Method and device for calibrating relation between two-axis turntable and collimator, medium and product

Abstract

The invention discloses a relation calibration method and device of a two-axis turntable and a collimator, a medium and a product, and relates to the technical field of data processing. The method comprises the following steps: when the theodolite and the collimator are in a light focusing condition, acquiring first angle data of rotation of the two-axis turntable and second angle data of rotation of the theodolite; constructing a coordinate system conversion model according to the first angle data and the second angle data; based on the first angle data, the second angle data and the coordinate system conversion model, determining a plurality of conversion matrixes among the two-axis turntable coordinate system, the theodolite coordinate system of the theodolite and the collimator coordinate system; and determining the conversion relation between the two-axis turntable and the collimator according to the plurality of conversion matrixes. According to the invention, the two-axis turntable in the ground detection simulation system can be accurately aligned and calibrated with the collimator, reliable guarantee is provided for research, development and testing of the laser communication terminal, and the accuracy and reliability of satellite communication simulation are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method, equipment, medium and product for calibrating the relationship between a two-axis turntable and a collimator. Background Art

[0002] In low-orbit satellites, inter-satellite communication is the key to achieving global coverage and efficient data transmission. As an important device for inter-satellite communication, the demand for laser communication terminals will continue to grow as the number of satellites increases.

[0003] The ground inspection simulation system can simulate the working environment of the laser communication terminal on the satellite, and can assist the research and development, debugging and acceptance of the laser communication terminal on the ground. The traditional ground inspection simulation system is mainly composed of equipment such as a two-axis turntable and a collimator. The azimuth and pitch angles of the two-axis turntable have continuous change functions, which can simulate the two-axis attitude movement of the satellite; the collimator has a laser transceiver function, which can simulate the communication transceiver of the opposite satellite.

[0004] During the development and testing of laser communication terminals, it is necessary to clarify the relationship between the laser vector of the opposite satellite in the local satellite coordinate system. Correspondingly, in the ground inspection simulation system, it is necessary to clarify the relationship between the light vector of the collimator in the two-axis turntable coordinate system.

[0005] Therefore, the precise calibration of the relationship between the two-axis turntable and the collimator affects the R&D and testing of laser communication terminals. With the rapid development of laser communication terminals, higher requirements are also placed on the calibration accuracy of the relationship between the two-axis turntable and the collimator. Summary of the invention

[0006] In view of the above-mentioned technical problems and defects, the purpose of the present invention is to provide a method, equipment, medium and product for calibrating the relationship between a two-axis turntable and a collimator, which can enable the two-axis turntable in the ground inspection simulation system to be accurately aligned and calibrated with the collimator, providing reliable guarantee for the research and development and testing of laser communication terminals, and improving the accuracy and reliability of satellite communication simulation.

[0007] To achieve the above-mentioned purpose, in a first aspect, the present invention provides a method for calibrating the relationship between a two-axis turntable and a collimator, which is applied to a control processing unit of a ground inspection simulation system, wherein the ground inspection simulation system further comprises a two-axis turntable, a collimator and a theodolite, wherein the two-axis turntable comprises a pitch rotation component and a horizontal azimuth rotation component, wherein the theodolite comprises a base that can rotate in a horizontal azimuth and a telescope that can pitch and rotate in a vertical direction, wherein the base is connected to the pitch rotation component, and the telescope is arranged opposite to a light outlet of the collimator, wherein the method comprises: when the theodolite and the collimator are in a light alignment condition, obtaining first angle data of the rotation of the two-axis turntable and the collimator. The invention relates to a method for providing a method for providing a second angle data of the rotation of the theodolite, wherein the aiming condition indicates that the aiming point of the telescope coincides with the aiming point of the collimator; in the case where the two-axis turntable coordinate system of the two-axis turntable, the theodolite coordinate system of the theodolite and the collimator coordinate system of the collimator are defined, a coordinate system conversion model is constructed according to the first angle data and the second angle data; based on the first angle data, the second angle data and the coordinate system conversion model, a plurality of conversion matrices between the two-axis turntable coordinate system, the theodolite coordinate system of the theodolite and the collimator coordinate system are determined; and a conversion relationship between the two-axis turntable and the collimator is determined according to the plurality of conversion matrices.

