A capture, tracking, and aiming system and method for underwater optical communication

Abstract

This disclosure relates to a capture, tracking, and aiming system and method for underwater optical communication. The system includes a first communication terminal and a second communication terminal, both equipped with capture, tracking, and aiming devices. Each capture, tracking, and aiming device includes a control chip, a transmitting module, and a receiving module. The control chip is connected to both the transmitting and receiving modules. The transmitting module includes a laser and a piezoelectric ceramic deflector, both connected to the control chip. The piezoelectric ceramic deflector is used to adjust the direction of the laser beam emitted by the laser. The receiving module includes a single-photon detector and a beam reducer, with a filter positioned between the single-photon detector and the beam reducer. The single-photon detector is connected to the control chip. This system enables rapid automatic alignment between the two ends of an underwater wireless optical communication system based on photon counting, thereby achieving automatic beam alignment between underwater devices and enabling bidirectional high-speed single-photon-level optical communication.

Description

Technical Field

[0001] This disclosure relates to the field of laser communication technology, and in particular to a capture, tracking, and aiming system and method for underwater optical communication. Background Technology

[0002] Currently, acquisition, tracking, and aiming systems for laser communication are mainly used in atmospheric communication, satellite space communication, and space-to-ground communication systems. Existing wireless communication methods mainly include acoustic communication, electromagnetic wave communication, and optical communication. Currently, acoustic communication is primarily used in underwater channels, while optical communication, due to its advantages such as high transmission rate, resistance to electromagnetic interference, small equipment size, and low power consumption, can transmit large amounts of data at high speed and has broad application prospects in marine exploration and underwater vehicle communication. Single-photon detection technology, developed from quantum information, can achieve detection sensitivity at the level of a single photon, further increasing the optical communication distance while maintaining constant light source power, which plays a significant role in promoting the development of underwater optical communication. Unlike other communication methods, photon-count-based wireless optical communication receives discrete single-photon pulse signals.

[0003] The existing problems and defects of the technology are as follows: In the existing underwater wireless optical communication technology based on photon counting, there is a problem of difficulty in aligning the two ends of the communication. How to design a corresponding laser scanning acquisition and aiming scheme based on the signal characteristics of wireless optical communication based on photon counting, so as to achieve automatic alignment between the two parties, is the key issue to realize the practical application of this technology. Summary of the Invention

[0004] This disclosure provides a capture, tracking, and aiming system and method for underwater optical communication, enabling rapid automatic alignment between the two ends of an underwater wireless optical communication system based on photon counting. This promotes the practical application of the technology and enables automatic beam alignment between underwater submersibles, seabed detectors, and atmospheric aircraft, thereby facilitating bidirectional high-speed single-photon-level optical communication.

[0005] According to a first aspect of the present disclosure, a capture, tracking, and aiming system for underwater optical communication is provided, including a first communication terminal and a second communication terminal, wherein both the first communication terminal and the second communication terminal are provided with a capture, tracking, and aiming device;

[0006] The capture, tracking, and aiming device includes a control chip, a transmitting module, and a receiving module, wherein the control chip is connected to the transmitting module and the receiving module respectively;

[0007] The transmitting module includes a laser and a piezoelectric ceramic deflector. Both the laser and the piezoelectric ceramic deflector are connected to the control chip. The piezoelectric ceramic deflector is used to adjust the direction of the laser beam emitted by the laser.

[0008] The receiving module includes a single-photon detector and a beam shrinker, with a filter disposed between the single-photon detector and the beam shrinker, and the single-photon detector is connected to the control chip.

[0009] Preferably, the wavelength of the laser is between 450 nm and 550 nm.

[0010] Preferably, the control chip includes an FPGA chip.

[0011] According to a second aspect of the present disclosure, a capture, tracking, and aiming method for underwater optical communication is provided, comprising a capture, tracking, and aiming device applied to a first communication terminal, including:

[0012] The first laser signal is sent to the capture, tracking and aiming device of the second communication terminal through the transmitting module. The first laser signal includes the first pointing information of the capture, tracking and aiming device of the first communication terminal.

