficient spatial separation and synthesis of the laser optical path and the imaging optical path. The beam pointing assembly 106 employs a fast-reflecting mirror, whose reflective surface participates in both the laser emitting optical path and the imaging optical path, possessing high reflectivity characteristics. Under the drive of the control assembly 104, it can achieve millisecond-level angle response, meeting the response speed requirements for precise tracking and dynamic compensation. The mirror assembly 108 employs a plane mirror, positioned between the beam splitter and combiner assembly 107 and the second tracking assembly 103, and has high reflectivity for the visible light band. It is used to deflect the imaging light transmitted through the beam splitter and combiner assembly 107 into the second tracking assembly 103, forming a compact optical path layout. The laser emitting component 105 adopts an optical fiber coupled output structure. Its emitted laser is reflected by the beam splitter and beam combiner 107 and enters the beam pointing component 106 before being emitted outward. The wavelength of the strike laser is consistent with the wavelength of the calibration guide light, ensuring the optical consistency between the calibration and the strike conditions.

[0034] Furthermore, in terms of spatial layout, the support platform of the rotating component 101 is structurally divided into different installation areas. The first tracking component 102 and the control component 104 are fixed to the lower area of ​​the support platform, while the second tracking component 103, the laser emitting component 105, the beam pointing component 106, the beam splitting and combining component 107, and the reflector component 108 are fixed to the upper area of ​​the support platform, forming a layered layout structure. This layout, which places the heavier coarse tracking unit and control unit in the lower part and the optical core components in the upper part, helps to lower the overall center of gravity of the system and improve the dynamic stability of the rotating component 101. Each component is detachably fixed to the support platform through mounting holes, facilitating independent assembly, debugging, and maintenance of each component, while ensuring the stability of the relative positions of each component during long-term use and reducing relative displacement caused by vibration or temperature changes.

[0035] Accordingly, please refer to Figure 10 The second aspect of this invention provides a calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path, used to calibrate the aforementioned anti-drone system with laser and visible light imaging sharing a common optical path, comprising the following steps: Step 100: Based on the output of low-power calibration guide light from laser emitting component 105, the low-power calibration guide light has the same wavelength as the striking laser output from laser emitting component 105. The low-power calibration guide light is reflected by beam splitting and beam combining component 107 to beam pointing component 106 and then emitted outward.

[0036] During the calibration process, the control component 104 first sends a command to the laser emitting component 105 to control it to output a low-power calibration guide light. This guide light has the same wavelength as the laser actually used for the strike, ensuring that the subsequent calibration results can accurately reflect the optical path characteristics under the strike conditions. The low-power calibration guide light output by the laser emitting component 105 propagates along a predetermined optical path and first enters the beam splitter and combiner component 107. Due to the high reflectivity of the beam splitter and combiner component 107 for this specific wavelength laser, the guide light is reflected and its propagation direction is changed before entering the beam pointing component 106. After being reflected by the beam pointing component 106, it is emitted outward and projected onto the target surface. In actual use scenarios, when the system has completed coarse and fine tracking of the target and the target is stably located near the center of the field of view of the second tracking component 103, the control component 104 initiates the calibration process. The low-power calibration guide light is continuously or intermittently output at an energy level that does not affect target tracking or cause target damage, forming a visible guide light spot on the target surface as a reference point for subsequent deviation detection.

[0037] Step 200: Acquire an external image based on the second tracking component 103. The external image includes a guide spot formed by low-power calibration guide light projected onto the target surface and a target image of the target.

[0038] Simultaneously or immediately after the low-power calibration guide light is emitted, the control component 104 controls the second tracking component 103 to begin acquiring external images. The second tracking component 103 receives incident light from the target direction via a common optical path structure. This incident light is reflected sequentially by the beam pointing component 106, transmitted through the beam splitting and combining component 107, and reflected by the mirror component 108 before entering the detector of the second tracking component 103, forming image data containing the target image and the guide light spot. Because the calibration guide light and the impact laser share a common optical path, the position of the guide light spot on the target surface precisely corresponds to the actual laser pointing position, while the center position of the target image corresponds to the line of sight of the fine tracking unit. In practical applications, the second tracking component 103 continuously acquires images at a set frame rate. Each frame clearly distinguishes the target outline and the guide light spot attached to the target surface. The control component 104 acquires this image data in real time, providing input for subsequent deviation calculations.

[0039] Step 300: Calculate the pixel deviation between the guide spot and the target image in the external image, determine whether the pixel deviation is greater than the preset deviation threshold, if it is greater, calculate the angle compensation of the beam pointing component 106 based on the pixel deviation, and drive the beam pointing component 106 to change the reflection angle.