[0008] The present invention can improve the accuracy and reliability of the ground inspection simulation system when simulating inter-satellite laser communication through the above method. By accurately obtaining the angle data of the two-axis turntable and theodolite under the light working condition and constructing a coordinate system conversion model, the conversion relationship between the two-axis turntable coordinate system and the parallel light tube coordinate system can be accurately calculated. This process not only takes into account the rotation angle of the two-axis turntable and theodolite, but also integrates the spatial relationship between multiple coordinate systems through the coordinate system conversion model, thereby ensuring that the two-axis turntable can accurately align with the light beam emitted by the parallel light tube during the simulation of satellite communication. In addition, through the optimization algorithm and the truth loss function, the accuracy of the calibration process is further improved, and the influence of human measurement errors and environmental noise is reduced. Finally, efficient and accurate testing of satellite communication terminals is achieved, providing strong support for the research and development and quality assurance of satellite communication technology.

[0009] In combination with some embodiments of the first aspect, in some embodiments, the first angle data includes multiple first pitch angles and multiple first azimuth angles, and the second angle data includes multiple second pitch angles and multiple second azimuth angles; the two-axis turntable coordinate system includes a two-axis turntable zero-position coordinate system when the first pitch angle and the first azimuth angle are both 0, and a two-axis turntable instantaneous coordinate system when at least one of the first pitch angle and the first azimuth angle is not 0; the theodolite coordinate system includes a theodolite zero-position coordinate system when the second pitch angle and the second azimuth angle are both 0, and a theodolite instantaneous coordinate system when at least one of the second pitch angle and the second azimuth angle is not 0.

[0010] By adopting the technical solution of the above embodiment, by defining the first angle data and the second angle data in detail, including multiple pitch angles and azimuth angles, a data basis is provided for the precise control of the two-axis turntable and the theodolite. The collection of such multi-angle data allows the system to capture more subtle attitude changes, thereby achieving more precise alignment when simulating satellite communications. By distinguishing between the zero-position coordinate system and the instantaneous coordinate system of the two-axis turntable, and the zero-position coordinate system and the instantaneous coordinate system of the theodolite, the system's adaptability and flexibility to changes in the device's attitude are enhanced. This provides richer and more accurate input parameters for the subsequent coordinate system conversion model, ensuring the accuracy of the calibration process and the reliability of the coordinate transformation.

[0011] In combination with some embodiments of the first aspect, in some embodiments, a coordinate system conversion model is constructed based on the first angle data and the second angle data, including: determining a first known conversion matrix between the two-axis turntable zero-position coordinate system and the two-axis turntable instantaneous coordinate system, and a second known conversion matrix between the theodolite zero-position coordinate system and the instantaneous coordinate system of the theodolite; defining the first unit vector of the x-axis in the parallel light tube coordinate system as a first unknown conversion matrix in the two-axis turntable zero-position coordinate system, and the conversion matrix between the two-axis turntable instantaneous coordinate system and the theodolite zero-position coordinate system as a second unknown conversion matrix; under the lighting condition, when the second unit vector of the x-axis in the instantaneous coordinate system of the theodolite coincides with the first unknown conversion matrix, determining the mathematical relationship between the second unit vector, the first known conversion matrix, the second known conversion matrix, the first unknown conversion matrix and the second unknown conversion matrix; and constructing a coordinate system conversion model based on the first angle data, the second angle data and the mathematical relationship.

[0012] By adopting the technical solution of the above embodiment and constructing a coordinate system conversion model, the known conversion matrices between the two-axis turntable zero-position coordinate system and the instantaneous coordinate system, between the theodolite zero-position coordinate system and the instantaneous coordinate system, and the representation of the first unit vector of the x-axis in the collimator coordinate system in the two-axis turntable zero-position coordinate system are clarified. The refinement of this step makes the conversion relationship between the coordinate systems clearer, providing a clear framework for subsequent mathematical calculations and calibration. By defining known and unknown transformation matrices and establishing a mathematical relationship between them under lighting conditions, a foundation is laid for accurately solving the unknown transformation matrix, thereby improving the accuracy and efficiency of the calibration process. Combined with some embodiments of the first aspect, in some embodiments, the mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix and the second unknown transformation matrix specifically includes: the third unknown transformation matrix between the zero-position coordinate system of the two-axis turntable and the instantaneous coordinate system of the theodolite is equal to the product of the first known transformation matrix, the second unknown transformation matrix and the second known transformation matrix; the first unknown transformation matrix is ​​equal to the product of the third unknown transformation matrix and the second unit vector.

