Laser communication fast link establishment method, device, equipment and storage medium

Abstract

The embodiments of the present disclosure provide a laser communication fast link establishment method, device, equipment and storage medium, which are applied to the field of converged communication technology. The method includes: based on omnidirectional microwaves, using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm, a microwave communication link is established with a communication target; based on the microwave communication link, the relative position and attitude angle of the communication target are calculated; according to the relative position and attitude angle of the communication target, the optical machine is driven to perform coarse alignment, and fine alignment is performed according to the coarse alignment result to establish a laser communication link. In this way, the efficiency of establishing a communication link can be improved, and the adaptability of the communication system to different environments and dynamic targets can be enhanced.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and further to the field of integrated communication technology, and in particular to a laser communication fast link establishment method, device, equipment and storage medium. Background Art

[0002] When establishing a laser communication link, the alignment stage requires obtaining the relative position and posture information of the communicating parties. Traditional laser communication systems usually adopt a single-beam design in the alignment stage, combining optical machines to complete scanning and acquisition of the target orientation, that is, scanning is performed by swinging a scanning mirror or rotating a prism to obtain the information and orientation of the target object for alignment. In this process, due to the small divergence angle of the laser beam and the difficulty in capturing the laser signal, alignment often takes a long time, which leads to high difficulty in establishing a link quickly, especially under complex environmental conditions or when there are dynamic changes in communication nodes. This defect is more prominent. In addition, when conducting far-field communications, facing complex environmental conditions, the laser beam is also easily affected by severe weather conditions, further reducing the efficiency of link establishment. Summary of the invention

[0003] In view of this, the present disclosure provides a laser communication fast link establishment method, device, equipment and storage medium.

[0004] According to a first aspect of the present disclosure, a laser communication fast link establishment method is provided, which is applied to a communication system, wherein the communication system includes a first communication end and a communication target, and the first communication end and the communication target are both provided with a microwave communication unit and a laser communication unit, and the method includes:

[0005] Based on omnidirectional microwaves, an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm are used to establish a microwave communication link with the communication target;

[0006] Based on the microwave communication link, calculate the relative position and attitude angle of the communication target;

[0007] The optical machine is driven to perform coarse alignment according to the relative position and attitude angle of the communication target, and fine alignment is performed based on the coarse alignment result to establish a laser communication link.

[0008] In some implementations of the first aspect, based on omnidirectional microwaves, an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm are used to establish a microwave communication link with a communication target, including:

[0009] Analyze the movement trajectory and communication window of the communication target through its historical position data and monitoring data;

[0010] Based on the motion trajectory and communication window, when the communication target is about to enter the communication window, the omnidirectional microwave communication equipment is started to send a microwave signal containing an identification code and synchronization information, and the adaptive hierarchical beam search algorithm and low-complexity beamforming algorithm are used to quickly establish a microwave communication link with the communication target.

[0011] In some implementable manners of the first aspect, starting an omnidirectional microwave communication device, sending a microwave signal including an identification code and synchronization information, and using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm to quickly establish a microwave communication link with a communication target include:

[0012] Start the omnidirectional microwave communication equipment to send a microwave signal containing an identification code and synchronization information;

[0013] Using the adaptive hierarchical beam search algorithm, according to the preset hierarchical strategy, the direction and width of the beam are controlled, and the search range and accuracy are adjusted;

[0014] The low-complexity beamforming algorithm is used to calculate the weight vector to perform weighted processing on the transmitted signal to reduce the computational complexity;

[0015] This allows the communication target to identify the communication source through the identification code in the microwave signal and quickly establish a microwave communication link with the communication source through the synchronization information in the microwave signal.

[0016] In some implementations of the first aspect, the communication target identifies the communication source through an identification code in the microwave signal, and quickly establishes a microwave communication link with the communication source through synchronization information in the microwave signal, including:

[0017] The communication target receives the microwave signal, identifies the communication source through the identification code in the microwave signal, and at the same time, performs spatial scanning using a preset multi-layer beam codebook, judges the direction information of the signal by comparing the received signal with the theoretical signal characteristics under different beam modes in the multi-layer beam codebook, and further uses a low-complexity beamforming algorithm to suppress interference signals and enhance the signal strength in the communication direction, so as to establish a microwave communication link with the communication source based on the synchronization information in the microwave signal; wherein the synchronization information may include: time synchronization information, frequency synchronization information, frame synchronization information, and symbol synchronization information.

[0018] In some implementations of the first aspect, calculating the relative position and attitude angle of the communication target based on the microwave communication link includes:

[0019] Based on the microwave communication link, a microwave signal containing azimuth information and attitude information fed back by the communication target is obtained; the relative position of the communication target is calculated based on the azimuth information and arrival time difference in the microwave signal; and the attitude angle of the communication target is calculated based on the attitude information and phase difference in the microwave signal.

[0020] In some implementable embodiments of the first aspect, based on a microwave communication link, a microwave signal containing azimuth information and attitude information fed back by a communication target is obtained; a relative position of the communication target is calculated based on the azimuth information and arrival time difference in the microwave signal; and an attitude angle of the communication target is calculated based on the attitude information and phase difference in the microwave signal, including:

[0021] Based on the established microwave communication link, the microwave signal containing the azimuth information and attitude information fed back by the communication target is obtained;

[0022] The coordinate transformation of the orientation information is performed to obtain the direction vector in the coordinate system of the first communication end; the time when the microwave signal arrives at different antennas is recorded, and the distance difference of the signal arriving at different antennas is calculated by measuring the time difference; a nonlinear equation is constructed based on the distance difference, the antenna spacing and the direction vector obtained by the transformation, and the relative position of the communication target is solved by using the Taylor series expansion method;

[0023] The attitude information is transformed into coordinates to obtain the attitude angle value in the coordinate system of the first communication end; the phase difference of the microwave signal reaching different antennas is measured, and the attitude angle of the communication target relative to the first communication end is solved using the Newton-Raphson iteration method based on the geometric structure of the antenna array, the attitude angle value and the phase difference obtained by the transformation.