[0040] The control component 104 performs image processing algorithms on the external image acquired by the second tracking component 103. First, it extracts the centroid pixel coordinates of the guide spot and the center pixel coordinates of the target image, then calculates the pixel deviation between them. This pixel deviation quantitatively reflects the degree of deviation between the actual laser direction and the precise tracking line-of-sight direction. The control component 104 compares the calculated pixel deviation with a preset deviation threshold. If the absolute value of the pixel deviation is less than or equal to the preset deviation threshold, it indicates that the current common-path line-of-sight deviation is within an acceptable range and no compensation is needed. If the absolute value of the pixel deviation is greater than the preset deviation threshold, it indicates a significant line-of-sight deviation that requires compensation. Based on the pixel deviation and the imaging parameters of the second tracking component 103, the control component 104 converts the deviation in pixel space into a compensation amount in angle space for the beam pointing component 106. Then, it sends a drive command to the beam pointing component 106, controlling it to change the reflection angle, causing a corresponding shift in the direction of the subsequently emitted calibration guide light, thereby guiding the guide spot towards the center of the target image.

[0041] Step 400: Repeat the steps of outputting low-power calibration guide light, acquiring external images, calculating pixel deviation, determining pixel deviation, and driving the beam pointing component 106 to change the reflection angle until the pixel deviation is less than or equal to the preset deviation threshold.

[0042] Since a single compensation may not accurately eliminate the deviation, or the target position and system state may change during the compensation process, the control component 104 continuously performs calibration using a closed-loop iterative approach. The control component 104 repeatedly executes the following steps: controlling the laser emitting component 105 to output low-power calibration guide light; controlling the second tracking component 103 to acquire external images; calculating the pixel deviation; determining whether the pixel deviation exceeds a preset deviation threshold; and calculating the angle compensation based on the deviation and driving the beam pointing component 106 to change the reflection angle, forming a complete closed-loop feedback control chain. In each iteration, the control component 104 calculates the compensation based on the latest relative position of the guide spot and the target image, gradually reducing the pixel deviation. After multiple iterations, when the absolute value of the pixel deviation is less than or equal to the preset deviation threshold, it indicates that the common optical path line-of-sight deviation has converged to the accuracy range required by the system. The control component 104 then stops iterating, completing the calibration process. In practical applications, this iterative process is typically completed within milliseconds to seconds. After calibration, the system remains in this calibration state until the next dynamic calibration is triggered.

[0043] Through the above calibration method, the system can use the guide spot formed on the actual target surface as a reference to detect the pixel deviation between the laser pointing and the fine tracking line of sight in real time during operation. It also dynamically drives the beam pointing component 106 to perform angle compensation through a closed-loop iterative method until the deviation converges to the preset threshold range. Thus, without the need for external target calibration or interruption of target tracking, dynamic real-time calibration of the common optical path line of sight deviation can be achieved. This effectively eliminates the dynamic line of sight deviation caused by factors such as vibration, temperature changes, and long-term accumulated errors, and significantly improves the system's strike accuracy and reliability in complex environments.

[0044] Specifically, step 100, which involves the output of low-power calibration guide light from the laser emitting component 105, includes: Step 110: Control the laser emitting component 105 to output low-power calibration guide light in a pulse modulation mode. The pulse modulation mode includes a preset pulse width and pulse repetition frequency.

[0045] During the calibration process, the control component 104 controls the laser emitting component 105 to output low-power calibration guide light in a pulse-modulated manner. This means the guide light is not continuously output, but rather emitted in periodic pulses according to a preset pulse width and pulse repetition frequency. The pulse width determines the duration of each pulse, and the pulse repetition frequency determines the number of pulses output per unit time. In practical applications, when the system is in a strong background light environment, such as outdoors during daytime, the continuously output guide light spot may be overwhelmed by intense sunlight, making it difficult to extract effectively from the image. By using pulse modulation, the guide light is endowed with specific temporal characteristics, which can be used to demodulate the guide light spot signal from the strong background. The preset pulse width and pulse repetition frequency are pre-set based on the imaging frame rate of the second tracking component 103, the detector response characteristics, and the ambient lighting conditions, ensuring that the guide light pulses can be effectively captured within the exposure period of the second tracking component 103.

[0046] Step 200, which involves acquiring external images based on the second tracking component 103, includes: Step 210: Control the second tracking component 103 to acquire external images in a timing sequence synchronized with the pulse repetition frequency, so that the exposure period of the second tracking component 103 is aligned with the pulse output period of the low-power calibration guide light.

