A method and system for automatically testing satellite-to-ground laser communication control performance

Abstract

The present invention provides an automatic test method for the control performance of satellite-to-ground laser communication, which includes the following steps: the terminal to be tested is installed on a six-degree-of-freedom platform, and its corresponding three axes correspond to the three axes of the six-degree-of-freedom platform respectively; the terminal to be tested is connected to a far-field spatial light equivalent device and a space detection display device respectively, and the entrance pupil of the optical antenna corresponds to the exit pupil of the far-field spatial light equivalent device; the controller analyzes and processes according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, obtains the optimal control parameters under the amplitude frequency, and adjusts the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby realizing automatic testing of the optimal performance. The present invention analyzes and processes the abnormal state occurring during the laser communication test, so that even if the light spot is lost, the rotation amount of the six-degree-of-freedom platform can still be found, thereby not interrupting the laser communication test, and improving the integrity and feasibility of the test.

Description

Technical Field

[0001] The present invention relates to the technical field of laser communication test equipment, and in particular to an automatic test method and system for satellite-to-ground laser communication control performance. Background Art

[0002] When the laser communication terminal (hereinafter referred to as the terminal) performs satellite-to-ground laser communication, due to the relative motion between the satellite and the ground station, the terminal needs to perform laser communication tracking at different angular velocities. Therefore, it is necessary to perform control tests on the terminal at different angular velocities.

[0003] In current test systems, when conducting tests, each device needs to be manually adjusted to complete multiple repeated tests.

[0004] Due to the mechanical structure of the turntable in the terminal and the influence of the motor characteristics, different optimal control parameters will exist at different angular velocities. Generally speaking, the parameters at different angular velocities need to be obtained through multiple tests, but the adjustment of parameters often takes a lot of time and effort. There are now a variety of intelligent optimization algorithms for adjusting control parameters. However, due to the limitations of the test system, this type of adjustment algorithm is difficult to directly apply to the automatic debugging of terminal equipment. Summary of the invention

[0005] Purpose of the invention: In order to overcome the deficiencies of the prior art, the present invention provides an automatic testing method for the control performance of satellite-to-earth laser communications, which solves the problems in the prior art of difficulty in controlling optimal parameters caused by the mechanical structure of the turntable and inability to handle abnormal conditions during the test. The present invention also provides an automatic testing system for the control performance of satellite-to-earth laser communications.

[0006] Technical solution: According to a first aspect of the present invention, an automatic testing method for satellite-to-ground laser communication control performance is provided, the testing method comprising the following steps:

[0007] The S1 terminal to be tested is installed on a six-degree-of-freedom platform, and its corresponding three axes correspond to the three axes of the six-degree-of-freedom platform respectively;

[0008] S2: the terminal to be tested is respectively connected to the far-field spatial light equivalent device and the spatial light detection and display device, and the entrance pupil of the optical antenna corresponds to the exit pupil of the far-field spatial light equivalent device;

[0009] S3: The spatial light detection and display device is used to detect the laser signal and the corresponding deflection angle. If the laser signal is lost, the process proceeds to step S4; otherwise, the process proceeds to step S5;

[0010] S4 The controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and then proceeds to step S5;

[0011] S5 adjusts the amplitude and frequency of the six-degree-of-freedom platform, obtains CCD feedback data of the terminal to be tested and CCD feedback data of the spatial light detection and display device, performs centroid data fusion on the two data to obtain accurate tracking accuracy of the terminal to be tested, and after obtaining the tracking accuracy of the terminal to be tested, uses an improved particle swarm optimization algorithm to optimize the design of PID parameters;

[0012] S6 continuously iterates the control parameters of the terminal to be tested through the optimization algorithm, further obtains the optimal control parameters under the amplitude and frequency, and adjusts the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby achieving automatic testing of optimal performance.

[0013] Further, including:

[0014] In step S4, the controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, specifically including:

[0015] S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends.

[0016] S42 improves the CCD sensitivity in the spatial light detection display device;

[0017] S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44.