[0024] In some implementations of the first aspect, the optical machine is driven to perform coarse alignment according to the relative position and attitude angle of the communication target, and fine alignment is performed according to the coarse alignment result to establish a laser communication link, including:

[0025] Obtain the initial position and attitude information of the optical machine itself;

[0026] Calculate the attitude angle and pointing parameters of the optical machine according to the relative position and attitude angle of the communication target, and drive the optical machine to perform rough alignment;

[0027] The compensation angle value of the optical machine relative to the attitude angle of the communication target is calculated, and the optical machine is further driven to perform precise alignment to establish a stable laser communication link.

[0028] According to a second aspect of the present disclosure, a laser communication fast link establishment device is provided, which is applied to a communication system, wherein the communication system includes a first communication end and a communication target thereof, wherein the first communication end and the communication target thereof are both provided with a microwave communication unit and a laser communication unit, and the device includes:

[0029] The first processing module establishes a microwave communication link with the communication target based on omnidirectional microwaves using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm;

[0030] The second processing module calculates the relative position and attitude angle of the communication target based on the microwave communication link;

[0031] The third processing module drives the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target, and performs fine alignment according to the coarse alignment result to establish a laser communication link.

[0032] According to a third aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described above.

[0033] According to a fourth aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, where the computer instructions are used to cause the computer-readable storage medium to execute the method described above.

[0034] In the present disclosure, based on omnidirectional microwave equipment, an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm are used to first establish a microwave communication link, calculate the relative position and attitude angle of the communication target, and then drive the optical machine to perform coarse and fine alignment to establish a stable laser communication link. This method shortens the time for establishing the entire laser communication link and improves communication efficiency.

[0035] It should be understood that the contents described in the summary of the invention are not intended to limit the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0037] Figure 1 A flowchart of a laser communication fast link establishment method provided by an embodiment of the present disclosure is shown;

[0038] Figure 2 A schematic diagram of a laser communication fast link establishment method provided by an embodiment of the present disclosure is shown;

[0039] Figure 3 A schematic diagram of an adaptive hierarchical beam search model provided by an embodiment of the present disclosure is shown;

[0040] Figure 4 A block diagram of a laser communication fast link establishment device according to an embodiment of the present disclosure is shown;

[0041] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present disclosure clearer, the technical solution in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0043] In addition, the term "and / or" in this article is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0044] In response to the problems mentioned in the background technology, the present disclosure provides a laser communication rapid link establishment method, device, equipment and storage medium, which are applied to a communication system, wherein the communication system includes a first communication end and its communication target, and the first communication end and its communication target are both provided with a microwave communication unit and a laser communication unit.

[0045] Specifically, based on omnidirectional microwaves, a microwave communication link is established with the communication target using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm; based on the microwave communication link, the relative position and attitude angle of the communication target are calculated; according to the relative position and attitude angle of the communication target, the optical machine is driven to perform coarse alignment, and fine alignment is performed based on the coarse alignment result to establish a laser communication link.

[0046] In this way, the alignment time of laser communication can be effectively shortened, the communication efficiency can be improved, and the adaptability of the communication system can be enhanced.

[0047] Principle description:

[0048] Although the laser communication system has high calibration accuracy, collects a lot of information, and is sensitive to the size of the target, its alignment takes a long time, is easily affected by the weather environment, and is difficult to quickly establish a link. Although the millimeter wave system cannot be compared with the laser system in terms of accuracy, it has strong fog and smoke penetration capabilities, has anti-interference and high spatial resolution, and can work around the clock in harsh weather conditions. More importantly, the millimeter wave system can quickly and accurately measure the azimuth. Therefore, laser communication based on the millimeter wave system can enable the laser communication system to better adapt to complex environments and dynamically changing communication scenarios; it can obtain the target azimuth and attitude more quickly, and quickly align to improve the efficiency of link establishment and reduce the difficulty of link establishment.

[0049] The following is a detailed description of a laser communication fast link establishment method, device, equipment and storage medium provided by the present invention in conjunction with the accompanying drawings and specific embodiments.

[0050] Figure 1 A flowchart of a laser communication fast link establishment method provided by an embodiment of the present disclosure is shown; Figure 2 A schematic diagram of a laser communication rapid link establishment method provided by an embodiment of the present disclosure is shown.

[0051] like Figure 1 As shown, the laser communication fast link establishment method 100 may include the following steps:

[0052] S110, based on omnidirectional microwaves, uses an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm to establish a microwave communication link with the communication target.

[0053] Specifically, the possible motion trajectory and communication window of the communication target are analyzed through the historical position data, monitoring data, etc. When the communication target is about to enter the communication window, the omnidirectional microwave communication equipment is started to send a microwave signal containing an identification code and synchronization information, and the adaptive hierarchical beam search algorithm and low-complexity beamforming algorithm are used to quickly establish a microwave communication link with the communication target.

[0054] Among them, the adaptive hierarchical beam search algorithm is used to adjust the search range and accuracy, and the low-complexity beamforming algorithm is used to analyze and process signals.

[0055] Further, starting the omnidirectional microwave communication device, sending a microwave signal containing an identification code and synchronization information, and using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm to quickly establish a microwave communication link with a communication target may include:

[0056] Start the omnidirectional microwave communication equipment and send a microwave signal containing an identification code and synchronization information. At the same time, use an adaptive hierarchical beam search algorithm to control the direction and width of the beam and adjust the search range and accuracy according to the preset hierarchical strategy. Use a low-complexity beamforming algorithm to calculate the weight vector and perform weighted processing on the transmitted signal to reduce the computational complexity. This allows the communication target to identify the communication source through the identification code in the microwave signal and quickly establish a microwave communication link with the communication source through the synchronization information in the microwave signal.