[0013] The receiving module acquires the second laser signal generated by the capture tracking aiming device of the second communication terminal based on the first pointing information. The second laser signal includes the first pointing information and the second pointing information of the capture tracking aiming device of the second communication terminal.

[0014] Based on the first pointing information, the emission angle of the emission module is adjusted, and the first pointing information and the second pointing information are sent to the capture and tracking aiming device of the second communication terminal, so that the capture and tracking aiming device of the second communication terminal adjusts the emission angle of the laser signal based on the second pointing information and establishes an optical communication link between the first communication terminal and the second communication terminal.

[0015] Preferably, adjusting the transmission angle of the transmission module based on the first pointing information includes:

[0016] Based on the first pointing information, the reflection angle of the piezoelectric ceramic deflector is adjusted so that the laser sends a laser signal based on the first pointing information.

[0017] Preferably, the first laser signal and the second laser signal further include frame header information and alignment stage information.

[0018] According to a third aspect of the present disclosure, a capture, tracking, and aiming method for underwater optical communication is provided, comprising a capture, tracking, and aiming device applied to a second communication terminal, including:

[0019] The receiving module acquires a first laser signal sent by the capture, tracking, and aiming device of the first communication terminal, the first laser signal including the first pointing information of the capture, tracking, and aiming device of the first communication terminal;

[0020] The second laser signal is sent to the capture, tracking and aiming device of the first communication terminal through the transmission module, so that the capture, tracking and aiming device of the first communication terminal adjusts the emission angle of the laser signal based on the second laser signal. The second laser signal includes the first pointing information and the second pointing information of the capture, tracking and aiming device of the second communication terminal.

[0021] The receiving module acquires the first pointing information and the second pointing information sent by the capture, tracking and aiming device of the first communication terminal, adjusts the transmission angle of the transmitting module based on the second pointing information, and establishes an optical communication link between the first communication terminal and the second communication terminal.

[0022] Preferably, the step of acquiring the first pointing information and the second pointing information sent by the capture, tracking, and aiming device of the first communication terminal through the receiving module, and adjusting the firing angle of the firing module based on the second pointing information, includes:

[0023] Based on the second pointing information, the reflection angle of the piezoelectric ceramic deflector is adjusted so that the laser sends a laser signal based on the second pointing information.

[0024] Preferably, the first laser signal and the second laser signal further include frame header information and alignment stage information.

[0025] The technical solutions provided by the embodiments of this disclosure bring at least the following beneficial effects:

[0026] The acquisition, tracking, and aiming system for underwater optical communication provided in this embodiment enables automatic beam alignment between a first communication terminal and a second communication terminal by setting up a transmitting module including a laser and a piezoelectric ceramic deflector, and a receiving module including a single-photon detector and a beam shrinking mirror. This allows for bidirectional wireless optical communication between the first and second communication terminals. Furthermore, by integrating a photon counting optical communication system into the acquisition, tracking, and aiming device, the acquisition, tracking, and aiming device and the photon counting optical communication system share the transmitting and receiving modules, simplifying the system structure and effectively reducing the weight and cost of the underwater communication device.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0028] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure, and are not intended to unduly limit this disclosure.

[0029] Figure 1This is a schematic diagram illustrating the structure of a capture, tracking, and aiming system for underwater optical communication according to an exemplary embodiment;

[0030] Figure 2 This is a flowchart illustrating a capture, tracking, and aiming method for underwater optical communication according to an exemplary embodiment;

[0031] Figure 3 This is a flowchart illustrating a capture, tracking, and aiming method for underwater optical communication according to an exemplary embodiment;

[0032] Figure 4 This is an application diagram of a capture, tracking, and aiming system for underwater optical communication, according to an exemplary embodiment.