[0013] The technical solution of the above embodiment is adopted to further refine the construction process of the coordinate system conversion model, especially by clarifying the calculation method of the third unknown conversion matrix, that is, the conversion relationship between the zero-position coordinate system of the two-axis turntable and the instantaneous coordinate system of the theodolite. The clarification of this step makes the coordinate transformation from the two-axis turntable to the theodolite more accurate, and provides a key intermediate result for finally determining the conversion relationship between the two-axis turntable and the collimator. By linking the solution values ​​of the first unknown conversion matrix and the third unknown conversion matrix, a powerful mathematical tool is provided for achieving accurate coordinate system conversion, thereby ensuring the accuracy of the calibration result.

[0014] In combination with some embodiments of the first aspect, in some embodiments, the step of constructing a coordinate system transformation model based on the first angle data, the second angle data and the mathematical relationship includes: constructing a solution function of the first unknown transformation matrix based on the mathematical relationship between the first unknown transformation matrix and the first known transformation matrix, the second unknown transformation matrix and the second known transformation matrix; determining a truth loss function of the truth matrix corresponding to the first unknown transformation matrix based on the first angle data, the second angle data and the solution function; and determining the coordinate system transformation model based on the truth loss function.

[0015] By adopting the technical solution of the above embodiment, an effective numerical method is provided for determining the first unknown transformation matrix by constructing a solution function and a truth loss function. This method allows the system to minimize the difference between the predicted value and the actual measured value through an iterative optimization process, thereby improving the accuracy of the transformation matrix solution. By substituting the first angle data and the second angle data into the solution function, the system can calculate multiple possible solution values, and obtain a more reliable transformation matrix by averaging and optimizing these solution values. This process not only improves the accuracy of calibration, but also provides an effective strategy for dealing with measurement errors and noise.

[0016] In combination with some embodiments of the first aspect, in some embodiments, based on the first angle data, the second angle data and the solution function, the truth value loss function corresponding to the first unknown transformation matrix is ​​determined, including: substituting the first angle data and the second angle data into the solution function to calculate multiple first unknown transformation matrix solution values; calculating the average of the multiple first unknown transformation matrix solution values ​​to obtain an average vector; and determining the truth value loss function based on the difference between the multiple first unknown transformation matrix solution values ​​and the average vector.

[0017] By adopting the technical solution of the above embodiment, a systematic method is provided for accurately solving the first unknown transformation matrix by specifying the determination process of the truth loss function. By substituting the first angle data and the second angle data into the solution function, calculating multiple solution values, and determining the truth loss function based on the difference between these solution values ​​and the average vector, a clear mathematical basis is provided for optimizing the transformation matrix. This method not only improves the accuracy of the solution process, but also provides an effective strategy for processing multiple sets of data, thereby ensuring the reliability and stability of the final calibration result.

[0018] In combination with some embodiments of the first aspect, in some embodiments, the step of determining the transformation relationship between the two-axis turntable and the collimator according to the multiple transformation matrices includes: solving the solution value of the second unknown transformation matrix according to the truth loss function and the solution value of the first unknown transformation matrix; determining the solution value of the third unknown transformation matrix based on the solution value of the second unknown transformation matrix and the solution function; determining the Euler angle between the two-axis turntable and the collimator according to the solution value of the third unknown transformation matrix, and the Euler angle is used to represent the transformation relationship between the two-axis turntable and the collimator.