[0057] Furthermore, the communication target identifies the communication source through the identification code in the microwave signal, and quickly establishes a microwave communication link with the communication source through the synchronization information in the microwave signal, which may include:

[0058] After receiving the microwave signal, the communication target identifies the communication source through the identification code in the microwave signal. At the same time, it uses the preset multi-layer beam codebook to perform spatial scanning, and judges the direction information of the signal by comparing the received signal with the theoretical signal characteristics under different beam modes in the multi-layer beam codebook, and further suppresses the interference signal and enhances the signal strength in the communication direction, so as to establish a microwave communication link with the communication source based on the synchronization information in the microwave signal; wherein the synchronization information may include: time synchronization information, frequency synchronization information, frame synchronization information, symbol synchronization information, etc.

[0059] Furthermore, according to the feedback signal received from the communication target, the antenna direction can be further fine-tuned using an adaptive hierarchical beam search algorithm to determine the optimal pointing direction of the antenna, and the transmitted signal can be weighted using a low-complexity beamforming algorithm to reduce the computational complexity, so as to enable the ground communication station to quickly establish a stable microwave communication link with the target satellite.

[0060] like Figure 2 As shown, taking satellite-to-ground communication as an example, the target satellite's orbital data and historical monitoring data are obtained, and its possible motion trajectory is analyzed. According to the possible motion trajectory of the target satellite and the geographical location of the ground communication station, the possible communication window is determined by considering factors such as the earth's rotation and the relative angle change between the satellite orbit plane and the ground communication station.

[0061] When the target satellite is expected to enter the communication window, the omnidirectional microwave communication equipment is started to send a microwave signal containing a unique identification code and synchronization information. The adaptive hierarchical beam search algorithm is used to adjust the search range and accuracy, and the low-complexity beamforming algorithm is used to analyze and process the microwave signal.

[0062] After the target satellite enters the communication window and receives the microwave signal, it identifies the communication source through the identification code in the microwave signal. At the same time, it uses the preset multi-layer beam codebook to perform space scanning. By comparing the received signal with the theoretical signal characteristics under different beam modes in the multi-layer beam codebook, it determines the direction information of the signal, further suppresses the interference signal, and enhances the signal strength in the communication direction, so as to establish a preliminary microwave communication link with the communication source based on the synchronization information in the microwave signal.

[0063] Next, the ground communication station can further use an adaptive hierarchical beam search algorithm to fine-tune the antenna direction based on the feedback signal received from the target satellite, determine the optimal pointing direction of the antenna, and use a low-complexity beamforming algorithm to weightedly process the transmitted signal to reduce the computational complexity, so that the ground communication station can quickly establish a stable microwave communication link with the target satellite.

[0064] The above is an example of satellite-to-ground communication. The method 100 provided in the present disclosure can also be applied to communication between static far-field ground devices or between ground far-field devices in relative motion.

[0065] It can be understood that both communicating parties are configured with an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm, and are pre-set with a multi-layer beam codebook. When the communication target first actively initiates link establishment, the communication target acts as the first communication end, and the communicating party acts as the communication target or the second communication end. The master-slave identities of the two are swapped. At this time, the laser communication fast link establishment method 100 provided in the present disclosure is still applicable.

[0066] The following is a more detailed description of using an adaptive hierarchical beam search algorithm to control the direction and width of the beam and adjust the search range and accuracy according to a preset hierarchical strategy through an example.

[0067] Assume that the adaptive hierarchical search communication target end Tx has N t antennas, the first communication end Rx has N r Antenna.

[0068] During the search process, Tx uses a beam that can cover all directions of this end to send a pilot signal, and Rx uses a preset multi-layer beam codebook for spatial scanning. The main path direction of the millimeter wave channel in Rx is determined by the measured pilot signal. After the optimal interval is determined, a detailed search is performed in the interval to obtain the corresponding angle.

[0069] In the initial search phase, Tx uses a beam that can cover all directions of the local end to send a pilot signal. In order to achieve omnidirectional coverage, this initial beam can be a beam pattern with a wider angle range. If the transmit beam pattern is represented as W0 (this is an N t×1), the values ​​of its elements are set according to the requirements of omnidirectional coverage. For example, for a uniform linear array antenna, in order to achieve omnidirectional coverage in the horizontal direction, the phase difference between adjacent antennas can be set to zero, so that the beam is evenly distributed in the horizontal direction; the amplitude of the weight vector can be normalized according to requirements such as transmit power.

[0070] Assume the pilot signal is S p (t), the transmitted signal x(t) after passing through the Tx antenna array can be expressed as x(t)=W0S p (t), this signal will propagate in space and be searched by Rx. At the same time, the duration of sending the pilot signal is T p Parameters such as the period and the time period also need to be considered. p It can be determined based on the coherence time of the channel and the time required to scan a layer of beams to ensure that the Rx can receive the complete pilot signal during different beam scanning processes.

[0071] Define K as the number of codebook layers of Rx, where K>1, and the number of beams in the Kth layer is l k Satisfy: k =2 K , K=1,…,K; Rx starts searching from layer K=1, and its search space is , after the search on the K=1th layer is completed, Rx reduces the search range on the K+1th layer by half according to the signal obtained by beam scanning, that is , ; Because l k =2 K , so the number of beams that need to be searched in the K+1th layer is l K+1 =2 k / 2=2 k-1 , we can further obtain the total number of beams that Rx needs to search by summing the geometric series: 2 K -1, Figure 3 A schematic diagram of an adaptive hierarchical beam search model provided by an embodiment of the present disclosure is shown. The schematic diagram of the beam hierarchical search can be as follows: Figure 3 shown.