[0033] Figure 5 This is a schematic diagram illustrating the information structure of a laser signal according to an exemplary embodiment. Detailed Implementation

[0034] To enable those skilled in the art to better understand the technical solutions of this disclosure, the technical solutions in the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0035] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0036] This disclosure provides a capture, tracking, and aiming system for underwater optical communication, such as... Figure 1 As shown, the capture, tracking and aiming system for underwater optical communication includes a first communication terminal and a second communication terminal, both of which are equipped with capture, tracking and aiming devices.

[0037] The capture, tracking, and aiming device includes a control chip 101, a transmitting module, and a receiving module, with the control chip 101 connected to both the transmitting and receiving modules. In this embodiment, the control chip 101 may include an FPGA chip.

[0038] In this embodiment, the first communication terminal and the second communication terminal may include underwater equipment, such as underwater submersibles and seabed detectors. Furthermore, the first communication terminal and the second communication terminal may also include other equipment requiring bidirectional high-speed single-photon-level optical communication, such as aircraft operating in the atmosphere.

[0039] The transmitting module includes a laser 102 and a piezoelectric ceramic deflector 103. Both the laser 102 and the piezoelectric ceramic deflector 103 are connected to the control chip 101. The piezoelectric ceramic deflector 103 is used to adjust the direction of the laser beam emitted by the laser 102. In this embodiment, the transmitting module has laser scanning and scanning synchronization functions, and can serve as a communication transmitter after alignment is completed. The piezoelectric ceramic deflector 103 may include a biaxial piezoelectric ceramic deflector 103.

[0040] In practical applications, the control chip 101 acts as the main controller, which can control the laser 102 and the piezoelectric ceramic deflector 103. The piezoelectric ceramic deflector 103 can adjust the mirror angle according to the control signal received from the control chip 101, thereby adjusting the direction of the laser beam emitted by the laser 102.

[0041] Furthermore, the control chip 101 can control the piezoelectric ceramic deflector 103, causing it to deflect according to a certain pattern and frequency. Combined with the laser 102, this achieves laser scanning with a specific trajectory, step size, and frequency. The control chip 101 sends control commands to the biaxial piezoelectric ceramic deflector 103 according to different scanning points, controlling the laser 102 to emit light and sending corresponding information in a certain modulation mode to achieve scanning synchronization.

[0042] In an optional embodiment, the wavelength of the laser 102 can be from 450 nm to 550 nm. Furthermore, the first communication terminal and the second communication terminal can use lasers of different wavelengths; for example, the first communication terminal and the second communication terminal can use a 488 nm laser and a 532 nm laser, respectively.

[0043] The receiving module includes a single-photon detector 104 and a beam reducer 105, with a filter 106 disposed between the single-photon detector 104 and the beam reducer 105. The single-photon detector 104 is connected to the control chip 101. In this embodiment, the receiving module can extract information sent from the other end of the communication system and can serve as the receiving end of the communication system after alignment.

[0044] In practical applications, the beam reducer 105 can focus the received light beam, which is then filtered by a filter 106 of a specific wavelength and detected by a single-photon detector 104. The single-photon detector 104 outputs a single-photon pulse, which is sent to the control chip 101. The control chip 101 acts as the main controller, processing the single-photon pulse, extracting relevant information according to a preset information structure, and controlling the laser scanning and the information emitted by the laser 102 during scanning according to the scanning capture alignment algorithm.

[0045] Using a single-photon detector 104 to detect weak light signals enables automatic acquisition and aiming at both ends of a communication system that receives light intensity on the order of a single photon.

[0046] Embodiments of this disclosure provide a capture, tracking, and aiming method for underwater optical communication, applied to a capture, tracking, and aiming device at a first communication end. For example... Figure 2 As shown, the method includes the following steps:

[0047] S201. A first laser signal is sent to the capture, tracking, and aiming device of the second communication terminal through the transmitting module. The first laser signal includes the first pointing information of the capture, tracking, and aiming device of the first communication terminal.