[0018] S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops;

[0019] S45 recalculates the angle control amount for pointing;

[0020] The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

[0021] Further, including:

[0022] The decision formula is expressed as:

[0023] α Az +θ Az -C Az ≤10urad

[0024] α El +θ El -C El ≤10urad

[0025] Among them, α Az and αEl represents the current angle feedback of the terminal to be tested, θ Az and θ El Represents the current angle feedback of the six-degree-of-freedom platform, C Az and C El Indicates the calibration value of the terminal to be tested when it is installed.

[0026] Further, including:

[0027] The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically:

[0028] The intermediate parameters are expressed as:

[0029]

[0030] Among them, G i represents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device;

[0031] Further we get:

[0032]

[0033] Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter of the CCD in the spatial light detection display device.

[0034] Further, including:

[0035] In step S5, the centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. The data fusion formula is:

[0036]

[0037] Wherein, A1 is the angular resolution of the CCD of the terminal to be tested, A2 is the angular resolution of the spatial light detection display device, is the fused centroid feedback, (x1, y1) is the centroid feedback of the spatial light detection and display device, and (x2, y2) is the centroid feedback of the CCD of the terminal to be tested.

[0038] Further, including:

[0039] In step S5, the improved particle swarm optimization algorithm includes:

[0040] S51 initializes the particle swarm network parameters and the position and velocity of each particle;

[0041] S52 determines whether the end condition is met, if so, the control parameters of the terminal to be tested are adjusted by the optimization algorithm and then the process ends, otherwise, the process proceeds to step S53;

[0042] S53 updates the speed and position of each particle;

[0043] S54 calculates the fitness value of each particle;

[0044] S55 updates the historical optimal fitness value and position of each particle, and then updates the historical optimal fitness value and position of the group;

[0045] The criteria for the end condition are:

[0046]

[0047] Among them, υ is the tracking accuracy of the terminal to be tested, N is the number of centroid feedbacks of the terminal to be tested at a single position, is the feedback x value of the ith centroid after fusion, is the ith centroid feedback y value after fusion, and u is the average centroid feedback position of the terminal to be tested in a single position.

[0048] On the other hand, the present invention also provides an automatic testing system for the control performance of satellite-to-ground laser communications, the system comprising: a far-field spatial light equivalent device, a six-degree-of-freedom platform, a spatial light detection and display device, and a controller, wherein the controller is respectively connected to the far-field spatial light equivalent device, the six-degree-of-freedom platform, and the spatial light detection and display device, the far-field spatial light equivalent device is used to control the output optical power of the spatial light, and use the attenuation of the optical power to simulate the satellite-to-ground environment of the terminal to be tested; the six-degree-of-freedom platform obtains the motion trajectory of the terminal to be tested through a simulation formula; the spatial light detection and display device is used to obtain the received optical power of the terminal to be tested and the center of mass feedback of the CCD; the controller is connected to the terminal to be tested, and is used to analyze and process the obtained relevant data, and finally obtain the optimal control parameters under the amplitude and frequency, and adjust the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby realizing automatic testing of the optimal performance.

[0049] Further, including:

[0050] The controller analyzes and processes the acquired relevant data, including:

[0051] The controller first performs analysis based on the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested;

[0052] Then, the amplitude and frequency of the six-degree-of-freedom platform are adjusted, and the CCD feedback data of the terminal to be tested and the CCD feedback data of the spatial light detection and display device are obtained. The centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. After obtaining the tracking accuracy of the terminal to be tested, the improved particle swarm optimization algorithm is used to optimize the design of PID parameters;

[0053] Finally, the control parameters of the terminal to be tested are continuously iterated through the optimization algorithm to further obtain the optimal control parameters under the amplitude and frequency, and the amplitude and frequency of the six-degree-of-freedom platform are adjusted according to the optimal control parameters, thereby achieving automatic testing of optimal performance.

[0054] Further, including:

[0055] The controller performs analysis according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, which specifically includes the following steps:

[0056] S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends.

[0057] S42 improves the CCD sensitivity in the spatial light detection display device;

[0058] S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44.