[0047] The control component 104 controls the second tracking component 103 to acquire images in a timing sequence synchronized with the pulse repetition frequency, ensuring that the exposure period of the second tracking component 103 is aligned with the pulse output period of the low-power calibration guide light. Specifically, the control component 104 generates a synchronization trigger signal based on a preset pulse repetition frequency. This signal is used simultaneously for triggering the pulse output of the laser emitting component 105 and the exposure trigger of the second tracking component 103, ensuring that the emission period of the guide light pulse and the exposure window of the second tracking component 103 precisely coincide on the time axis within each pulse output cycle. In practical applications, if there is a time offset between the guide light pulse output period and the exposure period of the second tracking component 103, the guide light pulse energy may only partially fall into the exposure window or even completely deviate from it, resulting in insufficient or complete absence of the guide light spot in the acquired image, affecting the reliability of subsequent detection. By aligning the exposure period with the pulse output period, the second tracking component 103 ensures that the guide light energy emitted by each pulse can be fully received, resulting in a clear and stable imaging effect of the guide light spot in the image.

[0048] Step 220: Perform synchronous differential processing on the external image, perform differential operation on the synchronously acquired image and the asynchronously acquired image, and extract the pixel position of the guide spot from the external image based on the differential operation result.

[0049] The control component 104 performs synchronous differential processing on the external image, performing a differential operation between the synchronously acquired image and the asynchronously acquired image to extract the pixel position of the guide spot. The synchronously acquired image refers to the image acquired under conditions where the exposure period and pulse output period are aligned; this image contains both the guide spot and the target image. The asynchronously acquired image refers to the image acquired under conditions where the exposure period and pulse output period are staggered; this image only contains the target image and not the guide spot. The control component 104 performs pixel-level differential operations between the synchronously acquired image and the asynchronously acquired image, that is, subtracting the grayscale values ​​at corresponding pixel positions. Since the target image is basically consistent in both frames, the target background is significantly suppressed after the differential operation, while the guide spot, because it only exists in the synchronously acquired image, is highlighted in the differential result. In practical applications, through synchronous differential processing, even if the brightness of the guide spot is weak or the background light intensity is strong, the guide spot can still be effectively separated from the complex background. The control component 104 then extracts the centroid coordinates of the guide spot from the differential calculation result as the pixel position of the guide spot, which is used for subsequent calculation of pixel deviation.

[0050] By employing a combination of pulse modulation output, synchronized acquisition timing, and synchronous differential processing techniques, the system can reliably detect the pixel position of the guide spot even in environments with strong background light interference. Pulse modulation enables the guide light to acquire identifiable modulation characteristics in the time dimension, synchronized acquisition timing ensures that the energy of the guide light is effectively captured, and synchronous differential processing extracts the pure guide spot signal from complex images through background suppression. The synergistic effect significantly improves the signal-to-noise ratio and robustness of the guide spot detection, providing accurate and reliable input data for subsequent pixel deviation calculation and dynamic compensation.

[0051] Further, step 210 involves controlling the second tracking component 103 to acquire images at a timing synchronized with the pulse repetition frequency, including: Step 211: Obtain the time offset between the actual pulse output time of the low-power calibration guide light and the actual exposure start time of the second tracking component 103.

[0052] When establishing the timing synchronization relationship between the second tracking component 103 and the laser emitting component 105, the control component 104 first acquires the time offset between the actual pulse output time of the low-power calibration guide light and the actual exposure start time of the second tracking component 103. The actual pulse output time refers to the moment when the laser emitting component 105 actually emits the guide light pulse after receiving the trigger command from the control component 104. This moment has an inherent delay due to factors such as circuit response and laser rise edge delay between it and the command issuance time. The actual exposure start time refers to the moment when the detector of the second tracking component 103 begins to accumulate charge after receiving the trigger command from the control component 104. This moment also has a delay due to factors such as command transmission and drive circuit response. The control component 104 measures the time offset between the feedback signal of the laser emitting component 105 and the exposure synchronization signal of the second tracking component 103 in real time. In practical applications, after the system is powered on for the first time or after running for a long time, the time offset may deviate from the initial setting value due to factors such as temperature changes and clock drift, resulting in a partial misalignment between the exposure period and the pulse period. The control component 104 provides basic data for subsequent correction by measuring the actual offset.

[0053] Step 212: Calculate the exposure trigger delay correction value based on the time offset, and adjust the exposure trigger time of the second tracking component 103 according to the exposure trigger delay correction value, so that the exposure period of the second tracking component 103 is aligned with the pulse output period of the low-power calibration guide light in time.

