An all-way point-to-point tracking modulatable electronic beacon

Abstract

The present application relates to the target tracking field, and particularly relates to a full-range point-to-point tracking modulated electronic beacon, which comprises a divergence angle light source A, a modulation monitoring circuit, a driving circuit and a divergence angle light source B; the divergence angle light source A or the divergence angle light source B is used for emitting a light source signal to a target tracking device; the driving circuit has two, which respectively controls the divergence angle light source A and the divergence angle light source B to open and close; the modulation monitoring circuit has two, which respectively connects with the corresponding driving circuit, is used for controlling the corresponding driving circuit to open and close, and monitors the voltage, current and power consumption information when the driving circuit works, and feeds back the coding information to the target tracking device. The divergence angle light source B is a laser light source, the emitting angle of which is small, and the energy density is concentrated, so that the target tracking device can receive enough optical signals when the flying device is in the final stage.

Description

Technical Field

[0001] This invention relates to the field of target tracking and anti-interference identification technology, specifically a modulated electronic beacon with end-to-end point-to-point tracking. Background Technology

[0002] Target tracking throughout its flight is the most crucial aspect of point-to-point launch and flight navigation control, with applications in space exploration, ground surveying, precision transportation, and precision delivery. Cooperative beacons are devices installed on flight vehicles to provide optical signals that facilitate tracking systems in capturing and controlling the flight path of the vehicles.

[0003] With the development of launch and navigation control technology, how to reduce the weight of cooperative beacons, increase the energy of optical signals, and improve the anti-interference capability of tracking devices have become key research directions in this field.

[0004] Currently, the beacons used for point-to-point launch and flight navigation are mostly disposable chemical combustion beacons or LED light sources. Chemical beacons are dangerous to manufacture, the light signals emitted during combustion are unstable, and they are not safe to store. At the same time, chemical light sources can cause current disturbances and thermal interference to the transmitting device due to their intense combustion. LED light sources have disadvantages such as narrow wavelength range and rapid energy decay over long distances.

[0005] In practical applications, distinguishing between environmental and human-induced interference sources and the actual target during tracking has been a persistent challenge in the field of target tracking and recognition. Traditional methods improve anti-interference capabilities through flight trajectory prediction, target size, and target features. However, due to the ever-changing natural environments and the continuous improvement of artificial interference techniques, the problem of distinguishing between real and false targets has never been perfectly solved in practical applications. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of existing beacon technologies, this invention proposes an electronic cooperative beacon that can meet the requirements of large beacon angle for tracking within a set kilometer in the initial stage of flight, high beacon energy density for tracking in the long-range stage of flight, and can also perform signal modulation.

[0007] The technical solution adopted by the present invention to achieve the above objectives is: a modulated electronic beacon for full-range point-to-point tracking, located at the end of a point-to-point aircraft, used to send signals to a target tracking device to enable it to track its trajectory, comprising: a divergence angle light source A, a modulation monitoring circuit, a driving circuit, and a divergence angle light source B;

[0008] The divergence angle light source A is used to transmit a light source signal to the target tracking device when the flight distance between the point-to-point aircraft and the target tracking device is less than a set kilometer.

[0009] The divergent angle light source B is used for emitting a light source signal to the target tracking device within a set kilometer range when the point-to-point aircraft flight distance and the target tracking device are within the set kilometer range.

[0010] The driving circuit has two driving circuits respectively connected with the divergent angle light source A and the divergent angle light source B, and is used for providing voltage and current for the divergent angle light source A and the divergent angle light source B respectively, so that the divergent angle light source A and the divergent angle light source B output corresponding light power, and the divergent angle light source A and the divergent angle light source B are controlled to be turned on and turned off.

[0011] The modulation monitoring circuit has two modulation monitoring circuits respectively connected with the corresponding driving circuits, and is used for controlling the corresponding driving circuits to be turned on and turned off, monitoring voltage, current and power consumption information of the driving circuits corresponding to the divergent angle light source A and the divergent angle light source B when the driving circuits work, and feeding back coded information to the target tracking device, so as to realize light intensity, switching frequency and switching phase control of the light source, and then distinguish the emission target and the interference target.

[0012] The divergent angle light source A and the divergent angle light source B are arranged on the tail surface of the point-to-point aircraft, and the horizontal axis of the divergent angle light source A and the horizontal axis of the divergent angle light source B are on the same horizontal line.