[0048] S202. The receiving module acquires the second laser signal generated by the capture tracking aiming device of the second communication terminal based on the first pointing information. The second laser signal includes the first pointing information and the second pointing information of the capture tracking aiming device of the second communication terminal.

[0049] S203. Based on the first pointing information, adjust the emission angle of the emission module, and send the first pointing information and the second pointing information to the acquisition and tracking aiming device of the second communication end, so that the acquisition and tracking aiming device of the second communication end can adjust the emission angle of the laser signal based on the second pointing information and establish an optical communication link between the first communication end and the second communication end.

[0050] First, a first laser signal is sent to the acquisition, tracking, and aiming device at the second communication terminal via the transmitting module.

[0051] In this embodiment, the acquisition, tracking, and aiming device at the first communication end can send a first laser signal to the acquisition, tracking, and aiming device at the second communication end via the laser in the transmitting module. Specifically, the control chip can control the laser to emit the first laser signal, and simultaneously control the piezoelectric ceramic deflector to deflect it according to a certain pattern and frequency, thereby achieving laser scanning with a certain trajectory, step size, and frequency in combination with the laser.

[0052] In practical applications, the first laser signal includes the first pointing information of the acquisition, tracking, and aiming device at the first communication end.

[0053] Subsequently, the second laser signal generated by the capture tracking aiming device at the second communication end based on the first pointing information can be obtained through the receiving module.

[0054] In this embodiment, the acquisition, tracking, and aiming device of the first communication end can converge the second laser signal through the beam shrinking lens of the receiving module, and after filtering through the filter, it is received and detected by the single-photon detector; then the single-photon detector outputs a single-photon pulse and sends the single-photon pulse to the control chip.

[0055] In practical applications, the second laser signal includes the first pointing information of the acquisition, tracking, and aiming device at the first communication end and the second pointing information of the acquisition, tracking, and aiming device at the second communication end.

[0056] Finally, based on the first pointing information, the emission angle of the emission module is adjusted, and the first and second pointing information are sent to the acquisition, tracking, and aiming device at the second communication end, so that the acquisition, tracking, and aiming device at the second communication end can adjust the emission angle of the laser signal based on the second pointing information and establish an optical communication link between the first and second communication ends.

[0057] In this embodiment, after acquiring the second laser signal, the control chip can adjust the reflection angle of the piezoelectric ceramic deflector based on the first pointing information, thereby adjusting the emission angle of the laser in the transmitting module, so that the laser sends a laser signal based on the first pointing information. Simultaneously, the first and second pointing information are sent to the acquisition, tracking, and aiming device at the second communication terminal, causing the acquisition, tracking, and aiming device at the second communication terminal to adjust the emission angle of the laser signal based on the second pointing information, thereby establishing an optical communication link between the first and second communication terminals.

[0058] In an optional embodiment, the first laser signal and the second laser signal further include frame header information and alignment phase information.

[0059] Embodiments of this disclosure provide a capture, tracking, and aiming method for underwater optical communication, applied to a capture, tracking, and aiming device at a second communication end. For example... Figure 3 As shown, the method includes the following steps:

[0060] S301. The receiving module acquires the first laser signal sent by the capture, tracking and aiming device of the first communication terminal. The first laser signal includes the first pointing information of the capture, tracking and aiming device of the first communication terminal.

[0061] S302. A second laser signal is sent to the capture, tracking, and aiming device of the first communication terminal through the transmitting module, so that the capture, tracking, and aiming device of the first communication terminal adjusts the emission angle of the laser signal based on the second laser signal. The second laser signal includes first pointing information and second pointing information of the capture, tracking, and aiming device of the second communication terminal.

[0062] S303. The receiving module acquires the first pointing information and the second pointing information sent by the capture, tracking and aiming device of the first communication terminal, adjusts the transmission angle of the transmitting module based on the second pointing information, and establishes an optical communication link between the first communication terminal and the second communication terminal.

[0063] First, the receiving module acquires the first laser signal sent by the capture, tracking, and aiming device of the first communication terminal.

