A motion platform tracking system and method for wireless laser communication

Abstract

The application discloses a motion platform tracking system for wireless laser communication, which comprises a transmitting end and a receiving end, both of which have the same functions of transmitting and receiving; the transmitting end is mechanically connected with a first disturbed carrier; the transmitting end is provided with a first control processing unit, a first three-dimensional stable platform connected with the first control processing unit, a first two-dimensional servo turntable, a first GPS module, a first GSM / GPRS module and a beacon laser; the receiving end is mechanically connected with a second disturbed carrier; the receiving end is provided with a second control processing unit, a second three-dimensional stable platform connected with the second control processing unit, a second two-dimensional servo turntable, a second GPS module, a second GSM / GPRS module and a CCD detector; the CCD detector is connected with a receiving antenna; and the receiving antenna is mechanically connected with the second two-dimensional servo turntable. The system has the characteristics of high positioning precision and good tracking effect, and the tracking method is simple and practical.

Description

Technical Field

[0001] This invention belongs to the field of wireless laser communication, specifically a motion platform tracking system for wireless laser communication. Background Technology

[0002] In recent years, with the rapid development of wireless laser communication on moving platforms, wireless laser communication technology has been widely used in vehicle-mounted, airborne, and shipborne fields. However, traditional on-the-move wireless laser communication equipment uses a two-axis servo control system, which is easily affected by changes in pitch, azimuth, and roll angles (roll, pitch, and bow angles of shipborne platforms). In particular, traditional servo systems do not have a roll axis and can only compensate for pitch and azimuth attitude angles, which cannot guarantee the positioning accuracy of the roll axis, thus having a significant adverse impact on the performance of wireless laser communication on moving platforms. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing a motion platform tracking system for wireless laser communication. This system features high positioning accuracy and good tracking performance, and the tracking method is simple and practical.

[0004] The technical solution to achieve the objective of this invention is:

[0005] A motion platform tracking system for wireless laser communication includes a transmitter and a receiver, both equipped with the same transmitting and receiving functions, wherein:

[0006] The transmitter is mechanically connected to the first disturbance carrier. The transmitter is equipped with a first control processing unit and a first three-dimensional stabilization platform, a first two-dimensional servo turntable, a first GPS module, a first GSM / GPRS module, and a beacon laser connected to the first control processing unit. The beacon laser is connected to the transmitting antenna, the transmitting antenna is mechanically connected to the first two-dimensional servo turntable, and the first two-dimensional servo turntable is mechanically connected to the first three-dimensional stabilization platform. The first control processing unit receives GPS positioning information from the first GPS module and sends radio frequency GPS positioning information to the receiver. The first control processing unit sends control commands to the beacon laser to control the beacon laser's on / off state, sends control commands to the first two-dimensional servo turntable to control the horizontal pitch angle of the first two-dimensional servo turntable motor, controls the emission direction of the laser beam from the transmitter, receives feedback information from the first two-dimensional servo turntable for processing, and is electrically connected to the first three-dimensional stabilization platform to send control commands to the first three-dimensional stabilization platform to keep the transmitter stable in three axes.

[0007] The receiving end is mechanically connected to the second disturbance carrier. The receiving end is equipped with a second control processing unit and a second three-dimensional stabilization platform, a second two-dimensional servo turntable, a second GPS module, a second GSM / GPRS module, and a CCD detector connected to the second control processing unit. The CCD detector is connected to a receiving antenna, which is mechanically connected to the second two-dimensional servo turntable. The second two-dimensional servo turntable is mechanically connected to the second three-dimensional stabilization platform. The second control processing unit receives GPS positioning information from the second GPS module and sends radio frequency GPS positioning information to the transmitting end. The second control processing unit receives image target information of the laser beam, calculates the offset of the laser beam relative to the optical receiver based on the light spot information collected by the CCD sensor, and locates the laser spot. The second control processing unit sends control commands to the second two-dimensional servo turntable to control the horizontal pitch angle of the second two-dimensional servo turntable motor, receives feedback information from the second two-dimensional servo turntable for processing, calculates the number of steps executed by the motor based on the offset of the laser beam relative to the optical receiver, and sends control commands to the second three-dimensional stabilization platform to keep the receiving end stable in three axes.

[0008] The first and second three-dimensional stabilization platforms have the same structure, both with three mutually perpendicular rotation axes, and both have horizontal, pitch and roll stabilization functions, with stabilization angle ranges of: horizontal ±25°, pitch ±8.8° and roll ±7°, respectively.