[0059] S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops;

[0060] S45 recalculates the angle control amount for pointing;

[0061] The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

[0062] Further, including:

[0063] The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically:

[0064] The intermediate parameters are expressed as:

[0065]

[0066] Among them, G irepresents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device;

[0067] Further we get:

[0068]

[0069] Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter.

[0070] Beneficial effects: Compared with the prior art, the present invention has the following advantages: the present invention targets at abnormal conditions occurring during laser communication testing, and mainly analyzes and processes the loss of light spots. Therefore, even in the state of light spot loss, the rotation amount of the six-degree-of-freedom platform can still be found, thereby not interrupting the laser communication test, and improving the integrity and feasibility of the test. The present invention also realizes automatic optimization of the optimal performance of the satellite-to-ground laser communication terminal through an improved intelligent optimization algorithm, and can quickly obtain control parameters under different angular velocities to achieve the optimal performance of the terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 This is a schematic diagram of the structure of the hardware part described in Example 1 of the present invention;

[0072] Figure 2 A flow chart of a method for processing spot loss according to an embodiment of the present invention;

[0073] Figure 3 The improved particle swarm algorithm flow chart described in the embodiment of the present invention;

[0074] Figure 4 This is a flow chart corresponding to the method for optimizing the optimal control parameters described in an embodiment of the present invention. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0076] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0077] Example 1

[0078] The present invention includes two major categories: hardware and software. The hardware part mainly includes the composition, installation and connection relationship of the optimal performance automatic test system. The software part includes the system's workflow, the use of optimization strategies, and the system's automatic working method.

[0079] Hardware part: The hardware part of the test system in the present invention includes four parts: a far-field spatial light equivalent device, a six-degree-of-freedom platform, a spatial light detection and display device, and a controller PC. Among them, the controller PC is the core of the system, which is used to control the far-field spatial light equivalent device, the six-degree-of-freedom platform, and the spatial light detection and display device. At the same time, for the terminal to be tested, in order to realize automatic testing, it is also necessary to control the terminal accordingly through the PC. Finally, through the integrated device, the parameters are further automatically configured to realize the automatic debugging of the terminal equipment, so as to automatically improve the beam control performance of satellite-to-ground laser communication.

[0080] Among them, when testing system hardware integration, the most critical innovation lies in the automatic processing process of abnormal conditions to achieve the purpose of protecting equipment.

[0081] For the far-field spatial light equivalent device, the output optical power of the spatial light is mainly controlled;

[0082] For a six-degree-of-freedom platform, the main controls are the platform attitude angle and attitude angular velocity;

[0083] For spatial light detection and display equipment, the main readings are the received light power and the centroid feedback of the CCD;

[0084] The PC is mainly used to control the automatic process of the above devices, and at the same time uses the optimization algorithm to automatically optimize the control parameters of the terminal to achieve the effects that the above three types of test equipment cannot achieve.

[0085] For the terminal to be tested, the main control is the terminal's pointing and control parameters, and the CCD centroid feedback of the terminal is read, such as Figure 1 shown.

[0086] The terminal to be tested is installed on the six-degree-of-freedom platform through tooling, and the entrance pupil of the terminal optical antenna corresponds to the exit pupil of the far-field spatial light equivalent device, and the three axes of the terminal correspond to the three axes of the six-degree-of-freedom platform respectively. The spatial light detection display device can detect the corresponding laser deflection angle. Specifically, the three devices and the terminal to be tested are connected to the PC through communication cables for data exchange, and the automatic test process of the terminal to be tested is realized through the PC.

[0087] In order to simulate the working conditions of the terminal to be tested, the terminal to be tested is fixedly installed on a six-degree-of-freedom platform, but is not directly connected to the far-field spatial light equivalent device and the spatial light detection and display device.

[0088] The automatic processing flow of abnormal status is mainly the processing flow of spot loss. The specific process is as follows Figure 2 shown.