[0064] In this embodiment, the acquisition, tracking, and aiming device of the second communication end can converge the first laser signal through the beam shrinking lens of the receiving module, and after filtering through the filter, it is received and detected by the single-photon detector; then the single-photon detector outputs a single-photon pulse and sends the single-photon pulse to the control chip.

[0065] In practical applications, the first laser signal includes the first pointing information of the acquisition, tracking, and aiming device at the first communication end.

[0066] Then, the second laser signal is sent to the acquisition, tracking, and aiming device at the first communication terminal via the transmission module.

[0067] In this embodiment, the acquisition, tracking, and aiming device at the second communication end can send a second laser signal to the acquisition, tracking, and aiming device at the first communication end via the laser of the transmitting module. Specifically, the control chip can control the laser to emit the second laser signal, and simultaneously control the piezoelectric ceramic deflector to deflect it according to a certain pattern and frequency, thereby achieving laser scanning with a certain trajectory, step size, and frequency in combination with the laser.

[0068] In practical applications, the second laser signal includes first pointing information and second pointing information from the acquisition, tracking, and aiming device at the second communication end. After acquiring the second laser signal, the acquisition, tracking, and aiming device at the first communication end can adjust the emission angle of the laser signal based on the first pointing information in the second laser signal.

[0069] Finally, the receiving module acquires the first pointing information and the second pointing information sent by the capture, tracking and aiming device of the first communication terminal, adjusts the transmission angle of the transmitting module based on the second pointing information, and establishes an optical communication link between the first communication terminal and the second communication terminal.

[0070] In this embodiment, the acquisition, tracking, and aiming device at the second communication end can receive the first and second pointing information through the beam-shrinking lens of the receiving module. After filtering by a filter, the information is received and detected by a single-photon detector. The single-photon detector then outputs a single-photon pulse and sends it to the control chip. The control chip adjusts the reflection angle of the piezoelectric ceramic deflector of the transmitting module based on the second pointing information, so that the laser sends a laser signal based on the second pointing information. This establishes an optical communication link between the first and second communication ends.

[0071] In an optional embodiment, the first laser signal and the second laser signal further include frame header information and alignment phase information.

[0072] For ease of understanding, the following example uses an underwater submersible as the first communication terminal and a seabed detector as the second communication terminal, combined with... Figure 4 The acquisition, tracking, and aiming method for underwater optical communication provided in the embodiments of this disclosure will be described.

[0073] In this embodiment, a first acquisition, tracking, and aiming device is provided on the underwater submersible 410, and a second acquisition, tracking, and aiming device is provided on the seabed detector 420. The first acquisition, tracking, and aiming device includes a first FPGA chip 411, a first transmitting module, and a first receiving module. The first transmitting module includes a first laser 412 and a first piezoelectric ceramic deflector 413. The first receiving module includes a first single-photon detector 414 and a first beam reducer 415, with a first filter 416 disposed between the first single-photon detector 414 and the first beam reducer 415. Correspondingly, the second acquisition, tracking, and aiming device includes a second FPGA chip 421, a second transmitting module, and a second receiving module. The second transmitting module includes a second laser 422 and a second piezoelectric ceramic deflector 423. The second receiving module includes a second single-photon detector 424 and a second beam reducer 425, with a second filter 426 disposed between the second single-photon detector 424 and the second beam reducer 425.

[0074] It should be noted that during the acquisition, tracking, and aiming process, the information structure of the laser signal emitted by the laser is as follows: Figure 5 As shown. The information structure of the laser signal includes: frame header, alignment stage position, pointing information of the first communication terminal (i.e., underwater submersible 410), and pointing information of the second communication terminal (i.e., seabed detector 420).

[0075] The frame header is located at the front of the transmitted information frame structure and consists of a specific waveform, used for clock synchronization and symbol synchronization.