[0013] The divergent angle of the divergent angle light source A is 40°, and the divergent angle light source A comprises a light emitter A and a reflector cover.

[0014] The light emitter A comprises a metal wire arranged in the glass cover, and the metal wire is connected with the driving circuit.

[0015] The reflector cover is a semi-elliptical cover, and the divergence angle of the reflector cover is 40°; the light emitter A is hung in the center of the reflector cover, and the divergence direction of the light emitter A is towards the angle direction received by the target recognition tracking device.

[0016] Helium is filled in the glass cover, and the metal wire in the glass cover is tungsten wire.

[0017] The reflector cover is a metal reflector cover, so as to improve the reflectivity of the infrared wave band.

[0018] The divergent angle light source B comprises a light emitter B connected with the driving circuit and a diverging sheet.

[0019] The diverging sheet is a homogenizing sheet, and the divergence angle of the diverging sheet is 10°; the light path of the light emitter B forms a divergence angle of 10° through the homogenizing sheet, and the divergence direction is towards the angle direction received by the target recognition tracking device.

[0020] The light emitter B is a laser emitter, and the laser wavelength frequency is the same as the wavelength frequency received by the target tracking device.

[0021] The driving circuit includes: MOSFET controller U1, MOSFET U2, MOSFET U3, capacitor C1, capacitor C2, inductor L, resistor R1, resistor R2, resistor R3, PWM port, and connection port T1 and connection port T2.

[0022] The VCC node is grounded through capacitor C1 and connected to the VCC terminal of MOSFET controller U1 to apply voltage; the VCC node is connected to the drain of U2, the source of U2 is connected to the drain of U3, and connected to the drive output port LX of U1.

[0023] The MOSFET controller U1 is connected to the modulation monitoring circuit via a PWM port to control the MOSFET controller U1 to turn on and off.

[0024] The high-side control port DH and low-side control port DL of the MOSFET controller are connected to the gates of MOSFET U2 and MOSFET U3, respectively; the drive output port LX of the MOSFET controller is connected to the output terminal of the MOSFET controller through an inductor L, and then connected to the connection port T1.

[0025] The CSP port and CSN port of the MOSFET controller U1 are current sampling ports, and are respectively connected to the two ends of the resistor R1. At the same time, one end of the resistor R1 is connected to the source terminal of the low-side MOSFET U3, and the other end is grounded to realize the current sampling of the low-side MOSFET.

[0026] The voltage feedback port OUT of the MOSFET controller U1 is connected to the common terminal of the voltage divider resistors R2 and R3 to complete the voltage sampling of the output port T1.

[0027] The beacon light source D is connected to the T2 port of the driving circuit at one end and grounded at the other end; the output terminal of the beacon light source D is connected to the light emitter A or the light emitter B.

[0028] The connection ports T1 and T2 are respectively connected to the modulation monitoring circuit.

[0029] The modulation monitoring circuit includes a signal modulator U4 and a monitoring circuit U5 connected to each other. The signal modulator U4 receives the voltage, current and power consumption signals at both ends of the beacon light source D collected by the monitoring circuit U5 in real time and feeds them back to the target tracking device.

[0030] The monitoring circuit U5 is provided with monitoring port T1 and monitoring port T2. Monitoring port T1 and monitoring port T2 are respectively connected to the connection port T1 and connection port T2 of the drive circuit, so that U5 and the light source form a series circuit to complete the monitoring of voltage, current and power consumption.

[0031] The input clock port of the signal modulator U4 is connected to the signal output terminal of the clock source CLOCK, and the other end of the clock source CLOCK is a ground port;

[0032] The signal modulator U4 encodes the frequency, voltage, current, and power consumption information of the divergence angle light source A or the divergence angle light source B into the switching information of the single-spectrum light source. The frequency information corresponds to the switching frequency of the light source. After the data information is binary encoded, 1 corresponds to the light source being turned on and 0 corresponds to the light source being turned off.

[0033] The PWM terminal of the signal modulator U4 is connected to the PWM port of the drive circuit, which controls the drive circuit to load a switching signal onto the divergence angle light source A or the divergence angle light source B. The divergence angle light source A or the divergence angle light source B responds with light energy. At the same time, the signal modulator U4 feeds back the switching frequency and data information of the light source to the target tracking device, so that the target identification and tracking device can distinguish between the transmitting target and the interference target, thereby improving the anti-interference performance.