[0054] The control component 104 calculates the exposure trigger delay correction value based on the measured time offset and adjusts the exposure trigger time of the second tracking component 103 according to the correction value, so that the exposure period of the second tracking component 103 is aligned with the pulse output period of the low-power calibration guide light in time. Specifically, the control component 104 compares the measured time offset with a preset target offset, calculates the correction amount needed to advance or delay the exposure trigger time, and then adds this correction amount to the issuance time of the exposure trigger command, so that the actual exposure start time of the second tracking component 103 is closer to the guide light pulse output time. In practical applications, if the detected time offset is positive, it indicates that the exposure start time lags behind the pulse output time, and the control component 104 advances the exposure trigger time by the corresponding correction value; if the time offset is negative, it indicates that the exposure start time precedes the pulse output time, and the control component 104 delays the exposure trigger time by the corresponding correction value. Through this correction process, the exposure window of the second tracking component 103 and the guide light pulse are precisely aligned on the time axis.

[0055] Step 213: After adjusting the exposure trigger time, reacquire the time offset. If the absolute value of the time offset is greater than the preset time synchronization threshold, repeat the steps of acquiring the time offset, calculating the exposure trigger delay correction value, and adjusting the exposure trigger time until the absolute value of the time offset is less than or equal to the preset time synchronization threshold.

[0056] Since a single correction may not completely eliminate the time offset, or the system state may change slightly during the correction process, the control component 104 continuously performs timing alignment using a closed-loop iterative approach. After adjusting the exposure trigger time, the control component 104 re-acquires the time offset between the actual pulse output time of the low-power calibration guide light and the actual exposure start time of the second tracking component 103, and compares the absolute value of this time offset with a preset time synchronization threshold. If the absolute value of the time offset is greater than the preset time synchronization threshold, it indicates that the current synchronization accuracy does not meet the system requirements. The control component 104 then repeats the steps of acquiring the time offset, calculating the exposure trigger delay correction value, and adjusting the exposure trigger time, forming a closed-loop feedback control. After multiple iterations, when the absolute value of the time offset gradually decreases and eventually becomes less than or equal to the preset time synchronization threshold, it indicates that the exposure period and the pulse output period have reached the required synchronization accuracy. The control component 104 then stops iterating and maintains the current exposure trigger time setting. In practical applications, this closed-loop iterative process can automatically compensate for timing drift caused by factors such as temperature changes, clock drift, and device aging, ensuring high-precision timing synchronization throughout the entire system lifecycle.

[0057] By acquiring the time offset between the actual pulse output time and the exposure start time, calculating the exposure trigger delay correction value and dynamically adjusting the exposure trigger time, and then converging the time offset to the preset time synchronization threshold range through closed-loop iteration, the dynamic and precise alignment of the exposure period of the second tracking component 103 with the guide light pulse output period is achieved. This effectively compensates for the timing offset caused by factors such as circuit delay, temperature drift, and clock deviation, providing a high-precision time reference for synchronous differential processing and ensuring that the energy of the guide light pulse can be completely captured, thereby ensuring the reliability and stability of the guide light spot detection.

[0058] Further, in step S110, the control laser emitting component 105 outputs low-power calibration guide light in a pulse-modulated manner, including: Step S111: Obtain the signal-to-noise ratio (SNR) of the guiding light spot in the external image and compare the SNR with a preset SNR threshold.

[0059] During system operation, the control component 104 acquires the signal-to-noise ratio (SNR) of the guiding light spot in the external image collected by the second tracking component 103 and compares this SNR with a preset SNR threshold. The SNR of the guiding light spot is defined as the ratio of the signal intensity to the background noise intensity within the guiding light spot region, which directly reflects the identifiability of the guiding light spot in the image. The control component 104 performs image analysis on the acquired external image, extracts the grayscale distribution of the guiding light spot region and the grayscale distribution of the background region, and calculates the current SNR of the guiding light spot. In practical applications, the SNR of the guiding light spot changes under different environmental conditions. For example, in strong daylight conditions, the background noise is high and the SNR is low; in nighttime or low-light conditions, the background noise is low and the SNR is high; when the target distance is far, the guiding light spot energy attenuates, and the SNR decreases accordingly. The preset signal-to-noise ratio threshold is set in advance based on the minimum signal-to-noise ratio requirement of the guide spot detection algorithm. When the actual signal-to-noise ratio is lower than the threshold, it indicates that the guide spot is difficult to be reliably detected; when the actual signal-to-noise ratio is higher than the threshold, it indicates that the guide spot detection has sufficient reliability.

[0060] Step S112: When the signal-to-noise ratio is less than the preset signal-to-noise ratio threshold, adjust the output parameters of the pulse modulation method. The output parameters include pulse width, pulse repetition frequency and / or pulse peak power to improve the signal-to-noise ratio.