[0089] The controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the controller enters: improving the CCD sensitivity in the spatial light detection and display device. Otherwise, when the judgment formula is not satisfied, it means that the angle at this time deviates too much from the theoretical value. Therefore, it is necessary to recalculate the theoretical value, re-point, and find the spot position, that is, recalculate the angle control amount for pointing;

[0090] Determine whether optical power appears in the spatial light detection and display device. If so, proceed to: use the power adaptation algorithm to calculate the rotation amount of the six-degree-of-freedom platform, and then end. Otherwise, proceed to: determine whether the maximum CCD sensitivity is reached. If so, end directly. Otherwise, transfer to: improve the CCD sensitivity in the spatial light detection and display device, and then loop.

[0091] Among them, the decision formula is

[0092] α Az +θ Az -C Az ≤10urad

[0093] α El +θ El -C El ≤10urad

[0094] Among them, α Az and α El Indicates the current angle feedback of the terminal to be tested, θ Az and θ El Represents the current angle feedback of the six-degree-of-freedom platform, C Az and C El Indicates the calibration value when the terminal under test is installed.

[0095] The power adaptation algorithm is

[0096]

[0097] Among them, G irepresents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device;

[0098] Further we can get Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. t represents the error function, ω e Indicates the effective spot diameter.

[0099] Software part:

[0100] The software part of the test system in the present invention includes four parts: optical power control of a far-field spatial light equivalent device, six-degree-of-freedom platform control, spatial light detection display device reading, and PC control algorithm implementation.

[0101] Optical power control of far-field spatial optical equivalent device

[0102] For the optical power control of the far-field space optical equivalent device, in order to realize the simulation of the satellite-ground environment by the test system, the attenuation of optical power is usually used for equivalent, that is, to meet the following requirements:

[0103] β E ≥β L

[0104] Among them, β E is the equivalent attenuation of optical power, in dB; β L It is the actual attenuation of the satellite-to-ground link, in dB.

[0105] The specific satellite-to-ground link attenuation can be calculated using the following formula. After using the attenuation formula, the optical power value is adjusted to achieve an equivalent situation, thereby achieving the effect of satellite-to-ground simulation and obtaining reliable optimization results. When the satellite-to-ground laser communication terminal is used, the optical power is automatically adjusted to achieve the function of automatic testing.

[0106]

[0107] Where λ is the wavelength in nm and z is the laser link distance in m.

[0108] The PC can calculate the attenuation value of the optical power by inputting the wavelength and link distance, and then simulate the satellite-to-ground link environment.

[0109] Six degrees of freedom platform control

[0110] For the control of the six-degree-of-freedom platform, it is necessary to simulate according to the satellite-to-ground communication environment. Usually, a sinusoidal signal is used for simulation. The simulation formula is as follows:

[0111] θ=Asin(2πft+φ)+θ0

[0112] Among them, θ represents the pointing angle of the platform, θ0 represents the initial pointing of the platform, A represents the platform shaking angle amplitude, f represents the frequency of simulated platform shaking, t represents time, and φ represents the initial phase of the platform.

[0113] Through the simulation formula, the angular velocity ω and angular acceleration a of the simulation platform can be calculated as follows:

[0114] ω=dθ / dt=2πfAcos(2πft+φ)

[0115] a=dω / dt=-4π 2 f 2 Asin(2πft+φ)

[0116] By adjusting A and f, the angular velocity and angular acceleration of the simulation platform can be adjusted. During use, the satellite-to-ground laser communication terminal automatic test system generates the motion trajectory required for the test according to the above formula to meet the application requirements of satellite-to-ground laser communication link establishment.

[0117] CCD centroid calculation formula

[0118] The CCD centroid calculation formula is an important part of the spatial light detection display device reading algorithm. Its main function is to generate the CCD centroid data. The deflection angle of the spatial light can be obtained by the difference between the two centroid data and the angular resolution of the CCD.

[0119]

[0120] Among them, m i Represents the feedback pixel value of CCD, is the centroid position, is the spatial light incident angle, and κ represents the angular resolution of the CCD. Through the centroid calculation, the current beam deflection angle and the jitter of the beam control can be obtained.