[0009] The first two-dimensional servo turntable and the second two-dimensional servo turntable have the same structure, both of which are equipped with two rotation axes: pitch and horizontal. The pitch scanning angle range is ±45°, and the horizontal scanning angle range is 0° to 360°.

[0010] The 3D stabilization platform continuously collects motion attitude data from the carrier and performs reverse compensation on the attitude of the wireless optical equipment on the platform. This greatly reduces the drastic changes in the attitude of the 2D servo turntable, avoiding the impact of moving carriers such as vehicle-mounted, airborne, or shipborne vehicles on the equipment on the platform. This ensures that the 2D tracking turntable maintains a relatively stable attitude relative to the horizontal plane. The 2D tracking turntable then captures, aligns, and tracks the beacon, thereby ensuring that the equipment installed on the platform can achieve rapid scanning, precise alignment, and continuous tracking.

[0011] A method for tracking a motion platform for wireless laser communication, comprising the aforementioned motion platform tracking system for wireless laser communication, the method comprising the following steps:

[0012] 1) The three-dimensional stabilization platform has the function of quickly compensating for attitude angles. When the carrier is disturbed, the three-dimensional stabilization platform quickly compensates for the attitude angle caused by the disturbance.

[0013] 2) Obtain the location information of the other end. Based on the first GPS module or the second GPS module, obtain the location information of the local end and send the local location information to the other end through the first GMS / GPRS module or the second GMS / GPRS module via radio frequency communication. After receiving the location information, the first GMS / GPRS module or the second GMS / GPRS module of the other end transmits it to the first control processing unit or the second control processing unit respectively. Then, according to the location information, control the laser beam emitted by the optical transmitter to point to the location of the other end.

[0014] 3) The first control processing unit or the second control processing unit sends control commands to the first two-dimensional servo turntable or the second two-dimensional servo turntable respectively according to the orientation information of the other party obtained in step 2) to scan the uncertain area in the direction of the other end. At this time, the first two-dimensional servo turntable or the second three-dimensional servo turntable can quickly compensate for the attitude angle, continuously maintain the stability of the equipment, and improve the capture and alignment probability of the two-dimensional turntable.

[0015] 4) When the CCD sensor at the receiving end captures the laser beam, it feeds back the captured information to the second control processing unit. The second control unit controls the second two-dimensional servo turntable to stop scanning based on the received information. At the same time, it drives the second two-dimensional servo turntable to rotate so that the laser spot is positioned at the center of the CCD sensor's field of view. The first three-dimensional servo turntable and the second three-dimensional servo turntable continuously maintain the stability of the equipment, reduce drastic changes in the equipment's posture, and improve the tracking stability of the two-dimensional turntable. When the laser spots at both ends are always positioned at the center of the field of view, the visual axes of the optical transmitter and the optical receiver are precisely aligned.

[0016] This technical solution uses a stable platform to control the wireless laser communication equipment, achieving three-axis stabilization and two-axis tracking. This overcomes the shortcomings of traditional two-axis servo systems and avoids the impact of the motion platform on the communication equipment. Compared with traditional two-axis servo systems for mobile platform communication equipment, it features high positioning accuracy and excellent tracking performance. This tracking method is simple and practical. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an embodiment;

[0018] Figure 2 This is a schematic diagram of the method flow in the embodiment;

[0019] Figure 3 This is a schematic diagram of the three-dimensional stabilization platform in the embodiment;

[0020] Figure 4 This is a schematic diagram of the structure of the two-dimensional stable platform in the embodiment. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this is not intended to limit the scope of the invention.

[0022] Example:

[0023] Reference Figure 1 A motion platform tracking system for wireless laser communication includes a transmitter and a receiver, both equipped with the same transmitting and receiving functions, wherein:

[0024] The transmitter is mechanically connected to the first disturbance carrier. The transmitter is equipped with a first control processing unit and a first three-dimensional stabilization platform, a first two-dimensional servo turntable, a first GPS module, a first GSM / GPRS module, and a beacon laser connected to the first control processing unit. The beacon laser is connected to the transmitting antenna, the transmitting antenna is mechanically connected to the first two-dimensional servo turntable, and the first two-dimensional servo turntable is mechanically connected to the first three-dimensional stabilization platform. The first control processing unit receives GPS positioning information from the first GPS module and sends radio frequency GPS positioning information to the receiver. The first control processing unit sends control commands to the beacon laser to control the beacon laser's on / off state, sends control commands to the first two-dimensional servo turntable to control the horizontal pitch angle of the first two-dimensional servo turntable motor, controls the emission direction of the laser beam from the transmitter, receives feedback information from the first two-dimensional servo turntable for processing, and is electrically connected to the first three-dimensional stabilization platform to send control commands to the first three-dimensional stabilization platform to keep the transmitter stable in three axes.