[0076] The alignment stage bit is 2 bits, used to indicate the current alignment stage. When the alignment stage bit is "00", the pointing information of the underwater vehicle 410 and the seabed detector 420 is unknown; when the alignment stage bit is "10", the pointing information of the underwater vehicle 410 is known, and the pointing information of the seabed detector 420 is unknown; when the alignment stage bit is "01", the pointing information of the underwater vehicle 410 is unknown, and the pointing information of the seabed detector 420 is known; when the alignment stage bit is "11", the pointing information of the underwater vehicle 410 is known, and the pointing information of the seabed detector 420 is known.

[0077] The pointing information of the underwater submersible 410 is determined by the control command sent by the first FPGA chip 411 to the first piezoelectric ceramic deflector 413 at the current scanning point and the information received by the first single-photon detector 414; correspondingly, the pointing information of the seabed detector 420 is determined by the control command sent by the second FPGA chip 421 to the second piezoelectric ceramic deflector 423 at the current scanning point and the information received by the second single-photon detector 424.

[0078] The first acquisition, tracking, and aiming device of the underwater vehicle 410 scans by controlling the reflection angle of the first piezoelectric ceramic deflector 413 through the first FPGA chip 411, and emits a first laser signal containing the pointing information of the underwater vehicle 410 through the first laser 412. The pointing information of the underwater vehicle 410 in the first laser signal changes point by point, while the pointing information of the seabed detector 420 is unknown. At this time, the alignment phase of the underwater vehicle 410 is "00", and the alignment phase of the seabed detector 420 is also "00".

[0079] After the second acquisition, tracking, and aiming device of the seabed detector 420 receives the first laser signal through the second beam reducer 425 and the second single-photon detector 424, the alignment phase of the seabed detector 420 enters phase "10," and the seabed detector 420 completes acquisition of itself. The seabed detector 420 then emits a second laser signal containing pointing information of both the underwater vehicle 410 and the seabed detector 420 through the second laser 422 of the second acquisition, tracking, and aiming device. The pointing information of the seabed detector 420 in the second laser signal changes point-by-point, and the pointing information of the underwater vehicle 410 is obtained from the first laser signal. At this time, the alignment phase of the underwater vehicle 410 is "00," and the alignment phase of the seabed detector 420 is "10."

[0080] After the first acquisition, tracking, and aiming device of the underwater vehicle 410 receives the second laser signal through the first beam reducer 415 and the first single-photon detector 414, the alignment phase of the underwater vehicle 410 enters phase "11," and the underwater vehicle 410 completes the acquisition of the seabed detector 420. Based on the pointing information received from the seabed detector 420, the underwater vehicle 410 controls the reflection angle of the first piezoelectric ceramic deflector 413 through the first FPGA chip 411, causing the laser signal emitted by the first laser 412 to point to a fixed point, thus achieving laser aiming. Simultaneously, the pointing information of the underwater vehicle 410 and the seabed detector 420 are transmitted to the second acquisition, tracking, and aiming device of the seabed detector 420 through the first laser 412. At this time, the pointing information of both the underwater vehicle 410 and the seabed detector 420 is fixed; the alignment phase of the underwater vehicle 410 is "11," and the alignment phase of the seabed detector 420 is "10."

[0081] After the second acquisition, tracking, and aiming device of the seabed detector 420 receives the pointing information from the underwater vehicle 410 and the seabed detector 420 via the second beam reducer 425 and the second single-photon detector 424, the alignment phase of the seabed detector 420 enters phase "11". Based on the pointing information received from the underwater vehicle 410, the seabed detector 420 controls the reflection angle of the second piezoelectric ceramic deflector 423 via the second FPGA chip 421, causing the laser signal emitted by the second laser 422 to point to a fixed point, thus achieving laser aiming. Simultaneously, the second laser 422 transmits the pointing information from both the underwater vehicle 410 and the seabed detector 420 to the first acquisition, tracking, and aiming device of the seabed detector 420. At this point, both the pointing information from the underwater vehicle 410 and the seabed detector 420 are fixed, and the alignment phase of both the underwater vehicle 410 and the seabed detector 420 is "11".