[0019] The technical solution of the above-mentioned embodiment is adopted, and a key solution is provided for achieving accurate calibration by clarifying the steps of finally determining the conversion relationship between the two-axis turntable and the collimator. By solving the solution value of the second unknown conversion matrix, the solution value of the third unknown conversion matrix is ​​determined, and finally the Euler angles are calculated based on these solution values, which provides an intuitive and accurate method for describing the spatial relationship between the two-axis turntable and the collimator. These Euler angles not only reflect the rotational relationship between the two coordinate systems, but also provide key parameters for achieving accurate equipment alignment and simulation. In this way, the system can ensure that during the simulation of satellite communications, the two-axis turntable can accurately point to the collimator, thereby improving the accuracy of the simulation and the reliability of the communication test.

[0020] In a second aspect, an embodiment of the present invention provides an electronic device, comprising: one or more processors and a memory; the memory is coupled to the one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method described in the first aspect or the second aspect, and any possible implementation method of the first aspect or the second aspect.

[0021] In a third aspect, the present invention provides a computer-readable storage medium comprising instructions, which, when executed on an electronic device, causes the electronic device to execute the method described in the first aspect or the second aspect, and any possible implementation of the first aspect or the second aspect.

[0022] In a fourth aspect, the present invention provides a computer program product comprising instructions, which, when executed on an electronic device, enables the electronic device to execute the method described in the first aspect or the second aspect, and any possible implementation of the first aspect or the second aspect.

[0023] It is understandable that the electronic device provided in the second aspect, the storage medium provided in the third aspect, and the computer program product provided in the fourth aspect are all used to execute the method provided in the present invention. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be repeated here.

[0024] One or more technical solutions provided by the present invention have at least the following technical effects or advantages: 1. Improve calibration accuracy: The present invention improves the calibration accuracy between the two-axis turntable and the collimator. By comprehensively utilizing the multi-angle data of the two-axis turntable and theodolite, combined with the coordinate system conversion model, multiple conversion matrices can be accurately calculated, thereby ensuring that the conversion relationship between the two-axis turntable coordinate system and the collimator coordinate system can be accurately determined. This high-precision calibration is crucial for simulating inter-satellite communications because it directly affects the accuracy of the communication system alignment.

[0025] 2. Enhance the adaptability and flexibility of the system: The adaptability and flexibility of the ground inspection simulation system are enhanced. By defining the zero-position coordinate system and instantaneous coordinate system of the two-axis turntable, as well as the corresponding coordinate system of the theodolite, the system can adapt to various different measurement postures and position changes. This design enables the system to not only handle calibration under ideal conditions, but also to cope with complex situations that may arise in actual applications, such as slight changes in equipment posture or measurement errors, thereby providing reliable calibration results under various working conditions.

[0026] 3. Optimize the measurement data processing and calibration process: The present invention also optimizes the measurement data processing and calibration process, and improves the efficiency and convenience of operation. By constructing a solution function and a truth loss function, the system can automatically process and analyze data, reduce the interference of human factors, and speed up the calibration process. This method not only improves the speed of data processing, but also improves the stability and reliability of the calibration results through iterative optimization algorithms. In addition, by clearly defining each step and mathematical model, the scheme provides clear guidance for operators, making the entire calibration process more standardized and systematic. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings herein are incorporated into and constitute a part of the specification, showing embodiments consistent with the present invention, and together with the specification, are used to explain the principles of the present invention. Obviously, the drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings: Figure 1 It is a schematic diagram of the architecture of a ground inspection simulation system according to an embodiment of the present invention; Figure 2 It is a flow chart of a method for calibrating the relationship between a two-axis turntable and a collimator according to an embodiment of the present invention; Figure 3 It is a schematic diagram of the architecture of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The terms used in the following embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to be limiting of the present invention. As used in the specification of the present invention, the singular expressions "a", "a", "above", "the" and "this" are intended to also include plural expressions, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used in the present invention refers to any or all possible combinations comprising one or more of the listed items.

[0029] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0030] It should also be noted that, unless otherwise clearly specified and limited, in the embodiments of the present invention, the terms such as "setting" and "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two components; it can be a wired communication connection or a wireless communication connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The embodiments of the present invention are described in detail below.