[0025] The receiving end is mechanically connected to the second disturbance carrier. The receiving end is equipped with a second control processing unit and a second three-dimensional stabilization platform, a second two-dimensional servo turntable, a second GPS module, a second GSM / GPRS module, and a CCD detector connected to the second control processing unit. The CCD detector is connected to a receiving antenna, which is mechanically connected to the second two-dimensional servo turntable. The second two-dimensional servo turntable is mechanically connected to the second three-dimensional stabilization platform. The second control processing unit receives GPS positioning information from the second GPS module and sends radio frequency GPS positioning information to the transmitting end. The second control processing unit receives image target information of the laser beam, calculates the offset of the laser beam relative to the optical receiver based on the spot information collected by the CCD sensor, and positions the laser spot. The second control processing unit sends control commands to the second two-dimensional servo turntable to control the horizontal pitch angle of the second two-dimensional servo turntable motor, receives feedback information from the second two-dimensional servo turntable for processing, calculates the number of steps executed by the motor based on the offset of the laser beam relative to the optical receiver, and sends control commands to the second three-dimensional stabilization platform to keep the receiving end stable in three axes.

[0026] like Figure 3As shown, the first and second three-dimensional stabilization platforms in this example have the same structure, both with three mutually perpendicular rotation axes, and both have horizontal, pitch and roll stabilization functions, with stabilization angle ranges of: horizontal ±25°, pitch ±8.8° and roll ±7°, respectively.

[0027] like Figure 4 As shown, the first two-dimensional servo turntable and the second two-dimensional servo turntable in this example have the same structure, both of which are equipped with two rotation axes: pitch and horizontal. The pitch scanning angle range is ±45°, and the horizontal scanning angle range is 0° to 360°.

[0028] The 3D stabilization platform continuously collects motion attitude data from the carrier and performs reverse compensation on the attitude of the wireless optical equipment on the platform. This greatly reduces the drastic changes in the attitude of the 2D servo turntable, avoiding the impact of moving carriers such as vehicle-mounted, airborne, or shipborne vehicles on the equipment on the platform. This ensures that the 2D tracking turntable maintains a relatively stable attitude relative to the horizontal plane. The 2D tracking turntable then captures, aligns, and tracks the beacon, thereby ensuring that the equipment installed on the platform can achieve rapid scanning, precise alignment, and continuous tracking.

[0029] A method for tracking a motion platform for wireless laser communication, comprising the aforementioned motion platform tracking system for wireless laser communication, such as... Figure 2 As shown, the method described in this example includes the following steps:

[0030] 1) The three-dimensional stabilization platform has the function of quickly compensating for attitude angles. When the carrier is disturbed, the three-dimensional stabilization platform quickly compensates for the attitude angle caused by the disturbance.

[0031] 2) Obtain the location information of the other end. Based on the first GPS module and the second GPS module, the local end obtains the location information and sends the local end location information to the other end through the first GMS / GPRS module or the second GMS / GPRS module via radio frequency communication. After receiving the location information, the first GMS / GPRS module or the second GMS / GPRS module of the other end transmits it to the first control processing unit or the second control processing unit respectively. Then, according to the location information, the laser beam emitted by the optical transmitter is controlled to point to the location of the other end.

[0032] 3) The first control processing unit or the second control processing unit sends control commands to the first two-dimensional servo turntable or the second two-dimensional servo turntable respectively according to the orientation information of the other party obtained in step 2) to scan the uncertain area in the direction of the other end. At this time, the first two-dimensional servo turntable or the second three-dimensional servo turntable quickly compensates the attitude angle, continuously maintains the stability of the equipment, and improves the capture and alignment probability of the two-dimensional turntable.

[0033] 4) When the CCD sensor at the receiving end captures the laser beam, it feeds back the captured information to the second control processing unit. The second control unit controls the second two-dimensional servo turntable to stop scanning based on the received information. At the same time, it drives the second two-dimensional servo turntable to rotate so that the laser spot is positioned at the center of the CCD sensor's field of view. The first three-dimensional servo turntable and the second three-dimensional servo turntable continuously maintain the stability of the equipment, reduce drastic changes in the equipment's posture, and improve the tracking stability of the two-dimensional turntable. When the laser spots at both ends are always positioned at the center of the field of view, the visual axes of the optical transmitter and the optical receiver are precisely aligned.