[0121] The parameter control algorithm of the terminal to be tested is based on the method of using the automatic test system for the optimal performance of satellite-to-ground laser communication terminals. When the terminal to be tested is installed in the automatic test system for the optimal performance of satellite-to-ground laser communication terminals, the six-degree-of-freedom platform will move according to the set amplitude and frequency, thereby simulating the satellite-to-ground conditions under equivalent angular velocity and angular acceleration. By reading the CCD feedback data of the terminal to be tested and the CCD feedback data of the space light detection display device, the centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. The data fusion formula is as follows:

[0122]

[0123] Among them, A1 is the angular resolution of the CCD of the terminal to be tested, A2 is the angular resolution of the spatial light detection display device, is the fused centroid feedback, (x1, y1) is the centroid feedback of the spatial light detection and display device, and (x2, y2) is the centroid feedback of the terminal CCD to be tested.

[0124] After obtaining the tracking accuracy of the terminal to be tested, the particle swarm optimization algorithm based on the test system is used to optimize the PID parameters. The algorithm control process is as follows: Figure 3 As shown:

[0125] The improved particle swarm optimization algorithm includes:

[0126] Initialize the particle swarm network parameters and the position and velocity of each particle;

[0127] Determine whether the end condition is met. If so, adjust the control parameters of the terminal to be tested through the optimization algorithm and then end. Otherwise, enter: update the speed and position of each particle;

[0128] Calculate the fitness value of each particle;

[0129] Update the historical optimal fitness value and position of each particle, and then update the historical optimal fitness value and position of the group;

[0130] The criteria for the end condition are:

[0131]

[0132] Among them, υ is the tracking accuracy of the terminal to be tested, N is the number of centroid feedbacks of the terminal to be tested at a single position, is the feedback x value of the ith centroid after fusion, is the ith centroid feedback y value after fusion, and u is the average centroid feedback position of the terminal to be tested in a single position.

[0133] By continuously iterating the control parameters of the terminal under test through the optimization algorithm, the optimal control parameters under the amplitude frequency can be further obtained to achieve the optimal performance automatic test. Figure 4 As shown,

[0134] Optimization starts, adjusting the amplitude and frequency of the six-degree-of-freedom platform;

[0135] Read the CCD feedback data of the terminal to be tested and read the CCD feedback data of the spatial light detection display device;

[0136] Calculate the tracking accuracy of the terminal under test through data fusion;

[0137] Determine whether the optimal control parameters are reached. If so, store the optimal control parameters under the amplitude and frequency, and adjust the amplitude and frequency of the six-degree-of-freedom platform according to the relevant data, and then end.

[0138] Otherwise, the control parameters of the terminal to be tested are adjusted by the optimization algorithm; the CCD feedback data of the terminal to be tested is obtained again and the CCD feedback data of the space light detection display device is read, and the above steps are repeated. The present invention uses an intelligent optimization algorithm to realize automatic optimization of the optimal performance of the satellite-to-ground laser communication terminal.

[0139] Example 2

[0140] The present invention provides an automatic testing method for satellite-to-ground laser communication control performance, the testing method comprising the following steps:

[0141] The S1 terminal to be tested is installed on a six-degree-of-freedom platform, and its corresponding three axes correspond to the three axes of the six-degree-of-freedom platform respectively;

[0142] S2: the terminal to be tested is respectively connected to the far-field spatial light equivalent device and the spatial light detection and display device, and the entrance pupil of the optical antenna corresponds to the exit pupil of the far-field spatial light equivalent device;

[0143] S3: The spatial light detection and display device is used to detect the laser signal and the corresponding deflection angle. If the laser signal is lost, the process proceeds to step S4; otherwise, the process proceeds to step S5;

[0144] S4 The controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and then proceeds to step S5;

[0145] S5 adjusts the amplitude and frequency of the six-degree-of-freedom platform, obtains CCD feedback data of the terminal to be tested and CCD feedback data of the spatial light detection and display device, performs centroid data fusion on the two data to obtain accurate tracking accuracy of the terminal to be tested, and after obtaining the tracking accuracy of the terminal to be tested, uses an improved particle swarm optimization algorithm to optimize the design of PID parameters;

[0146] S6 continuously iterates the control parameters of the terminal to be tested through the optimization algorithm, further obtains the optimal control parameters under the amplitude and frequency, and adjusts the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby achieving automatic testing of optimal performance.