[0061] When the control component 104 determines that the signal-to-noise ratio (SNR) of the guide spot is less than the preset SNR threshold, it indicates that the detection reliability of the current guide spot is insufficient. The control component 104 then activates the output parameter adjustment mechanism to adjust the output parameters of the pulse modulation method to improve the SNR. Adjustable output parameters include one or more of the following: pulse width, pulse repetition frequency, and pulse peak power. Increasing the pulse width prolongs the duration of a single pulse, thereby accumulating more guide light energy during the exposure period of the second tracking component 103 and increasing the signal strength of the guide spot. Increasing the pulse repetition frequency increases the number of pulse outputs per unit time, improving the SNR through multi-frame superposition. Increasing the pulse peak power directly increases the output energy of each pulse, resulting in a higher grayscale value for the guide spot in the image. In practical applications, the control component 104 selects to adjust one or more parameters based on the difference between the current SNR and the preset SNR threshold, as well as the current power consumption and thermal load of the system, to raise the SNR to a level that meets the detection requirements. For example, in a long-distance target scenario, the control component 104 prioritizes increasing the peak pulse power to compensate for energy attenuation on the transmission path; in a strong background light scenario, the control component 104 simultaneously adjusts the pulse width and pulse repetition frequency, thereby improving the signal-to-noise ratio by combining increased pulse energy with multi-frame accumulation.

[0062] Step S113: When the signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio threshold, maintain the current output parameters or reduce the output parameters to decrease the output energy of the guide light.

[0063] When the control component 104 determines that the signal-to-noise ratio (SNR) of the guiding light spot is greater than or equal to a preset SNR threshold, it indicates that the detection reliability of the current guiding light spot meets the system requirements. The control component 104 maintains the current output parameters unchanged, or reduces the output parameters to reduce the guiding light output energy while meeting the detection reliability requirements. Maintaining the current output parameters is suitable for scenarios where the system is currently stable and no additional adjustments are needed. Reducing the output parameters is suitable for scenarios where the current SNR is significantly higher than the preset threshold and there is redundant energy. The control component 104 can choose to reduce the pulse width, reduce the pulse repetition frequency, or reduce the pulse peak power to reduce the guiding light output energy to a level that just meets the detection reliability requirements. In practical applications, reducing the guiding light output energy has multiple beneficial effects: reducing the power consumption and heat load of the laser emitting component 105, extending the device's lifespan; reducing the potential impact of the guiding light on the target or operator, improving system safety; and reducing the risk of the guiding light being detected by enemy detection equipment, enhancing the system's stealth. The control component 104 gradually adjusts the output parameters according to the SNR redundancy, ensuring that the system always operates in an optimal state that balances detection reliability and energy efficiency.

[0064] By acquiring the signal-to-noise ratio (SNR) of the guiding light spot and comparing it with a preset threshold, the system adaptively adjusts the pulse width, pulse repetition frequency, or pulse peak power to improve the SNR when it is insufficient. When the SNR is sufficient, the system maintains or reduces the output parameters to reduce the guiding light energy. This achieves dynamic matching between the guiding light output parameters and real-time environmental conditions, ensuring that the system can stably detect the guiding light spot under complex scenarios such as different lighting conditions, different target distances, and different surface reflectivities. At the same time, it avoids unnecessary energy output, reduces system power consumption and heat load, and improves the system's concealment and long-term operational reliability.

[0065] Further, the calculation of the angle compensation amount of the beam pointing component 106 based on the pixel deviation in step S300 includes: Step S310: Obtain the angular velocity of the target. The angular velocity is calculated based on the positional changes of the target image in multiple consecutive frames of external images.

[0066] Before calculating the angle compensation, the control component 104 first acquires the target's angular velocity, which is calculated based on the positional changes of the target image in multiple consecutive frames of external images. The control component 104 executes a target tracking algorithm on the multiple consecutive frames of external images acquired by the second tracking component 103, extracting the pixel coordinates of the target image in each frame. By calculating the ratio of the change in target position between adjacent frames to the inter-frame time interval, the target's velocity in the image plane is obtained. This velocity is then converted into the target's angular velocity in space by combining the imaging parameters of the second tracking component 103. In practical applications, when the target is in a high-speed maneuver, such as a drone making a rapid turn or dive, its angular velocity is large. If compensation is based solely on the pixel deviation at the current moment, the target may have moved to a new position during the compensation process, resulting in residual deviations after compensation. By calculating the target's angular velocity in real time, the control component 104 obtains quantitative information about the target's motion state, providing input for subsequent prediction and compensation.

[0067] Step S320: Calculate the predicted compensation amount based on the pixel deviation, angular velocity, and system delay time from the acquisition of external images by the control component 104 to the change of the reflection angle by the driving beam pointing component 106.