[0082] If the alignment phase of both the underwater submersible 410 and the seabed detector 420 is "11", then the acquisition, tracking and aiming are successful, the beam alignment between the underwater submersible 410 and the seabed detector 420 is completed, the angle of the piezoelectric ceramic deflector remains unchanged, and photon counting optical communication can be performed.

[0083] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0084] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A capture, tracking, and aiming system for underwater optical communication, characterized in that, It includes a first communication terminal and a second communication terminal, both of which are equipped with a capture, tracking, and aiming device; The capture, tracking, and aiming device includes a control chip, a transmitting module, and a receiving module, wherein the control chip is connected to the transmitting module and the receiving module respectively; The transmitting module includes a laser and a piezoelectric ceramic deflector. Both the laser and the piezoelectric ceramic deflector are connected to the control chip. The laser signal transmitted by the transmitting module includes local pointing information, frame header information, and alignment stage information. The piezoelectric ceramic deflector includes a biaxial piezoelectric ceramic deflector, which is used to adjust the pointing of the laser beam emitted by the laser. The receiving module includes a single-photon detector and a beam shrinker. The beam shrinker is used to converge the received laser beam. A filter is disposed between the single-photon detector and the beam shrinker. The single-photon detector is connected to the control chip. The wavelength of the laser is 450nm to 550nm; The first communication terminal's capture, tracking, and aiming device includes sending a first laser signal to the second communication terminal's capture, tracking, and aiming device via a transmitting module. The first laser signal includes first pointing information of the first communication terminal's capture, tracking, and aiming device. The receiving module acquires the second laser signal generated by the capture tracking aiming device of the second communication terminal based on the first pointing information. The second laser signal includes the first pointing information and the second pointing information of the capture tracking aiming device of the second communication terminal. Based on the first pointing information, the emission angle of the emission module is adjusted, and the first pointing information and the second pointing information are sent to the capture and tracking aiming device of the second communication terminal, so that the capture and tracking aiming device of the second communication terminal adjusts the emission angle of the laser signal based on the second pointing information and establishes an optical communication link between the first communication terminal and the second communication terminal.

2. The capture, tracking, and aiming system according to claim 1, characterized in that, The control chip includes an FPGA chip.

3. The capture, tracking, and aiming system according to claim 1, characterized in that, The step of adjusting the transmission angle of the transmission module based on the first pointing information includes: Based on the first pointing information, the reflection angle of the piezoelectric ceramic deflector is adjusted so that the laser sends a laser signal based on the first pointing information.

4. A method for acquisition, tracking, and aiming in underwater optical communication, wherein the method is applied to the acquisition, tracking, and aiming device at the second communication end of the acquisition, tracking, and aiming system as described in claim 1, characterized in that, include: The receiving module acquires a first laser signal sent by the capture, tracking, and aiming device of the first communication terminal, the first laser signal including the first pointing information of the capture, tracking, and aiming device of the first communication terminal; The second laser signal is sent to the capture, tracking and aiming device of the first communication terminal through the transmission module, so that the capture, tracking and aiming device of the first communication terminal adjusts the emission angle of the laser signal based on the second laser signal. The second laser signal includes the first pointing information and the second pointing information of the capture, tracking and aiming device of the second communication terminal. The receiving module acquires the first pointing information and the second pointing information sent by the capture, tracking and aiming device of the first communication terminal, adjusts the transmission angle of the transmitting module based on the second pointing information, and establishes an optical communication link between the first communication terminal and the second communication terminal.

5. The capture, tracking, and aiming method according to claim 4, characterized in that, The step of acquiring the first pointing information and the second pointing information sent by the capture, tracking, and aiming device of the first communication terminal through the receiving module, and adjusting the firing angle of the firing module based on the second pointing information, includes: Based on the second pointing information, the reflection angle of the piezoelectric ceramic deflector is adjusted so that the laser sends a laser signal based on the second pointing information.

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