[0147] Further, including:

[0148] In step S4, the controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, specifically including:

[0149] S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends.

[0150] S42 improves the CCD sensitivity in the spatial light detection display device;

[0151] S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44.

[0152] S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops;

[0153] S45 recalculates the angle control amount for pointing;

[0154] The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

[0155] Further, including:

[0156] The decision formula is expressed as:

[0157] α Az +θ Az -C Az ≤10urad

[0158] α El +θ El -C El ≤10urad

[0159] Among them, α Az and α El represents the current angle feedback of the terminal to be tested, θ Az and θ El Represents the current angle feedback of the six-degree-of-freedom platform, C Az and C El Indicates the calibration value of the terminal to be tested when it is installed.

[0160] Further, including:

[0161] The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically:

[0162] The intermediate parameters are expressed as:

[0163]

[0164] Among them, G i represents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device;

[0165] Further we get:

[0166]

[0167] Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter of the CCD in the spatial light detection display device.

[0168] Further, including:

[0169] In step S5, the centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. The data fusion formula is:

[0170]

[0171] Wherein, A1 is the angular resolution of the CCD of the terminal to be tested, A2 is the angular resolution of the spatial light detection display device, is the fused centroid feedback, (x1, y1) is the centroid feedback of the spatial light detection and display device, and (x2, y2) is the centroid feedback of the CCD of the terminal to be tested.

[0172] Further, including:

[0173] In step S5, the improved particle swarm optimization algorithm includes:

[0174] S51 initializes the particle swarm network parameters and the position and velocity of each particle;

[0175] S52 determines whether the end condition is met, if so, the control parameters of the terminal to be tested are adjusted by the optimization algorithm and then the process ends, otherwise, the process proceeds to step S53;

[0176] S53 updates the speed and position of each particle;

[0177] S54 calculates the fitness value of each particle;

[0178] S55 updates the historical optimal fitness value and position of each particle, and then updates the historical optimal fitness value and position of the group;

[0179] The criteria for the end condition are:

[0180]

[0181] Among them, υ is the tracking accuracy of the terminal to be tested, N is the number of centroid feedbacks of the terminal to be tested at a single position, is the feedback x value of the ith centroid after fusion, is the ith centroid feedback y value after fusion, and u is the average centroid feedback position of the terminal to be tested in a single position.

[0182] Example 3

[0183] On the other hand, the present invention also provides an automatic testing system for the control performance of satellite-to-ground laser communications, the system comprising: a far-field spatial light equivalent device, a six-degree-of-freedom platform, a spatial light detection and display device, and a controller, wherein the controller is respectively connected to the far-field spatial light equivalent device, the six-degree-of-freedom platform, and the spatial light detection and display device, the far-field spatial light equivalent device is used to control the output optical power of the spatial light, and use the attenuation of the optical power to simulate the satellite-to-ground environment of the terminal to be tested; the six-degree-of-freedom platform obtains the motion trajectory of the terminal to be tested through a simulation formula; the spatial light detection and display device is used to obtain the received optical power of the terminal to be tested and the center of mass feedback of the CCD; the controller is connected to the terminal to be tested, and is used to analyze and process the obtained relevant data, and finally obtain the optimal control parameters under the amplitude and frequency, and adjust the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby realizing automatic testing of the optimal performance.

[0184] The controller analyzes and processes the acquired relevant data, including:

[0185] The controller first performs analysis based on the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested;

[0186] Then, the amplitude and frequency of the six-degree-of-freedom platform are adjusted, and the CCD feedback data of the terminal to be tested and the CCD feedback data of the spatial light detection and display device are obtained. The centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. After obtaining the tracking accuracy of the terminal to be tested, the improved particle swarm optimization algorithm is used to optimize the design of PID parameters;

[0187] Finally, the control parameters of the terminal to be tested are continuously iterated through the optimization algorithm to further obtain the optimal control parameters under the amplitude and frequency, and the amplitude and frequency of the six-degree-of-freedom platform are adjusted according to the optimal control parameters, thereby achieving automatic testing of optimal performance.