[0072] Rx only searches two beams at each layer, , is the beam vector scanned by Rx at the Kth layer, and then let W t is the beam vector used by Tx, then the equivalent channel corresponding to the two beam combinations of the Kth layer can be expressed as: , i=1,2; H is the channel matrix of the system.

[0073] The pilot signal corresponding to m scans is expressed as , where n kis the number of symbol periods used by Rx to scan a single beam each time. The pilot symbols collected by Rx can be expressed as:

[0074] ;

[0075] in, The mean is 0 and the variance is Additive complex Gaussian noise.

[0076] The pilot signal after matched filtering can be expressed as:

[0077] ;

[0078] in, .

[0079] Matched filter signal Is an equivalent channel The sufficient statistics are used to determine whether to stop scanning. If the scanning is stopped, Rx can determine the search range of the K+1th layer based on the matched filter signal. The specific method is as follows: when the signal obtained by scanning When the signal-to-noise ratio of the signal is higher than the preset signal-to-noise ratio threshold, Rx can The intensity of the two beams can be used to accurately determine the intensity relationship between the channels corresponding to the two beams, thereby determining the direction range of the main path of the channel; that is, when the main path of the channel falls within the coverage of the beam, determine whether it meets the preset threshold. If so, the SNR (Signal-to-Noise Ratio) of the matched filter output of the beam is determined to be higher than the preset target SNR value, otherwise, it is determined to be lower than the target SNR value; when searching at the Kth layer, if the beam meets the preset threshold, the scan of the Kth layer is terminated, otherwise, the scan is repeated.

[0080] After stopping the search at the Kth layer, Rx needs to determine the search range at the K+1th layer. The search range at the K+1th layer can be determined as follows: Figure 3 As shown, C1 and C2 represent beam , Coverage range, C3 represents the beam and The intersection is the center and the angle interval is the same width as C1 and C2. C1, C2, and C3 are all used as possible search angle intervals for the next layer. When the channel direction falls on the intersection of two receiving beams, C3 is used as the angle interval to be searched in the next layer.

[0081] The millimeter wave single-path channel can be approximately written as ;

[0082] Among them, α represents the path gain; represents the antenna direction vector at Rx, , that is, the vector Belongs to the complex domain N t ×1-dimensional vector space, It is a r A column vector of complex elements; for The conjugate transpose of represents the antenna direction vector at Tx, , that is, the vector Belongs to the complex domain N t ×1-dimensional vector space, It is a t A column vector of complex elements.

[0083] The antenna direction vector of a uniform linear array with half-wavelength antenna spacing can be expressed as: , where N represents the number of antennas in the antenna array, , represents the receiving angle / transmitting angle (AOA / AOD), and the effective channel strength can be expressed as:

[0084] ;in:

[0085] represents the Tx beamforming gain, where W TX is the beamforming weight vector; represents the Rx beamforming gain, for The conjugate transpose of ;

[0086] make , , the received signal after matched filtering can be rewritten as:

[0087] ;

[0088] in, The mean is 0 and the variance is Additive complex Gaussian noise; two receive beams at level K , The two signals received , The mean is ,variance The received signals are complex Gaussian distributed and independent of each other; that is, after being processed, their statistical characteristics are complex Gaussian distributed, and there is no correlation between the signals received by different beams.

[0089] The path direction φ can be obtained by the maximum likelihood detection method, and its likelihood function can be written as:

[0090] ;

[0091] make , it can be seen that the maximum value of the received signal likelihood function is equivalent to Get the minimum value; for any φ, when hour, The minimized value can be obtained; where:

[0092] ;

[0093] in, express The conjugation of.

[0094] Through the above operation, the search angle interval of each layer is divided into three intervals, so the central angle value of the three intervals is selected as the candidate value of φ to minimize ,Right now ,like Figure 3 As shown, , Respectively , The angle of the main lobe direction; express , The angle of the intersection, then the central angle of the K+1th layer to be searched interval .

[0095] when When Coverage As the search interval of the next layer of beam search; when When Coverage As the search interval for the next layer of beam search;

[0096] when When as the center, and The angle interval of the same width is used as the beam search interval of the next stage, which is equivalent to Move half the coverage width; the method for selecting the next layer of beam search interval can be expressed as:

[0097] ;

[0098] When searching for the last layer of layered beams, you need to select the final beam direction. Rx can choose As the final beam direction used, its corresponding beam vector is:

[0099] ;

[0100] in, is any codeword vector in the K-th level codebook; represents the Hadamard product; express and The angle difference between the main lobe directions; when When , the selected beam direction is The main lobe direction is .

[0101] Furthermore, Rx can also complete a layer of beam scanning and determine some preliminary signal direction information (the direction interval with the strongest signal) and then feedback it to Tx. The feedback information includes the angle range of the direction interval with the strongest signal strength [θ min ,θ max ] and signal quality related parameters, namely RSSI (Received Signal Strength Indicator) or SNR.

[0102] Tx adjusts the transmit beam according to the feedback angle range and recalculates the transmit beam weight vector W0; for uniform linear array antennas, if you want to focus the beam to the feedback angle range, you can adjust the phase difference between adjacent antennas according to the following formula , where d is the antenna spacing, λ is the signal wavelength, and θ is the target angle; this changes the direction of the transmitted beam so that it is concentrated in the direction interval with the strongest signal.

[0103] When Rx performs a refined search, Tx also further optimizes the transmit beam, receives more accurate angle information and signal quality information from Rx, and uses a low-complexity beamforming method based on statistical channel information to adjust the weight vector according to the statistical gain of the known channel in the target direction. This makes the gain of the transmit beam in the target direction match the statistical characteristics of the channel, thereby better coordinating with the Rx's refined search process and improving the efficiency of establishing a stable communication link.