[0034] The present invention has the following beneficial effects and advantages:

[0035] 1. The divergence angle light source A of the present invention has an emission angle of 40 degrees, which can ensure that the flight device can be quickly captured by the tracking device within a range of 1 kilometer in the initial stage of launch. The emission frequency band of the light source covers the entire tracking frequency band range of commonly used detectors and ensures that its main emission density frequency band matches the main receiving frequency band of the detector.

[0036] 2. The divergence angle light source B of the present invention has an emission angle of 10 degrees. Its emission angle is small and its energy density is concentrated, which can ensure that the tracking device can receive sufficient optical signals during the terminal phase of the flight.

[0037] 3. In this invention, the laser source at the end of the path modulates the output light energy according to a specific signal, so that the signal captured by the tracking device presents certain information after signal demodulation, thereby improving the anti-interference capability of the tracking device;

[0038] 4. The light emitter A of the divergence angle light source A of the present invention is filled with inert gas to improve the lifespan of the light filament and increase the wavelength frequency range of the light emission; the reflector is made of metal to improve the reflectivity in the near-infrared band.

[0039] 5. The signal modulation controller in the modulation monitoring circuit can realize the output voltage, current and switching control of the drive circuit, thereby realizing the control of the light source's luminous intensity, switching frequency and switching phase; the monitoring circuit monitors the output of the drive circuit in real time to realize closed-loop reliable control;

[0040] 5. The modulation monitoring circuit of the present invention loads the modulation signal onto the response circuit of the laser source, and the laser source responds according to the modulation information to complete the changes in light intensity, amplitude, frequency and phase angle, thereby realizing the modulation function; the monitoring circuit collects the response of the laser source in real time to realize feedback control. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a full-process point-to-point tracking modulated electronic beacon system according to an embodiment of the present invention;

[0042] Wherein, 1 is the divergence angle light source A, 2 is the divergence angle light source B, 3 is the driving circuit, and 4 is the modulation monitoring circuit;

[0043] Figure 2 This is a schematic diagram of the divergence angle light source A of the present invention;

[0044] Figure 3 This is a schematic diagram of the divergence angle light source B of the present invention;

[0045] Figure 4 This is a schematic diagram of the driving circuit of the present invention;

[0046] Figure 5 This is a schematic diagram of the modulation monitoring circuit of the present invention. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0048] like Figure 1 The diagram shows a schematic of a modulated electronic beacon system for point-to-point tracking according to an embodiment of the present invention. Located at the end of a point-to-point aircraft, it is used to send signals to a target tracking device to enable it to track its trajectory. The system includes: a divergence angle light source A1, a modulation monitoring circuit 4, a driving circuit 3, and a divergence angle light source B2.

[0049] The divergence angle light source A1 is used to emit a light source signal to the target tracking device when the flight distance between the point-to-point aircraft and the target tracking device is less than a set kilometer.

[0050] The divergence angle light source B2 is used to emit light source signals to the target tracking device when the flight distance of the point-to-point aircraft and the target tracking device are within a set kilometer range.

[0051] There are two driving circuits 3, which are connected to the divergence angle light source A1 and the divergence angle light source B2 respectively. They are used to provide voltage and current to the divergence angle light source A1 and the divergence angle light source B2 respectively, so that the divergence angle light source A1 and the divergence angle light source B2 output corresponding light power, and control the opening and closing of the divergence angle light source A1 and the divergence angle light source B2.

[0052] The modulation monitoring circuit 4 is connected with the corresponding driving circuit 3, and is used for controlling the opening and closing of the corresponding driving circuit 3, monitoring the voltage, current and power consumption information of the driving circuit of the corresponding divergence angle light source A1 and divergence angle light source B2, and feeding back the coded information to the target tracking device, so as to realize the light intensity, switching frequency and switching phase control of the light source, and then distinguish the emission target and the interference target.

[0053] The divergence angle light source A and the divergence angle light source B (2) are arranged on the tail surface of the point-to-point aircraft, and the horizontal axis of the divergence angle light source A and the horizontal axis of the divergence angle light source B (2) are on the same horizontal line.