[0188] The controller performs analysis according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, which specifically includes the following steps:

[0189] S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends.

[0190] S42 improves the CCD sensitivity in the spatial light detection display device;

[0191] S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44.

[0192] S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops;

[0193] S45 recalculates the angle control amount for pointing;

[0194] The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

[0195] The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically:

[0196] The intermediate parameters are expressed as:

[0197]

[0198] Among them, G irepresents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device;

[0199] Further we get:

[0200]

[0201] Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter.

[0202] It should be noted that since the storage medium provided in the embodiment of the present application is the storage medium used to implement the method of the embodiment of the present application, based on the method introduced in the embodiment of the present application, the person skilled in the art can understand the specific structure and deformation of the storage medium, so it is not repeated here. All storage media used in the method of the embodiment of the present application belong to the scope of protection of this application.

[0203] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0204] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0205] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0206] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0207] It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claim. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention may be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names.

[0208] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0209] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

[0210] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An automatic test method for satellite-to-ground laser communication control performance, characterized in that: The test method includes the following steps: The S1 terminal to be tested is installed on a six-degree-of-freedom platform, and its corresponding three axes correspond to the three axes of the six-degree-of-freedom platform respectively; S2: the terminal to be tested is respectively connected to the far-field spatial light equivalent device and the spatial light detection and display device, and the entrance pupil of the optical antenna corresponds to the exit pupil of the far-field spatial light equivalent device; S3: The spatial light detection display device is used to detect the laser signal and the corresponding deflection angle. If the laser signal is lost, the process proceeds to step S4; otherwise, the process proceeds to step S5; S4 The controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and then proceeds to step S5; S5 adjusts the amplitude and frequency of the six-degree-of-freedom platform, and obtains the CCD feedback data of the terminal to be tested and the CCD feedback data of the spatial light detection display device. The centroid data of the two data are fused to obtain the accurate tracking accuracy of the terminal to be tested. After obtaining the tracking accuracy of the terminal to be tested, the improved particle swarm optimization algorithm is used to optimize the design of PID parameters. S6 continuously iterates the control parameters of the terminal to be tested through the optimization algorithm, further obtains the optimal control parameters under the amplitude and frequency of the current six-degree-of-freedom platform in step S5, and adjusts the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, thereby achieving automatic testing of optimal performance; In step S4, the controller performs analysis and processing according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, specifically including: S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends. S42 improves the CCD sensitivity in the spatial light detection display device; S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44. S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops; S45 recalculates the angle control amount for pointing; The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

2. The automatic testing method for satellite-to-ground laser communication control performance according to claim 1 is characterized in that: The decision formula is expressed as: a Az +θ Az -C Az ≤10urad a El +θ El -C El ≤10urad Among them, α Az and α El represents the current angle feedback of the terminal to be tested, θ Az and θ El Represents the current angle feedback of the six-degree-of-freedom platform, C Az and C El Indicates the calibration value of the terminal to be tested when it is installed.

3. The automatic testing method for satellite-to-ground laser communication control performance according to claim 2 is characterized in that: The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically: The intermediate parameters are expressed as: Among them, G i Represents the grayscale value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S, S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), Where S represents the pixel range of the CCD in the spatial light detection display device; Further we get: Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter of the CCD in the spatial light detection display device.

4. The automatic testing method for satellite-to-ground laser communication control performance according to claim 3 is characterized in that: In step S5, the centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. The data fusion formula is: Wherein, A1 is the angular resolution of the CCD of the terminal to be tested, A2 is the angular resolution of the spatial light detection display device, is the fused centroid feedback, (x1, y1) is the centroid feedback of the spatial light detection and display device, and (x2, y2) is the centroid feedback of the CCD of the terminal to be tested.