[0068] The control component 104 calculates the predicted compensation amount based on the pixel deviation, target angular velocity, and system delay time. The system delay time refers to the inherent time required for the control component 104 to change the reflection angle of the beam pointing component 106 from acquiring an external image. This delay time includes the sum of image acquisition and transmission delay, image processing and deviation calculation delay, control command transmission delay, and beam pointing component 106 response delay. The control component 104 uses the pixel deviation as the deviation reference at the current moment, and the product of the target angular velocity and the system delay time as the additional deviation generated by the target movement within the delay time. The two are then superimposed to obtain the total deviation at a future moment, which is then converted into the predicted compensation amount of the beam pointing component 106 in angular space. In practical applications, if the system delay time is tens of milliseconds and the target moves at a high angular velocity, the additional deviation generated by the target movement within the delay time may reach a level comparable to or even greater than the current deviation. Compensating only for the current deviation cannot eliminate the hysteresis error caused by the delay. By introducing the target angular velocity and system delay time to calculate the predicted compensation amount, the compensation command pre-considers the target's movement within the delay time, achieving advance compensation.

[0069] In step S330, the predicted compensation amount is used as the angle compensation amount to drive the beam pointing component 106 to change the reflection angle.

[0070] The control component 104 uses the predicted compensation amount calculated in step S320 as the angle compensation amount to drive the beam pointing component 106 to change the reflection angle. Specifically, the control component 104 converts the predicted compensation amount into a driving voltage or driving current command for the beam pointing component 106, sends the command to the driving circuit of the beam pointing component 106, causing the fast-reflecting mirror to deflect at a set angle in the corresponding direction, thereby changing the laser emission direction and the incident direction of the imaging optical path. In practical applications, after the control component 104 completes the calculation of the predicted compensation amount and drives the beam pointing component 106 to perform compensation, the next frame of the acquired external image will show the effect of the guide spot moving closer to the center of the target image. If the predicted compensation amount is calculated accurately and the target motion state does not change abruptly, the pixel deviation after compensation will be significantly reduced or even approach zero. By using the predicted compensation amount instead of the current deviation amount as the angle compensation amount, the system can effectively offset the hysteresis deviation caused by system delay and target motion at the time of compensation execution, improving the calibration accuracy during dynamic tracking.

[0071] By acquiring the target's angular velocity and calculating the system delay time from image acquisition to driving the beam pointing component 106, the current pixel deviation is superimposed with the predicted deviation obtained by multiplying the target angular velocity by the system delay time. This allows for the calculation of a predicted compensation amount that can compensate for the impact of target motion in advance. As a result, the beam pointing component 106 actually offsets the deviation of a future time rather than the deviation of a historical time at the time of compensation execution. This effectively eliminates the compensation lag problem caused by the inherent system delay and the high-speed motion of the target, and significantly improves the dynamic calibration accuracy and tracking stability of the system for high-speed maneuvering targets.

[0072] In summary, the anti-drone system calibration method with laser and visible light imaging sharing the same optical path provided by the embodiments of the present invention constructs a dynamic real-time closed-loop calibration mechanism with the actual target as the reference point. The method first involves the control component 104 controlling the laser emitting component 105 to output a low-power calibration guide light with the same wavelength as the strike laser. This guide light is reflected by the beam splitter and combiner component 107 to the beam pointing component 106 and then emitted outward, forming a guide light spot on the target surface. Subsequently, the control component 104 controls the second tracking component 103 to acquire an external image containing the guide light spot and the target image through a common optical path, calculate the pixel deviation between the guide light spot and the target image, and determine whether the deviation is greater than a preset deviation threshold. If it is greater, the angle compensation of the beam pointing component 106 is calculated based on the pixel deviation, and the beam pointing component 106 is driven to change the reflection angle. By repeatedly iterating the above steps until the pixel deviation converges to within the preset deviation threshold range, dynamic real-time calibration of the common optical path line-of-sight deviation is achieved without external target calibration or interruption of target tracking, effectively eliminating dynamic line-of-sight deviation caused by factors such as vibration, temperature changes, and long-term accumulated errors.