[0054] As shown in Figure 2 , it is a structure schematic diagram of the divergence angle light source A of the application; wherein the divergence angle of the divergence angle light source A is 40°, comprising: a light emitter A and a reflector cover;

[0055] The light emitter A comprises a metal wire arranged in a glass cover, and the metal wire is connected with the driving circuit 3;

[0056] The reflector cover is a semi-elliptical cover, and the divergence angle of the reflector cover is 40°; the light emitter A is hung in the center of the reflector cover, and the light divergence direction of the light emitter A is towards the angle direction received by the target recognition tracking device.

[0057] Helium is filled in the glass cover, and the metal wire in the glass cover is tungsten wire; the reflector cover is a metal reflector cover, so as to improve the reflectivity of the infrared wave band.

[0058] As shown in Figure 3 , it is a structure schematic diagram of the divergence angle light source B of the application, wherein the divergence angle light source B comprises a light emitter B connected with the driving circuit 3 and a divergence sheet;

[0059] The divergence sheet is a homogenization sheet, and the divergence angle thereof is 10°; the light path of the light emitter B forms a divergence angle of 10° through the homogenization sheet, and the divergence direction is towards the angle direction received by the target recognition tracking device.

[0060] The light emitter B is a laser emitter, and the wavelength frequency thereof is the same as the wavelength frequency received by the target tracking device.

[0061] As shown in Figure 4 , it is a schematic diagram of the driving circuit of the application, wherein the driving circuit 3 comprises a MOSFET controller U1, a MOSFET tube U2, a MOSFET tube U3, a capacitor C1, a capacitor C2, an inductor L, a resistor R1, a resistor R2, a resistor R3, a PWM port and a connection port T1 and a connection port T2.

[0062] The node of voltage VCC is grounded through capacitor C1 and connected to the VCC end of MOSFET controller U1 to access voltage; the node of voltage VCC is connected to the drain of U2, the source of U2 is connected to the drain of U3, and the driving output port LX of U1 is connected;

[0063] The MOSFET controller U1 is connected to the modulation monitoring circuit 4 through the PWM port to realize the opening and closing control of the MOSFET controller U1;

[0064] The high-side control port DH and the low-side control port DL of the MOSFET controller are connected to the gate of the MOSFET tube U2 and the gate of the MOSFET tube U3 respectively; the driving output port LX of the MOSFET controller is connected to the output end of the MOSFET controller through the inductor L and then connected to the connection port T1;

[0065] The CSP port and the CSN port of the MOSFET controller U1 are current sampling ports, and are connected to both ends of the resistor R1, and one end of the resistor R1 is connected to the source end of the low-side MOSFET tube U3, and the other end is grounded to realize the current sampling of the low-side MOSFET;

[0066] The voltage feedback port OUT of the MOSFET controller U1 is connected to the common end of the voltage dividing resistor R2 and the voltage dividing resistor R3 to complete the voltage sampling of the output port T1;

[0067] The beacon light source D is connected to the T2 port of the driving circuit at one end and grounded at the other end; the output end of the beacon light source D is connected to the luminous body A or the luminous body B;

[0068] The connection port T1 and the connection port T2 are connected to the modulation monitoring circuit 4.

[0069] As shown in Figure 5 The modulation monitoring circuit of the application is shown in the schematic diagram, which comprises a signal modulator U4 and a monitoring circuit U5 connected to each other; the signal modulator U4 receives the voltage, current and power consumption signals collected by the monitoring circuit U5 in real time and feeds back to the target tracking device;

[0070] The monitoring circuit U5 is provided with a monitoring port T1 and a monitoring port T2, which are connected to the connection port T1 and the connection port T2 of the driving circuit 3 respectively, so that U5 and the light source form a series circuit to complete the monitoring of voltage, current and power consumption;

[0071] The input clock port of the signal modulator U4 is connected to the signal output end of the clock source CLOCK, and the other end of the clock source CLOCK is a grounding port;

[0072] The signal modulator U4 encodes the frequency and voltage, current and power consumption information of the divergent angle light source A1 or the divergent angle light source B2 into the switching information of the single spectrum light source, wherein the frequency information corresponds to the switching frequency of the light source, and after the data information is binary encoded, 1 corresponds to the light source being turned on, and 0 corresponds to the light source being turned off.