[0104] The following is a more detailed description of using a low-complexity beamforming algorithm to calculate a weight vector and perform weighted processing on a transmission signal to reduce computational complexity by using an example.

[0105] For N rThe Rx of the root antenna needs to perform weighted combination of the received signals through a low-complexity beamforming algorithm to enhance the desired signal and suppress the interference signal; specifically, a set of beam modes are designed in advance. These beam modes are designed based on common communication scenarios and channel characteristics. When the signal is received, the optimal beam mode is selected by comparing the received signal strengths under different beam modes.

[0106] Exemplarily, M beam modes are designed, the power of the received signal in each beam mode is calculated respectively, and the weight vector corresponding to the beam mode with the largest power is selected to process the received signal.

[0107] Assume that the weight vector corresponding to the jth beam pattern is V j =[V j1 , V j2 …V Nr ] T , the received signal vector is r=[r1, r2…r Nr ] T , then the power received in the jth beam mode is , choose so that P j The beam pattern corresponding to the largest j value is used as the receive beamforming scheme.

[0108] In addition, the beamforming weights can also be adjusted based on an adaptive algorithm according to changes in the strength of the received signal; if it is found that the signal strength in a certain direction continues to increase, the proportion of the antenna weight in that direction can be appropriately increased; conversely, if interference occurs in a certain direction, causing the signal strength to decrease, the weight of the antenna in that direction is reduced; this adjustment can be periodic or based on a preset threshold trigger mechanism.

[0109] For N t The root antenna Tx receives the microwave signal of Rx, identifies the communication source through the identification code in the microwave signal, performs spatial scanning using a preset multi-layer beam codebook, and judges the direction information of the signal by comparing the received signal with the theoretical signal characteristics under different beam modes in the multi-layer beam codebook. It further uses a low-complexity beamforming algorithm to suppress interference signals and enhance the signal strength in the communication direction, so as to establish a microwave communication link with the communication source based on the synchronization information in the microwave signal; wherein the synchronization information may include: time synchronization information, frequency synchronization information, frame synchronization information, symbol synchronization information, etc.

[0110] Since "using a preset multi-layer beam codebook to perform spatial scanning, and by comparing the received signal with the theoretical signal characteristics under different beam modes in the multi-layer beam codebook, the direction information of the signal is determined" is the same as the principle of Rx using the hierarchical beam search algorithm to determine the beam direction, those skilled in the art can understand it after reading the above content, and therefore, the present disclosure will not go into details here.

[0111] Furthermore, Tx optimizes signal transmission through a low-complexity beamforming algorithm, the goal of which is to find a suitable weight vector W = [W1, W2...W Nt ] T , so that the transmitted signal can be effectively focused in the direction of the communication target.

[0112] Specifically, the space is divided into several main directional regions, and the channel statistical gain corresponding to each region is determined according to historical data or prior information. According to the current estimation of the communication target direction, the corresponding region is selected, and a relatively large weight is assigned to the antenna in the region. The weight assignment can be linear or based on a functional relationship; for example, for the antenna closest to the estimated direction, its weight can be set to W max , and as the deviation angle between the antenna and this direction increases, the weight decreases proportionally: , where θ i is the angle of the ith antenna relative to the reference direction, θ target is the estimated first communication end direction angle, θ max is the maximum angle deviation set, W max is the maximum weight value.

[0113] In practical applications, the adaptive hierarchical beam search algorithm and the low-complexity beamforming algorithm cooperate with each other; Tx can use the hierarchical beam search algorithm to search and determine possible signal direction information. When sending pilot signals in each search stage, the low-complexity beamforming algorithm is used to optimize the sending direction of the pilot signal, so that the pilot signal is focused to a certain extent toward the area where Rx may exist, thereby increasing the probability that Rx detects the pilot signal; while at Rx, the low-complexity beamforming algorithm can assist the adaptive hierarchical beam search algorithm to determine the optimal beam direction more quickly. When performing spatial scanning, in the search process of each layer, the received signal can be preliminarily processed using a fixed beam mode reception or a simple adaptive adjustment beamforming method to enhance the effective signal, and then the channel strength estimation and beam direction judgment are performed based on the processed signal, further improving the search efficiency and accuracy. At the same time, in the refined search stage, the low-complexity beamforming algorithm can better adjust the beam direction, so that Rx can better align with Tx, thereby accurately obtaining the corresponding angle.

[0114] According to an embodiment of the present disclosure:

[0115] By analyzing the historical position data and monitoring data of the communication target to obtain its possible movement trajectory and communication window, we can better grasp the communication opportunity, improve the efficiency of establishing microwave communication links, and reduce resource waste and time delays caused by blind search; at the same time, the adaptive layered beam search algorithm is used to control the beam direction and width according to the preset layering strategy, which can effectively adjust the search range and accuracy, so that the beam can quickly and accurately point to the area where the target may appear, optimize the search process, and improve the search efficiency; the low-complexity beamforming algorithm is used to calculate the weight vector to perform weighted processing on the transmitted signal, which reduces the computational complexity, effectively reduces the system resource usage while ensuring the effectiveness of signal processing, and is conducive to the establishment of efficient microwave communication links in resource-constrained devices.

[0116] S120, calculating the relative position and attitude angle of the communication target based on the microwave communication link.

[0117] Specifically, based on the microwave communication link, a microwave signal containing azimuth information and attitude information fed back by the communication target is obtained; the relative position of the communication target is calculated based on the azimuth information and arrival time difference in the microwave signal; and the attitude angle of the communication target is calculated based on the attitude information and phase difference in the microwave signal.