[0073] Building upon this foundation, a refined mechanism to enhance calibration accuracy and reliability was further introduced. This involved outputting guide light using pulse modulation and synchronizing the acquisition timing of the second tracking component 103 with the pulse repetition frequency. Differential operations were then performed on the synchronously and asynchronously acquired images to extract the guide light spot pixel positions, significantly improving the detection signal-to-noise ratio and robustness of the guide light spot under strong background light interference. Furthermore, by acquiring the time offset between the actual pulse output time and the exposure start time, the exposure trigger delay correction value was calculated, and the exposure trigger time was dynamically adjusted. Finally, through closed-loop iteration, the time offset was converged to a preset time synchronization threshold range, achieving optimal exposure accuracy. The dynamic and precise alignment of the time period with the pulse output time period ensures complete capture of the guide light pulse energy. By acquiring the signal-to-noise ratio (SNR) of the guide light spot and comparing it with a preset threshold, the system adaptively adjusts the pulse width, pulse repetition frequency, or pulse peak power to improve the SNR when it is insufficient, and maintains or reduces the output parameters to reduce the guide light energy when the SNR is sufficient, thus achieving dynamic matching between the output parameters and real-time environmental conditions. By acquiring the target's angular velocity and calculating the predicted compensation amount in conjunction with the system delay time, the predicted compensation amount is used as the angle compensation amount to drive the beam pointing component 106, effectively eliminating the compensation lag problem caused by the inherent system delay and the high-speed movement of the target. The synergistic effect of these mechanisms enables the system to maintain high-precision common-path line-of-sight consistency under complex environments and dynamic conditions, providing a reliable target pointing basis for anti-UAV laser strikes.

[0074] The embodiments of the present invention aim to protect an anti-drone system and its calibration method that uses a shared optical path for laser and visible light imaging, and have the following effects: 1. By sharing a beam splitter and beam combiner and a beam pointing component to form a common optical path structure between the laser emitting component and the second tracking component, the laser strike optical path and the fine tracking imaging optical path are made to be coaxial and of the same origin on the optical reference. The laser point of action is always located at the real-time positioning center of the fine tracking unit, which fundamentally eliminates the line-of-sight deviation caused by physical intervals, vibrations, temperature changes and other factors in traditional independent optical paths. This significantly improves the consistency between laser strike and target positioning and ensures the accuracy of strike at different distances. 2. By controlling the laser emission component to output a low-power calibration guide light of the same wavelength as the strike laser during system operation, and using the second tracking component to acquire real-time external images containing the guide light spot and the target image, the pixel deviation is calculated and the beam pointing component is driven to perform closed-loop compensation. The process is iteratively converged until the deviation meets the threshold, thus realizing dynamic real-time calibration throughout the entire operating cycle. This effectively addresses dynamic interferences such as vibration, thermal drift, and long-term cumulative errors, and significantly improves the system's adaptability and stability in complex dynamic environments such as vehicle-mounted and airborne systems. 3. By outputting calibration guide light in a pulse modulation manner and synchronizing the acquisition timing of the second tracking component with the pulse repetition frequency, and then performing differential operations on the synchronously acquired image and the asynchronously acquired image to extract the pixel position of the guide light spot, background interference such as strong ambient light and differences in target surface reflection are effectively suppressed, ensuring reliable detection of the guide light spot under complex lighting conditions. At the same time, by obtaining the signal-to-noise ratio of the guide light spot and adaptively adjusting the pulse width, repetition frequency or peak power accordingly, the output energy of the guide light is minimized while meeting the detection requirements, thus balancing system concealment and energy consumption optimization.

[0075] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0076] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0077] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0078] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1The steps of the function specified in one or more boxes.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A counter-drone system with a shared optical path for laser and visible light imaging, characterized in that, include: The system comprises a first tracking component (102), a second tracking component (103), a laser emitting component (105), a beam pointing component (106), a beam splitting and combining component (107), a mirror component (108), and a control component (104). The beam splitter and beam combiner (107) is disposed between the outgoing optical path of the laser emitting component (105) and the incoming optical path of the second tracking component (103); The reflector assembly (108) is disposed between the beam splitter and beam combiner assembly (107) and the second tracking assembly (103); The control component (104) is electrically connected to the first tracking component (102) for coarse target tracking, the second tracking component (103) for fine target tracking, the laser emission component (105), and the beam pointing component (106), respectively. The laser emitted by the laser emitting component (105) is reflected by the beam splitting and beam combining component (107) to the beam pointing component (106) and then emitted outward; The incident light of the second tracking component (103) is reflected by the beam pointing component (106), transmitted by the beam splitting and combining component (107), and reflected by the mirror component (108) before entering the second tracking component (103), forming a common optical path structure shared with the laser emission optical path.

2. The anti-drone system with laser and visible light imaging sharing a common optical path according to claim 1, characterized in that, Also includes: The rotating assembly (101) is electrically connected to the control assembly (104). The first tracking assembly (102), the second tracking assembly (103), the laser emitting assembly (105), the beam pointing assembly (106), the beam splitting and combining assembly (107), the mirror assembly (108), and the control assembly (104) are all fixed on the support platform of the rotating assembly (101).

3. The anti-drone system with laser and visible light imaging sharing a common optical path according to claim 2, characterized in that, The rotating assembly (101) is a two-dimensional turntable; The carrier platform can rotate in the horizontal and vertical directions, driving the first tracking component (102) and the second tracking component (103) to track the target.