[0073] The PWM end of the signal modulator U4 is connected with the PWM port of the driving circuit 3, the driving circuit 3 is controlled to load the switching signal to the divergent angle light source A1 or the divergent angle light source B2, the divergent angle light source A1 or the divergent angle light source B2 responds in the form of light energy, and meanwhile the signal modulator U4 feeds back the switching frequency and the data information of the light source to the target tracking device, so that the target recognition tracking device distinguishes the emitting target from the interference target, and the anti-interference performance is improved.

[0074] In actual work, the divergent angle light source A1 of the cooperative beacon is installed at the end of the point-to-point flying device, and starts to work when the point-to-point flying device is away from the emitting device, in the initial stage of the emitting device to the range of 1 km, the light energy provided by the light emitter A added with inert gas is sufficient during the work, the energy emitted by the light emitter to the rear is reflected by the rear-end reflector with a specific angle of 40°, and the reflection angle is controlled, so that the light energy received by the tracking device is improved, and the target recognition tracking device behind the emitting device can quickly capture the flying device.

[0075] When the point-to-point flying device reaches the end of the flying distance, i.e. the point-to-point flying device is in the range of 2-6 km from the target tracking device, the laser 1 in the divergent angle light source B2 starts to work, and the light energy reaching the tracking device is sufficient due to the concentration of laser energy and the small divergence angle of the homogenizing sheet at the rear end.

[0076] After the divergent angle light source B2 starts to work, the signal modulation circuit modulates the laser 1, the signal modulation circuit changes the light intensity, amplitude, frequency and phase angle of the laser according to the modulation signal by controlling the current and voltage passing through the laser, at this time, the rear tracking device demodulates the light energy of the cooperative beacon, matches the modulation signal of the laser according to the change rule of the demodulated light intensity, amplitude, frequency and phase angle, and locks the real tracking target to exclude the interference target.

[0077] The specific embodiments of the present application are described above with reference to the drawings, but these descriptions cannot be understood as limiting the scope of the present application, the protection scope of the present application is defined by the appended claims, and any modification based on the claims of the present application is within the protection scope of the present application.

Claims

1. A modulatable electronic beacon for use in a full range of point-to-point tracking, located at the end of a point-to-point aircraft, for sending signals to a target tracking device to cause it to perform operational trajectory tracking, characterized in that, The application relates to a point-to-point aircraft target tracking device, which comprises a divergence angle light source A (1), a modulation monitoring circuit (4), a driving circuit (3) and a divergence angle light source B (2). The divergence angle light source A (1) is used for emitting a light source signal to a target tracking device when the flight distance of a point-to-point aircraft and the target tracking device is less than a set distance. The divergence angle light source B (2) is used for emitting a light source signal to the target tracking device when the flight distance of the point-to-point aircraft and the target tracking device is within a set distance. The driving circuit (3) is connected with the divergence angle light source A (1) and the divergence angle light source B (2) respectively, is used for providing voltage and current for the divergence angle light source A (1) and the divergence angle light source B (2) respectively, makes the divergence angle light source A (1) and the divergence angle light source B (2) output corresponding light power, and controls the divergence angle light source A (1) and the divergence angle light source B (2) to be turned on and turned off. The modulation monitoring circuit (4) is connected with the corresponding driving circuit (3) respectively, is used for controlling the corresponding driving circuit (3) to be turned on and turned off, monitoring the voltage, current and power consumption information of the driving circuit of the corresponding divergence angle light source A (1) and the divergence angle light source B (2) when working, and feeding back coded information to the target tracking device, so that the light intensity, switching frequency and switching phase control of the light source are realized, and then the emission target and the interference target are distinguished. The divergence angle light source A and the divergence angle light source B (2) are arranged on the tail surface of the point-to-point aircraft, and the horizontal axis of the divergence angle light source A and the horizontal axis of the divergence angle light source B (2) are on the same horizontal line.

2. A full range point-to-point tracking modulatable electronic beacon according to claim 1, wherein, The divergence angle of the divergence angle light source A is 40 DEG, and the divergence angle light source A comprises a light emitter A and a reflector cover.

3. A full range point-to-point tracking modulatable electronic beacon according to claim 1, wherein, The light emitter A comprises a metal wire arranged in a glass cover, and the metal wire is connected with the driving circuit (3) respectively. The reflector cover is a semi-elliptical cover body, and the divergence angle of the reflector cover is 40 DEG; the light emitter A is hung in the center of the reflector cover, and the light divergence direction of the light emitter A is towards the angle direction received by the target recognition tracking device. Helium is filled in the glass cover, and the metal wire in the glass cover is tungsten wire.