[0031] The embodiment of the present invention provides a ground inspection simulation system, such as Figure 1 As shown, it includes a control processing unit 101, a two-axis turntable 102, a theodolite 103 and a collimator 104. The two-axis turntable 102 includes a pitch rotation assembly and a horizontal azimuth rotation assembly, the theodolite 103 includes a base that can rotate in the horizontal azimuth and a telescope that can pitch and rotate in the vertical direction, the base is connected to the pitch rotation assembly, and the telescope is arranged opposite to the light outlet of the collimator 104.

[0032] The two-axis turntable 102 is used to simulate the attitude change of the satellite in space through the pitch rotation component and the horizontal azimuth rotation component. This high-precision simulation is very important for testing the orientation and communication equipment of the satellite.

[0033] The collimator 104 serves to simulate the laser communication signal of the opposite satellite, and can generate a highly collimated light beam to simulate the laser signal used in actual satellite-to-satellite communication, thereby ensuring the authenticity of the test environment.

[0034] The theodolite 103 is an instrument for accurately measuring angles, and includes a base that can rotate in the horizontal direction and a telescope that can tilt and rotate in the vertical direction. In the ground inspection simulation system, the theodolite 103 is used to accurately align the light beam emitted by the collimator 104 to achieve accurate calibration.

[0035] The control processing unit 101 is the brain of the ground inspection simulation system, responsible for coordinating and controlling the operation of the two-axis turntable 102, the collimator 104 and theodolite 103. It receives data from each component, executes the calibration algorithm, and outputs the final calibration result to ensure the accurate operation of the entire system.

[0036] The embodiment of the present invention provides a method for calibrating the relationship between a two-axis turntable and a collimator, which is applied to the ground inspection simulation system provided in the above embodiment and executed by a control processing unit. This embodiment can improve the accuracy and reliability of the ground inspection simulation system when simulating inter-satellite laser communication. By accurately obtaining the angle data of the two-axis turntable and theodolite under the light working condition and constructing a coordinate system conversion model, the conversion relationship between the two-axis turntable coordinate system and the collimator coordinate system can be accurately calculated. This process not only takes into account the rotation angle of the two-axis turntable and theodolite, but also integrates the spatial relationship between multiple coordinate systems through the coordinate system conversion model, thereby ensuring that the two-axis turntable can accurately align the light beam emitted by the collimator during the simulation of satellite communication. In addition, by optimizing the algorithm and the truth loss function, the accuracy of the calibration process is further improved, and the influence of human measurement errors and environmental noise is reduced. Finally, efficient and accurate testing of satellite communication terminals is achieved, providing strong support for the research and development and quality assurance of satellite communication technology.

[0037] The following is combined with Figure 2 The method of this embodiment is specifically described, which specifically includes the following steps: Step 201, when the theodolite and the collimator are in an alignment condition, first angle data of the two-axis turntable and second angle data of the theodolite are obtained. The aiming condition refers to the situation where the aiming point of the telescope coincides with the aiming point of the collimator.

[0038] In the ground inspection simulation system, the alignment condition is a key step, which ensures the precise alignment between the theodolite telescope and the collimator. When the theodolite and the collimator are in the alignment condition, it means that the alignment point of the theodolite telescope and the alignment point of the collimator's light outlet have achieved precise overlap.

[0039] To complete the alignment process in the ground inspection simulation system, you first need to ensure that the two-axis turntable and theodolite are correctly configured so that the telescope of the theodolite and the light outlet of the collimator are in alignment.

[0040] The specific operation begins by setting the collimator to the transmission mode to produce a highly collimated light beam; then, the position of the two-axis turntable is adjusted so that its pitch rotation component and horizontal azimuth rotation component reach predetermined angles. These angles are pre-calculated or determined through experiments to simulate the specific attitude of the satellite.

[0041] Then, operate the theodolite to rotate its base in the horizontal azimuth and the telescope in the vertical pitch direction until the center of the telescope's field of view completely coincides with the light spot emitted from the collimator light outlet, thus achieving alignment.