4. The anti-drone system with laser and visible light imaging sharing a common optical path according to any one of claims 1-3, characterized in that, The first tracking component (102) is a large field-of-view imaging unit for coarse tracking of the target; The second tracking component (103) is a small field-of-view imaging unit for fine tracking of the target; The field center of the first tracking component (102) is coaxial with the field center of the second tracking component (103).

5. The anti-drone system with laser and visible light imaging sharing a common optical path according to any one of claims 1-3, characterized in that, The optical centers of the laser emitting component (105), the beam pointing component (106), the beam splitting and combining component (107), and the reflector component (108) are located in the same optical reference plane.

6. A calibration method for an anti-drone system using a shared optical path for laser and visible light imaging, characterized in that, The calibration of an anti-drone system with a shared optical path for laser and visible light imaging as described in any one of claims 1-5 includes the following steps: Based on the low-power calibration guide light output by the laser emitting component (105), the low-power calibration guide light has the same wavelength as the striking laser output by the laser emitting component (105). The low-power calibration guide light is reflected by the beam splitter and beam combiner (107) to the beam pointing component (106) and then emitted outward. An external image is acquired based on the second tracking component (103), the external image including the guide spot formed by the low-power calibration guide light projected onto the target surface and the target image of the target; Calculate the pixel deviation between the guide spot and the target image in the external image, determine whether the pixel deviation is greater than a preset deviation threshold, and if it is greater, calculate the angle compensation of the beam pointing component (106) based on the pixel deviation and drive the beam pointing component (106) to change the reflection angle. Repeat the steps of outputting the low-power calibration guide light, acquiring the external image, calculating the pixel deviation, determining the pixel deviation, and driving the beam pointing component (106) to change the reflection angle until the pixel deviation is less than or equal to the preset deviation threshold.

7. The calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path according to claim 6, characterized in that, The low-power calibration guide light output based on the laser emitting component (105) includes: The laser emitting component (105) is controlled to output the low-power calibration guide light in a pulse modulation mode, wherein the pulse modulation mode includes a preset pulse width and pulse repetition frequency; The acquisition of external images based on the second tracking component (103) includes: The second tracking component (103) is controlled to acquire external images in a timing sequence synchronized with the pulse repetition frequency, so that the exposure period of the second tracking component (103) is aligned with the pulse output period of the low-power calibration guide light in time; Synchronous differential processing is performed on the external image, and a differential operation is performed between the synchronously acquired image and the asynchronously acquired image. The pixel position of the guide spot is extracted from the external image based on the differential operation result.

8. The calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path according to claim 7, characterized in that, The control of the second tracking component (103) to acquire images at a timing synchronized with the pulse repetition frequency includes: Obtain the time offset between the actual pulse output time of the low-power calibration guide light and the actual exposure start time of the second tracking component (103); The exposure trigger delay correction value is calculated based on the time offset, and the exposure trigger time of the second tracking component (103) is adjusted according to the exposure trigger delay correction value so that the exposure period of the second tracking component (103) is aligned with the pulse output period of the low-power calibration guide light in time. After adjusting the exposure trigger time, the time offset is reacquired. If the absolute value of the time offset is greater than the preset time synchronization threshold, the steps of acquiring the time offset, calculating the exposure trigger delay correction value, and adjusting the exposure trigger time are repeated until the absolute value of the time offset is less than or equal to the preset time synchronization threshold.

9. The calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path according to claim 7, characterized in that, The control of the laser emitting component (105) to output the low-power calibration guide light in a pulse modulation manner includes: The signal-to-noise ratio (SNR) of the guiding light spot in the external image is obtained, and the SNR is compared with a preset SNR threshold. When the signal-to-noise ratio is less than the preset signal-to-noise ratio threshold, the output parameters of the pulse modulation method are adjusted, including the pulse width, pulse repetition frequency and / or pulse peak power, to improve the signal-to-noise ratio. When the signal-to-noise ratio is greater than or equal to the preset signal-to-noise ratio threshold, the current output parameters are maintained or the output parameters are reduced to decrease the output energy of the guide light.

10. The calibration method for an anti-drone system with laser and visible light imaging sharing a common optical path according to claim 6, characterized in that, The step of calculating the angle compensation amount of the beam pointing component (106) based on the pixel deviation includes: The angular velocity of the target is obtained, and the angular velocity is calculated based on the positional changes of the target image in multiple consecutive frames of the external image; The predicted compensation amount is calculated based on the pixel deviation, the angular velocity, and the system delay time of the control component (104) from acquiring the external image to driving the beam pointing component (106) to change the reflection angle. The predicted compensation amount is used as the angle compensation amount to drive the beam pointing component (106) to change the reflection angle.

Images