[0118] More specifically:

[0119] Based on the established microwave communication link, a microwave signal containing azimuth information and attitude information fed back by a communication target is obtained; the azimuth information is converted into coordinates to obtain a direction vector in the coordinate system of a first communication terminal; the time when the microwave signal arrives at different antennas is recorded, and the distance difference of the signal arriving at different antennas is calculated by measuring the time difference; a nonlinear equation is constructed according to the distance difference, the antenna spacing and the direction vector obtained by the conversion, and the relative position of the communication target is solved by using the Taylor series expansion method; the attitude information is converted into coordinates to obtain the attitude angle value in the coordinate system of the first communication terminal; the phase difference of the microwave signal arriving at different antennas is measured, and the attitude angle of the communication target relative to the first communication terminal is solved by using the Newton-Raphson iteration method according to the geometric structure of the antenna array, the attitude angle value obtained by the conversion and the phase difference; and further:

[0120] When the microwave signal fed back by the communication target reaches each antenna, the corresponding time measurement device records the arrival time. Let the time recorded by the mth antenna be t m , the time recorded by the nth antenna is t n , then the time difference ∆t mn =t m -t n .

[0121] Considering that the propagation speed of microwave signals in space is approximately equal to the speed of light c, calculate the distance difference between the signals reaching different antennas: ∆dmn =c∆t mn .

[0122] Assume that the antenna array is a uniform three-dimensional array, and the spacing between antennas in the x, y, and z directions is d respectively. x d y d z , let the position coordinates of the communication target in the first communication end coordinate system be (x, y, z).

[0123] For any two antennas m and n, according to the spatial distance formula, the distance r from the target to the mth antenna is m and the distance r to the nth antenna n satisfy:

[0124] ;

[0125] ;

[0126] Among them, (x m ,y m , z m ) and (x n ,y n , z n ) are the coordinates of the mth and nth antennas in the coordinate system of the first communication end, and .

[0127] By processing multiple antenna pairs, a nonlinear equation is constructed that contains the coordinates of the target location.

[0128] Using the direction vector obtained by the transformation as the prior information, the nonlinear equation is expanded by Taylor series near the initial estimate. Assuming that the initial estimate is (x0, y0, z0), for r m To expand:

[0129] ;

[0130] Among them, r m0 is the distance from the target to the mth antenna at the initial estimated position.

[0131] Substitute the expression after Taylor series expansion into the distance difference equation to obtain the linearized equation, and solve the equation using the least squares method or other methods suitable for solving linear equations to obtain the updated position estimate.

[0132] Repeat the Taylor series expansion and solution process, and continuously update the position estimate until the difference in position coordinates obtained from two adjacent iterations is within the preset accuracy range. The position coordinates obtained at this time are the relative position of the communication target in the coordinate system of the first communication end.

[0133] At the same time, according to the rotation relationship between the coordinate systems, the attitude angles are converted between different coordinate systems through matrix multiplication to obtain accurate attitude angle values ​​such as roll angle, pitch angle, and yaw angle in the reference coordinate system of the first communication end; among them, the roll angle, that is, the transverse roll angle, is the angle of rotation of the optical mechanical turntable around its optical axis. The change in the roll angle will change the polarization direction of the laser beam and the angular attitude relative to the turntable itself. Adjusting the roll angle can adjust the rotation state of the laser beam in its own axial direction; the pitch angle is the rotation angle of the optical axis of the optical mechanical turntable in the vertical plane relative to the reference plane. Adjusting the pitch angle can control the direction of the laser beam in the vertical direction; the yaw angle is the rotation angle of the optical axis of the optical mechanical turntable in the horizontal plane relative to the reference direction. Adjusting the yaw angle can control the direction of the laser beam in the horizontal direction.

[0134] The phase difference of microwave signals arriving at different antennas is measured, and the Newton-Raphson iteration method is selected to solve the attitude angle of the communication target relative to the first communication end according to the geometric structure of the antenna array, the attitude angle and the phase difference obtained by conversion.

[0135] Assume that the first communication end is a three-dimensional uniform cubic grid antenna array, and the spacing between adjacent antennas in the x, y, and z directions is d x ,d y ,d z , the wavelength of the microwave signal is λ.

[0136] Measure the phase difference of microwave signals between different antennas. For any two antennas:

[0137] A(x1, y1, z1) and B(x2, y2, z2), record their phase difference .

[0138] For two adjacent antennas in the x direction, their coordinates are (x, y, z) and (x + d x , y, z), its phase difference The relationship with the attitude angle is:

[0139] ;

[0140] in, They are roll, pitch and yaw angles respectively.

[0141] For two adjacent antennas in the y direction, their coordinates are (x, y, z) and (x, y + d y , z), the relationship between the phase difference and the attitude angle is:

[0142] ;

[0143] For two adjacent antennas in the z direction, their coordinates are (x, y, z) and (x, y, z+ dz ), the relationship between the phase difference and the attitude angle is:

[0144] ;

[0145] The above equations based on the phase difference of antennas in different directions are combined to form a nonlinear equation group, and the Newton-Raphson iteration method is selected to solve it.

[0146] The converted attitude angles are used as prior information to make initial guesses for the roll, pitch, and yaw angles.

[0147] Calculate the Jacobian matrix J of the equation group under the current guess value and the function value vector F, that is, substitute the phase difference measurement value into the left side of the equation, substitute the attitude angle obtained by the current conversion as the initial guess value into the right side of the equation, and calculate the difference vector.

[0148] Update the angle guess value according to the Newton-Raphson iteration formula. The Newton-Raphson iteration formula is as follows:

[0149] ;

[0150] Repeat this process until the convergence condition is met.

[0151] If the angle change between two adjacent iterations is less than a preset threshold or the norm of the function value vector F is less than a preset threshold, the angle value obtained at this time is the posture angle of the communication target relative to the first communication end.

[0152] According to the embodiments of the present disclosure, based on the microwave communication link, full use is made of the microwave signal containing the orientation information and attitude information fed back by the communication target, the position and attitude angle of the communication target relative to the first communication end are calculated, and laser communication is performed based on the position and attitude angle of the communication target, thereby improving the accuracy of optical-mechanical alignment and effectively shortening the alignment time of laser communication.

