A dynamic space precision positioning device and method

Abstract

The present invention provides a dynamic space precision positioning device and method, which is characterized in that: a laser signal with modulation information forms four light spots in space after passing through a fast scanning mirror. The light signal reflected by the corner reflector is received by a distance measuring sensor, and the distance between the transmitting end and the receiving end is calculated. The photoelectric detection receives the signal from the transmitting end and performs received energy calculation and signal demodulation. The spatial position information of the receiving end is calculated based on the distance information and received energy. The system calculates the positioning information of dynamic targets in the air through the relationship between laser ranging and the energy of the received light signal, and has the technical characteristics of strong anti-interference ability and high positioning accuracy.

Description

Technical Field

[0001] The invention relates to a dynamic space precision positioning device and method, belonging to the technical field of space laser navigation. Background Art

[0002] Spatial positioning and guidance is one of the core technologies in application fields such as aircraft navigation, precision docking, and aerial refueling. It requires accurate and rapid positioning of the position, posture and other information between two moving carriers. At present, the technologies that can achieve positioning and guidance mainly include satellite navigation positioning technology, inertial navigation positioning technology, binocular vision positioning technology, radar scanning technology, etc. The above main technologies are all based on information transmission, positioning, ranging, navigation and other related technologies of radio frequency carriers. They are easily interfered with in strong electromagnetic field environments, making the related equipment ineffective. Although inertial navigation technology is not affected by electromagnetic interference, due to the existence of error accumulation effect, the performance of the corresponding equipment will also decline when working for a long time. The precise positioning method based on laser carrier can solve the technical problem of electromagnetic interference. Wang Tong et al. proposed a spatial four-quadrant active positioning method (Journal: China Laser, 2020, Vol. 47, No. 6, 0606001) to achieve precise positioning under uniform light spot. However, in actual applications, the far-field spot of the laser is usually a Gaussian mode, and the Gaussian radius varies with the distance, and the received energy is also different, which leads to limitations in its application, and the positioning area is only on the order of the aperture diameter of the transmitting antenna. Summary of the invention

[0003] The purpose of the present invention is to provide a dynamic space precision positioning device and method. A laser signal with modulation information forms four light spots in space in sequence after passing through a fast scanning mirror. The light signal reflected back by the corner reflector is received by the distance sensor, and the distance between the transmitter and the receiver is calculated. The photoelectric detector receives the signal from the transmitter and calculates the received energy and demodulates the signal. The spatial position information of the receiver is calculated based on the distance information and the received energy.

[0004] The technical solution provided by the present invention is achieved as follows:

[0005] A dynamic space precision positioning device and method, comprising a modulator 1, a laser 2, a beam collimator 3, a fast scanning mirror 4, a transmitting antenna 5, a distance measuring sensor 6, a main control computer 7, a corner reflector 8, a receiving antenna 9, a photoelectric detector 10, an amplifier and filter 11, a signal demodulator 12, a signal processor 13, and an energy calculator 14.

[0006] The specific implementation method is as follows:

[0007] (1) The modulator 1 at the transmitting end modulates the ranging signal onto the laser 2. The laser signal emitted by the laser 2 is expanded by the beam collimator 3 and then incident on the mirror surface of the fast scanning mirror 4. After being reflected by the mirror surface, the laser signal is emitted through the transmitting antenna 5.

[0008] (2) Start the scanning program of the fast scanning mirror 4 to form a 2×2 light spot matrix in space, and the energy spatial distribution of each light spot has a Gaussian function form; the corner reflector 8 at the receiving end reflects part of the laser signal back to the transmitting end; the reflected laser signal is received by the distance measuring sensor 6, and after photoelectric conversion, the reflected laser signal is converted into an electrical signal, and the point electrical signal is sent to the main control calculation 7 to calculate the distance between the transmitting end and the receiving end, and the distance value is sent to the modulator 1;

[0009] (3) The receiving antenna 9 at the receiving end receives the laser signal, and the photodetector 10 receives the laser signal and converts it into an electrical signal. After the amplification and filtering 11 amplifies and filters the electrical signal, the electrical signal is divided into two paths. One path is sent to the signal demodulator 12 to obtain the distance value, and the other path is sent to the energy calculator 14 to obtain the energy value of the received laser signal.

[0010] (4) The receiving end calculates the relative position of the receiving antenna 9 in a light spot according to the laser beam divergence value of the transmitting end, the distance value between the transmitting end and the receiving end, and the energy value of the received laser signal;

[0011] (5) After the receiving antenna 9 calculates its position in the four light spots in turn, the position of the receiving antenna 9 in the 2×2 light spot matrix is ​​calculated based on the four-quadrant detector position coordinate solution principle.

[0012] The above steps can achieve dynamic spatial precision positioning.

[0013] The positive effect of the present invention is that by adding the far-field light spot Gaussian pattern and distance information to the space positioning method, the aerial positioning area of ​​the aerial dynamic positioning system can be effectively increased, the overall positioning accuracy of the system can be improved, and the application field can be expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of a dynamic space precision positioning device and method;

[0015] Figure 2 It is a 2×2 spot matrix diagram;

[0016] Figure 3 is a schematic diagram of a Gaussian spot;

[0017] Figure 4 is the energy distribution diagram of Gaussian spot; DETAILED DESCRIPTION

[0018] The following is combined with Figure 1 -4 and Examples further describe the present invention:

[0019] The laser uses a laser with a wavelength of 1550nm; the modulator uses an intensity light modulator; the photoelectric detector uses the infrared detector G12180-250A; the fast scanning mirror uses an electromagnetic fast scanning mirror; the ranging sensor uses IGA500-APD; the corner reflector uses the Sorebo PS975M-A model product.