Claims

1. A motion platform tracking system for wireless laser communication, characterized in that, This includes both transmitters and receivers that have the same transmitting and receiving functions, wherein: The transmitter is mechanically connected to the first disturbance carrier. The transmitter is equipped with a first control processing unit and a first three-dimensional stabilization platform, a first two-dimensional servo turntable, a first GPS module, a first GSM / GPRS module, and a beacon laser connected to the first control processing unit. The beacon laser is connected to the transmitting antenna, the transmitting antenna is mechanically connected to the first two-dimensional servo turntable, and the first two-dimensional servo turntable is mechanically connected to the first three-dimensional stabilization platform. The first control processing unit receives GPS positioning information from the first GPS module and sends radio frequency GPS positioning information to the receiver. The first control processing unit sends control commands to the beacon laser to control the beacon laser's on / off state, sends control commands to the first two-dimensional servo turntable to control the horizontal pitch angle of the first two-dimensional servo turntable motor, controls the emission direction of the laser beam from the transmitter, receives feedback information from the first two-dimensional servo turntable for processing, and sends control commands to the first three-dimensional stabilization platform to keep the transmitter stable in three axes. The receiving end is mechanically connected to the second disturbance carrier. The receiving end is equipped with a second control processing unit and a second three-dimensional stabilization platform, a second two-dimensional servo turntable, a second GPS module, a second GSM / GPRS module, and a CCD detector connected to the second control processing unit. The CCD detector is connected to a receiving antenna, which is mechanically connected to the second two-dimensional servo turntable. The second two-dimensional servo turntable is mechanically connected to the second three-dimensional stabilization platform. The second control processing unit receives GPS positioning information from the second GPS module and sends radio frequency GPS positioning information to the transmitting end. The second control processing unit receives image target information of the laser beam, calculates the offset of the laser beam relative to the optical receiver based on the light spot information collected by the CCD sensor, and locates the laser spot. The second control processing unit sends control commands to the second two-dimensional servo turntable to control the horizontal pitch angle of the second two-dimensional servo turntable motor, receives feedback information from the second two-dimensional servo turntable for processing, calculates the number of steps executed by the motor based on the offset of the laser beam relative to the optical receiver, and sends control commands to the second three-dimensional stabilization platform to keep the receiving end stable in three axes.

2. The motion platform tracking system for wireless laser communication according to claim 1, characterized in that, The first and second three-dimensional stabilization platforms have the same structure, both with three mutually perpendicular rotation axes, and both have horizontal, pitch and roll stabilization functions, with stabilization angle ranges of: horizontal ±25°, pitch ±8.8° and roll ±7°, respectively.

3. The motion platform tracking system for wireless laser communication according to claim 1, characterized in that, The first two-dimensional servo turntable and the second two-dimensional servo turntable have the same structure, both of which are equipped with two rotation axes: pitch and horizontal. The pitch scanning angle range is ±45°, and the horizontal scanning angle range is 0° to 360°.

4. A method for tracking a motion platform for wireless laser communication, comprising the motion platform tracking system for wireless laser communication as described in any one of claims 1-3, the method comprising the following steps: 1) The three-dimensional stabilization platform has the function of quickly compensating for attitude angles. When the carrier is disturbed, the three-dimensional stabilization platform quickly compensates for the attitude angle caused by the disturbance. 2) Obtain the location information of the other end. Based on the first GPS module and the second GPS module, the local end obtains the location information and sends the local end location information to the other end through the first GMS / GPRS module or the second GMS / GPRS module via radio frequency communication. After receiving the location information, the first GMS / GPRS module or the second GMS / GPRS module of the other end transmits it to the first control processing unit or the second control processing unit respectively. Then, according to the location information, the laser beam emitted by the optical transmitter is controlled to point to the location of the other end. 3) The first control processing unit or the second control processing unit sends control commands to the first two-dimensional servo turntable or the second two-dimensional servo turntable respectively according to the orientation information of the other party obtained in step 2) to scan the uncertain area in the direction of the other end. At this time, the first two-dimensional servo turntable or the second three-dimensional servo turntable can quickly compensate for the attitude angle and continuously maintain the stability of the equipment. 4) When the CCD sensor at the receiving end captures the laser beam, it feeds back the captured information to the second control processing unit. The second control unit controls the second two-dimensional servo turntable to stop scanning based on the received information. At the same time, it drives the second two-dimensional servo turntable to rotate so that the laser spot is positioned at the center of the CCD sensor's field of view. The first three-dimensional servo turntable and the second three-dimensional servo turntable continuously maintain the stability of the equipment and reduce drastic changes in the equipment's posture. When the laser spots at both ends are always positioned at the center of the field of view, the optical transmitter and the optical receiver's visual axes are precisely aligned.

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