[0153] S130, driving the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target, and performing fine alignment according to the coarse alignment result to establish a laser communication link.

[0154] Specifically, the initial position and attitude information of the optical machine itself is obtained, the attitude angle and pointing parameters of the optical machine are calculated according to the relative position and attitude angle of the communication target, and the optical machine is driven to perform coarse alignment; the compensation angle value of the optical machine relative to the attitude of the communication target is calculated, and based on the coarse alignment, the optical machine is further driven to perform fine alignment to establish a laser communication link.

[0155] More specifically:

[0156] The optical machine is calibrated. During the calibration process, the optical machine is placed in a known standard posture, and the output value of the sensor at this time is recorded as the zero bias calibration value. After calibration, the initial posture angle of the optical machine is obtained; in the working state, the posture angle value can be obtained by subtracting the zero bias calibration value from the data measured by the sensor.

[0157] Assuming that the communication target is in motion, its three-dimensional relative position information vector representation is:

[0158] ;

[0159] The velocity vector is: ;

[0160] The acceleration vector is: .

[0161] Using the relative position information vector, velocity vector, and acceleration vector, the extended Kalman filter is used to estimate the position of the communication target in the short future according to the kinematic equation to more accurately calculate the alignment parameters; the kinematic equation is as follows:

[0162] ;

[0163] Where ∆t is the prediction time interval.

[0164] Assume the direction vector from the optical machine to the communication target:

[0165] ;

[0166] The azimuth angle θ and elevation angle of the optical machine can be calculated by the following formula:

[0167] ;

[0168] ;

[0169] The azimuth angle θ and elevation angle φ are used to drive the optical machine to adjust the horizontal and vertical directions, quickly capture the beacon light of the communication target, and thus quickly complete the rough alignment of the communicating parties.

[0170] Further:

[0171] Calculate the compensation angle value of the optical machine relative to the target posture:

[0172] Roll compensation angle: ∆ɑ=ɑ t -ɑ0+∆ɑ0;

[0173] Pitch compensation angle: ∆β=β t -β0+∆β0;

[0174] Deflection compensation angle: ∆γ=γ t-γ0+∆γ0.

[0175] Among them, ∆ɑ0, ∆β0 and ∆γ0 are compensation values ​​set considering the initial posture calibration error of the optical machine, the coordinate system conversion error and the environmental refraction.

[0176] According to the roll compensation angle, the optomechanical motor or piezoelectric ceramic driver is driven to adjust the roll joint / device; according to the pitch compensation angle, the optomechanical microelectromechanical system is driven to adjust the pitch adjustment device; according to the yaw compensation angle, the optomechanical rotary motor is driven to adjust the yaw adjustment device for precise alignment.

[0177] By utilizing the angle adjustment mechanism in the optical machine and fine-tuning the three directions of roll, pitch, and yaw, the optical machine's attitude is driven to change, so that the optical machine matches that of the communication target, completes precise alignment, and establishes a stable and efficient laser communication link. At the same time, microwave communication is maintained with the communication target. If the laser communication link is disconnected, the laser communication link can be quickly established again through microwave communication.

[0178] According to the embodiments of the present disclosure, the initial information of the optical machine itself is first obtained, and then the posture and pointing parameters are calculated according to the target information for rough alignment, and finally the compensation angle is calculated for fine alignment. This can effectively reduce the alignment error caused by large initial deviation, establish a stable laser communication link, and improve the communication quality and link stability.

[0179] According to the embodiments of the present disclosure, the following technical effects are achieved:

[0180] Based on omnidirectional microwave technology, an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm are first used to establish a stable microwave communication link with the communication target. Then, a stable laser communication link is quickly and accurately established with the communication target. The two communication methods complement each other, which not only improves the efficiency of establishing the communication link, but also improves the adaptability of the communication system to different environments and dynamic targets.

[0181] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present disclosure is not limited by the order of the actions described, because according to the present disclosure, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present disclosure.

[0182] The above is an introduction to the method embodiment. The following is a further explanation of the scheme disclosed in the present invention through an apparatus embodiment.

[0183] Figure 4 FIG. 1 is a block diagram of a laser communication fast link establishment device according to an embodiment of the present disclosure. Figure 4 As shown, the laser communication fast link establishment device 400 may include:

[0184] The first processing module 410 establishes a microwave communication link with a communication target based on omnidirectional microwaves using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm;

[0185] The second processing module 420 calculates the relative position and attitude angle of the communication target based on the microwave communication link;

[0186] The third processing module 430 drives the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target, and performs fine alignment according to the coarse alignment result to establish a laser communication link.

[0187] Understandably, Figure 4 Each module in the laser communication rapid link establishment device 400 shown has the function of implementing each step in the laser communication rapid link establishment method 100 provided in the embodiment of the present disclosure, and can achieve its corresponding technical effect. The specific working process of the described module can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here for the convenience and conciseness of the description.

[0188] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device and a readable storage medium.

[0189] Figure 5 A block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure is shown.

[0190] The electronic device 500 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0191] The electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory ROM 502 or a computer program loaded from a storage unit 508 into a random access memory RAM 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An I / O interface 505 is also connected to the bus 504.

[0192] Multiple components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, such as a keyboard, a mouse, etc.; an output unit 507, such as various types of displays, speakers, etc.; a storage unit 508, such as a disk, an optical disk, etc.; and a communication unit 509, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0193] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above, such as method 100. For example, in some embodiments, the method 100 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509. When the computer program is loaded into the RAM 503 and executed by the computing unit 501, one or more steps of the method 100 described above may be performed. Alternatively, in other embodiments, the computing unit 501 may be configured to perform the method 100 in any other appropriate manner (e.g., by means of firmware).