[0020] Example 1

[0021] Modulator 1, laser 2, beam collimator 3, fast scanning mirror 4, transmitting antenna 5, ranging sensor 6, main control computer 7, corner reflector 8, receiving antenna 9, photoelectric detector 10, amplification and filtering 11, signal demodulator 12, signal processor 13, energy calculator 14 according to the instructions Figure 1 Way of placement.

[0022] The fast scanning mirror forms a 2×2 light spot matrix in the air according to the scanning procedure as shown in the attached manual. Figure 2 .

[0023] The energy Gaussian distribution form of a single light spot is as shown in the attached manual. Figure 3 .

[0024] The implementation steps are as follows:

[0025] (1) The modulator 1 at the transmitting end modulates the ranging signal onto the laser 2. The laser signal emitted by the laser 2 is expanded by the beam collimator 3 and then incident on the mirror surface of the fast scanning mirror 4. After being reflected by the mirror surface, the laser signal is emitted through the transmitting antenna 5.

[0026] (2) Start the scanning program of the fast scanning mirror 4 to form a 2×2 light spot matrix in space, and the energy spatial distribution of each light spot has a Gaussian function form; the corner reflector 8 at the receiving end reflects part of the laser signal back to the transmitting end; the reflected laser signal is received by the ranging sensor 6, and after photoelectric conversion, the reflected laser signal is converted into an electrical signal, and the point electrical signal is sent to the main control calculation 7 to calculate the distance between the transmitting end and the receiving end, and the distance value is sent to the modulator 1.

[0027] (3) The receiving antenna 9 at the receiving end receives the laser signal, and the photodetector 10 receives the laser signal and converts it into an electrical signal. After the amplification and filtering 11 amplifies and filters the electrical signal, the electrical signal is divided into two paths. One signal is sent to the signal demodulator 12 to obtain the distance value, and the other signal is sent to the energy calculator 14 to obtain the energy value of the received laser signal.

[0028] (4) The receiving end calculates the relative position of the receiving antenna 9 in a light spot based on the laser beam divergence value (2mrad) of the transmitting end, the distance value between the transmitting end and the receiving end (L), and the energy value of the received laser signal (a). The specific principle is as follows:

[0029] Far-field spot diameter = L × 2mrad × 10-3 (m);

[0030] The far-field Gaussian light field function can be obtained according to the light spot diameter, and the relative position coordinates of the receiving antenna 9 in the Gaussian light field can be obtained according to the received signal energy value a.

[0031] (5) After the receiving antenna 9 calculates its position in the four light spots in turn, the position of the receiving antenna 9 in the 2×2 light spot matrix is ​​calculated based on the four-quadrant detector position coordinate solution principle.

[0032] Through the above steps, it is possible to form a far-field light spot with a diameter of 1m at a distance of 500m, the aerial positioning area reaches 2m×2m, and the positioning accuracy reaches the millimeter level.

[0033] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention includes but is not limited to the embodiments described in the specific implementation manner. Any other implementation manners derived by those skilled in the art based on the technical solution of the present invention also fall within the scope of protection of the present invention.

Claims

1. A dynamic spatial precision positioning method, characterized in that The positioning device used in the positioning method is composed of a modulator (1), a laser (2), a beam collimator (3), a fast scanning mirror (4), a transmitting antenna (5), a distance sensor (6), a main control computer (7), a corner reflector (8), a receiving antenna (9), a photoelectric detector (10), an amplifier and filter (11), a signal demodulator (12), a signal processor (13), and an energy calculator (14); The specific steps are as follows: Step 1: The modulator (1) at the transmitting end modulates the ranging signal on the laser (2). The laser signal emitted by the laser (2) is expanded by the beam collimator (3) and then incident on the mirror surface of the fast scanning mirror (4). After being reflected by the mirror surface, the laser signal is emitted through the transmitting antenna (5). Step 2, start the scanning program of the fast scanning mirror (4), form a 2×2 light spot matrix in space, and the energy spatial distribution of each light spot has a Gaussian function form; the corner reflector (8) at the receiving end reflects part of the laser signal back to the transmitting end; the reflected laser signal is received by the distance measuring sensor (6), and after photoelectric conversion, the reflected laser signal is converted into an electrical signal, and the electrical signal is sent to the main control computer (7) to calculate the distance between the transmitting end and the receiving end, and the distance value is sent to the modulator (1); Step 3, the receiving antenna (9) at the receiving end receives the laser signal, the photodetector (10) receives the laser signal and converts it into an electrical signal, and after amplification and filtering (11) amplifies and filters the electrical signal, the electrical signal is divided into two paths, one signal is sent to the signal demodulator (12) to obtain the distance value, and the other signal is sent to the energy calculator (14) to obtain the energy value of the received laser signal; Step 4, the receiving end calculates the relative position of the receiving antenna (9) in a light spot according to the laser beam divergence value of the transmitting end, the distance value between the transmitting end and the receiving end, and the energy value of the received laser signal; Step 5: After the receiving end calculates the position of the receiving antenna (9) in the four light spots in sequence, it calculates the position of the receiving antenna (9) in the 2×2 light spot matrix based on the four-quadrant detector position coordinate solution principle.

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