4. A full range point-to-point tracking modulatable electronic beacon according to claim 3, wherein, The reflector cover is a metal reflector cover, so that the infrared waveband light reflection efficiency is improved. The divergence angle light source B comprises a light emitter B connected with the driving circuit (3) and a divergence sheet.

5. A full range point-to-point tracking modulatable electronic beacon according to claim 1, wherein, The divergence sheet is a homogenization sheet, the divergence angle of the divergence sheet is 10 DEG, the light path of the light emitter B forms a 10 DEG divergence angle through the homogenization sheet, and the divergence direction is towards the angle direction received by the target recognition tracking device. The light emitter B is a laser emitter, and the laser wavelength frequency is the same as the wavelength frequency received by the target tracking device.

6. A full-range point-to-point tracking modulatable electronic beacon according to claim 5, wherein, The driving circuit (3) comprises a MOSFET controller U1, MOSFET tubes U2 and U3, capacitors C1 and C2, an inductor L, resistors R1, R2 and R3, a PWM port and connection ports T1 and T2.

7. A full range point-to-point tracking modulatable electronic beacon according to claim 1, wherein, ​ The node of voltage VCC is connected to ground through capacitor C1 and the VCC end of MOSFET controller U1 to access voltage; the node of voltage VCC is connected to the drain of U2, the source of U2 is connected to the drain of U3, and the driving output port LX of U1 is connected; The MOSFET controller U1 is connected to the modulation monitoring circuit (4) through the PWM port to realize the opening and closing control of the MOSFET controller U1; The high side control port DH and the low side control port DL of the MOSFET controller are connected to the gate of MOSFET U2 and the gate of MOSFET U3 respectively; the driving output port LX of the MOSFET controller is connected to the output end of the MOSFET controller through the inductor L, and then connected to the connection port T1; The CSP port and the CSN port of the MOSFET controller U1 are current sampling ports, and are connected to both ends of resistor R1, while one end of the resistor R1 is connected to the source of the low side MOSFET U3 and the other end is grounded to realize the current sampling of the low side MOSFET; The voltage feedback port OUT of the MOSFET controller U1 is connected to the common end of the voltage dividing resistor R2 and the voltage dividing resistor R3 to complete the voltage sampling of the output port T1; The beacon light source D is connected to the T2 port of the driving circuit at one end and grounded at the other end; the output end of the beacon light source D is connected to the light emitter A or the light emitter B; The connection port T1 and the connection port T2 are connected to the modulation monitoring circuit (4) respectively.

8. A full range point-to-point tracking modulatable electronic beacon according to claim 1, wherein, The modulation monitoring circuit comprises a signal modulator U4 and a monitoring circuit U5 connected to each other; the signal modulator U4 receives the voltage, current and power consumption signals collected by the monitoring circuit U5 in real time and feeds back to the target tracking device; The monitoring circuit U5 is provided with a monitoring port T1 and a monitoring port T2, which are connected to the connection port T1 and the connection port T2 of the driving circuit (3) respectively, so that U5 and the light source form a series circuit to complete the monitoring of voltage, current and power consumption; The input clock port of the signal modulator U4 is connected to the signal output end of the clock source CLOCK, and the other end of the clock source CLOCK is a ground port; The signal modulator U4 encodes the frequency of the divergence angle light source A (1) or the divergence angle light source B (2) and the voltage, current and power consumption information into the switching information of the single spectrum light source, wherein the frequency information corresponds to the switching frequency of the light source, and after the data information is binary encoded, 1 corresponds to the opening of the light source and 0 corresponds to the closing of the light source; The PWM end of the signal modulator U4 is connected to the PWM port of the driving circuit (3) to control the driving circuit (3) to load the switching signal to the divergence angle light source A (1) or the divergence angle light source B (2), and the divergence angle light source A (1) or the divergence angle light source B (2) responds in the form of light energy, while the signal modulator U4 feeds back the switching frequency of the light source and the data information to the target tracking device, so as to distinguish the emitting target and the interference target for the target recognition and tracking device, and improve the anti-interference performance.

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