[0194] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0195] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0196] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0197] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0198] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0199] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0200] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0201] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A laser communication fast link establishment method, applied to a communication system, wherein the communication system comprises a first communication end and a communication target, wherein the first communication end and the communication target are both provided with a microwave communication unit and a laser communication unit, and characterized in that: The method comprises: Based on omnidirectional microwaves, an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm are used to establish a microwave communication link with the communication target; Based on the microwave communication link, calculating the relative position and attitude angle of the communication target; Driving the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target, and performing fine alignment according to the coarse alignment result to establish a laser communication link; in: The method of establishing a microwave communication link with a communication target based on omnidirectional microwaves and using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm includes: Analyze the movement trajectory and communication window of the communication target through the historical position data and monitoring data of the communication target; Based on the motion trajectory and the communication window, when the communication target is about to enter the communication window, the omnidirectional microwave communication device is started to send a microwave signal containing an identification code and synchronization information; Using the adaptive hierarchical beam search algorithm, according to the preset hierarchical strategy, the direction and width of the beam are controlled, and the search range and accuracy are adjusted; The low-complexity beamforming algorithm is used to calculate the weight vector to perform weighted processing on the transmitted signal to reduce the computational complexity; So that the communication target can identify the communication source through the identification code in the microwave signal and quickly establish a microwave communication link with the communication source through the synchronization information in the microwave signal.

2. The method according to claim 1, characterized in that The communication target identifies the communication source through the identification code in the microwave signal, and quickly establishes a microwave communication link with the communication source through the synchronization information in the microwave signal, including: The communication target receives a microwave signal, identifies a communication source through an identification code in the microwave signal, performs spatial scanning using a preset multi-layer beam codebook, determines the direction information of the signal by comparing the received signal with theoretical signal characteristics under different beam modes in the multi-layer beam codebook, and further suppresses interference signals using a low-complexity beamforming algorithm, enhances signal strength in the communication direction, and establishes a microwave communication link with the communication source based on synchronization information in the microwave signal; wherein the synchronization information includes: time synchronization information, frequency synchronization information, frame synchronization information, and symbol synchronization information.

3. The method according to claim 1, characterized in that The calculating the relative position and attitude angle of the communication target based on the microwave communication link comprises: Based on the microwave communication link, a microwave signal containing azimuth information and attitude information fed back by the communication target is obtained, and the relative position of the communication target is calculated based on the azimuth information and arrival time difference in the microwave signal; and the attitude angle of the communication target is calculated based on the attitude information and phase difference in the microwave signal.

4. The method according to claim 3, characterized in that The method comprises: obtaining a microwave signal including azimuth information and attitude information fed back by the communication target based on the microwave communication link, and calculating the relative position of the communication target based on the azimuth information and arrival time difference in the microwave signal; Calculating the attitude angle of the communication target based on the attitude information and phase difference in the microwave signal includes: Based on the established microwave communication link, the microwave signal containing the azimuth information and attitude information fed back by the communication target is obtained; The coordinate transformation of the orientation information is performed to obtain the direction vector in the coordinate system of the first communication end; the time when the microwave signal arrives at different antennas is recorded, and the distance difference of the signal arriving at different antennas is calculated by measuring the time difference; a nonlinear equation is constructed based on the distance difference, the antenna spacing and the direction vector obtained by the transformation, and the relative position of the communication target is solved by using the Taylor series expansion method; The attitude information is subjected to coordinate transformation to obtain an attitude angle value in the coordinate system of the first communication end; the phase difference of the microwave signal reaching different antennas is measured, and the attitude angle of the communication target relative to the first communication end is solved using the Newton-Raphson iteration method according to the geometric structure of the antenna array, the attitude angle value and the phase difference obtained by the transformation.

5. The method according to claim 1, characterized in that The method of driving the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target and performing fine alignment according to the coarse alignment result to establish a laser communication link includes: Obtain the initial position and attitude information of the optical machine itself; Calculating the attitude angle and pointing parameters of the optical machine according to the relative position and attitude angle of the communication target, and driving the optical machine to perform rough alignment; The compensation angle value of the optical machine relative to the attitude angle of the communication target is calculated, and the optical machine is further driven to perform fine alignment to establish a stable laser communication link.

6. A laser communication fast link establishment device, applied to a communication system, wherein the communication system comprises a first communication end and a communication target, wherein the first communication end and the communication target are both provided with a microwave communication unit and a laser communication unit, wherein: The device comprises: The first processing module establishes a microwave communication link with the communication target based on omnidirectional microwaves using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm; A second processing module calculates the relative position and attitude angle of the communication target based on the microwave communication link; A third processing module drives the optical machine to perform coarse alignment according to the relative position and attitude angle of the communication target, and performs fine alignment according to the coarse alignment result to establish a laser communication link; in: The method of establishing a microwave communication link with a communication target based on omnidirectional microwaves and using an adaptive hierarchical beam search algorithm and a low-complexity beamforming algorithm includes: Analyze the movement trajectory and communication window of the communication target through the historical position data and monitoring data of the communication target; Based on the motion trajectory and the communication window, when the communication target is about to enter the communication window, the omnidirectional microwave communication device is started to send a microwave signal containing an identification code and synchronization information; Using the adaptive hierarchical beam search algorithm, according to the preset hierarchical strategy, the direction and width of the beam are controlled, and the search range and accuracy are adjusted; The low-complexity beamforming algorithm is used to calculate the weight vector to perform weighted processing on the transmitted signal to reduce the computational complexity; So that the communication target can identify the communication source through the identification code in the microwave signal and quickly establish a microwave communication link with the communication source through the synchronization information in the microwave signal.

7. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer-readable storage medium to execute the method according to any one of claims 1-5.

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