5. The automatic testing method for satellite-to-ground laser communication control performance according to claim 4 is characterized in that: In step S5, the improved particle swarm optimization algorithm includes: S51 initializes the particle swarm network parameters and the position and velocity of each particle; S52 determines whether the end condition is met, if so, the control parameters of the terminal to be tested are adjusted by the optimization algorithm and then the process ends, otherwise, the process proceeds to step S53; S53 updates the speed and position of each particle; S54 calculates the fitness value of each particle; S55 updates the historical optimal fitness value and position of each particle, and then updates the historical optimal fitness value and position of the group; The criteria for the end condition are: Among them, υ is the tracking accuracy of the terminal to be tested, N is the number of centroid feedbacks of the terminal to be tested at a single position, is the feedback x value of the ith centroid after fusion, is the y value of the i-th centroid feedback after fusion, u x ,u y is the average position of the centroid feedback of the terminal under test in a single position.

6. An automatic test system for satellite-to-ground laser communication control performance, characterized in that: The system comprises: a far-field spatial light equivalent device, a six-degree-of-freedom platform, a spatial light detection and display device, and a controller. The controller is respectively connected to the far-field spatial light equivalent device, the six-degree-of-freedom platform, and the spatial light detection and display device. The far-field spatial light equivalent device is used to control the output optical power of the spatial light, and use the attenuation of the optical power to simulate the satellite-ground environment of the terminal to be tested; the six-degree-of-freedom platform obtains the motion trajectory of the terminal to be tested through a simulation formula; the spatial light detection and display device is used to obtain the received optical power of the terminal to be tested and the centroid feedback of the CCD; the controller is connected to the terminal to be tested, and is used to analyze and process the obtained relevant data, and finally obtain the optimal control parameters under the current amplitude and frequency of the six-degree-of-freedom platform, and adjust the amplitude and frequency of the six-degree-of-freedom platform according to the optimal control parameters, so as to realize the automatic test of the optimal performance; The controller analyzes and processes the acquired relevant data including: The controller first performs analysis based on the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested; Then, the amplitude and frequency of the six-degree-of-freedom platform are adjusted, and the CCD feedback data of the terminal to be tested and the CCD feedback data of the spatial light detection and display device are obtained. The centroid data of the two data are fused to obtain accurate tracking accuracy of the terminal to be tested. After obtaining the tracking accuracy of the terminal to be tested, the improved particle swarm optimization algorithm is used to optimize the design of PID parameters; Finally, the control parameters of the terminal to be tested are continuously iterated by the optimization algorithm to further obtain the optimal control parameters under the amplitude and frequency, and the amplitude and frequency of the six-degree-of-freedom platform are adjusted according to the optimal control parameters, so as to achieve automatic testing of optimal performance; The controller performs analysis according to the current angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, which specifically includes the following steps: S41: the controller obtains the angle of the six-degree-of-freedom platform and the angle of the terminal to be tested, and determines whether the judgment formula is satisfied. If so, the process proceeds to step S42; otherwise, the process proceeds to step S45 and ends. S42 improves the CCD sensitivity in the spatial light detection display device; S43 determines whether optical power appears in the spatial light detection display device. If so, the process proceeds to step S46 and ends. Otherwise, the process proceeds to step S44. S44 determines whether the maximum CCD sensitivity is reached, if so, then the process ends directly, otherwise, the process goes to step S42 and then loops; S45 recalculates the angle control amount for pointing; The S46 uses a power adaptation algorithm to calculate the 6DOF platform rotation.

7. The automatic test system for satellite-to-ground laser communication control performance according to claim 6 is characterized in that: The power adaptation algorithm is used to calculate the rotation amount of the six-degree-of-freedom platform, specifically: The intermediate parameters are expressed as: Among them, G i represents the gray value of the i-th pixel of the CCD in the spatial light detection display device, A(x,y)=(S / 2≤x<S,S / 2≤y<S), B(x,y)=(0<x<S / 2,S / 2≤y<S), C(x,y)=(0<x<S / 2,0<y<S / 2), D(x,y)=(S / 2≤x<S,0<y<S / 2), S represents the pixel range of the CCD in the spatial light detection display device; Further we get: Among them, Δθ Az and Δθ El Indicates the rotation amount of the six-degree-of-freedom platform. K is related to the current exposure value. The larger the exposure value, the larger K. represents the error function, ω e Indicates the effective spot diameter.

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