[0042] At this position, the current angle data of the two-axis turntable and theodolite are recorded, which are the first angle data and the second angle data under the lighting condition. These data reflect the precise posture of the two-axis turntable and theodolite under the lighting condition, and provide key input parameters for the subsequent coordinate system transformation model establishment and calibration.

[0043] Through precise alignment operations, it can be ensured that during the simulation of satellite communications, the two-axis turntable can accurately simulate the satellite's attitude changes, while the theodolite can accurately track and align the analog signals emitted by the parallel light tube, thereby achieving high-precision satellite communication simulation testing.

[0044] In some embodiments, the light alignment operation can be performed in the following manner: First, a red visible laser is connected to the beam analyzer of the collimator. After the beam expansion process of the collimator, the laser is converted into parallel light and emitted from the light outlet. At this time, a corner cube prism is placed at the light outlet so that the emitted parallel light is reflected back to the collimator at the same angle and converges again to form a point light source. The center of mass position of the reflected light spot A can be measured through the beam analyzer and its host computer, recorded as the coordinates (x1, y1).

[0045] Then, the theodolite telescope is aligned with the collimator, the red visible laser is turned on, and the two-axis turntable is adjusted to a specific posture. The upper computer of the two-axis turntable records the pitch angle and azimuth angle of the two-axis turntable at this time, which are recorded as Next, adjust the horizontal and vertical angles of the theodolite so that the laser emitted by the telescope can enter the collimator and converge again, forming a laser spot on the target surface of the beam analyzer. Through careful adjustment, the center of mass of the laser spot coincides with the center of mass of the spot A recorded in step 1, and the alignment is completed.

[0046] Finally, record the vertical angle (pitch angle) and horizontal angle (azimuth) of the theodolite at this time. This angle is recorded as

[0047] In this way, a precise lighting operation is completed, providing the necessary initial data and attitude information for subsequent calibration work.

[0048] Step 202 , when the two-axis turntable coordinate system of the two-axis turntable, the theodolite coordinate system of the theodolite and the collimator coordinate system of the collimator are defined, a coordinate system conversion model is constructed according to the first angle data and the second angle data.

[0049] Among them, the coordinate system transformation model can describe the spatial position relationship between the two-axis turntable coordinate system, theodolite coordinate system and the collimator coordinate system. Figure 1 As shown in the figure, the X-axis, Y-axis, Z-axis and origin O of the two-axis turntable coordinate system Tun are denoted as XTun , Y Tun , Z Tun and O Tun ; The X-axis, Y-axis, Z-axis and origin O of the theodolite coordinate system Theo are denoted as X Theo , Y Theo , Z Theo and O Theo The X-axis, Y-axis, Z-axis and origin O of the parallel light tube coordinate system Coll are denoted as X Coll , Y Coll , Z Coll and O Coll .

[0050] First, define the origin, axis and relative position of the three coordinate systems. The two-axis turntable coordinate system is based on the pitch and azimuth rotation axes of the two-axis turntable, the theodolite coordinate system is based on the vertical and horizontal rotation axes of the theodolite, and the origin of the parallel light tube coordinate system is located at the center of the light outlet of the light tube, and its axis is consistent with the light propagation direction of the light tube.

[0051] After defining these coordinate systems, the control processing unit can construct a mathematical model to describe the conversion relationship between these coordinate systems using the first angle data and the second angle data collected from the two-axis turntable and the theodolite. The first angle data includes the pitch angle and azimuth angle of the two-axis turntable in various postures, which reflect the current spatial orientation of the turntable. The second angle data includes the vertical and horizontal angles of the theodolite, which determine the direction of the theodolite telescope.

[0052] Through these angle data, the control processing unit can calculate the conversion matrix from the two-axis turntable coordinate system to the theodolite coordinate system, the conversion matrix from the theodolite coordinate system to the collimator coordinate system, and the conversion matrix from the collimator coordinate system to the two-axis turntable coordinate system. These matrices are realized by multiplying the rotation matrix, which is defined according to the Euler angle and can transform points in one coordinate system to another. In actual operation, the construction and calculation of these matrices involve trigonometric functions and vector algebra.

[0053] Finally, the coordinate system conversion model enables the control processing unit to calculate the corresponding position and direction in the collimator coordinate system based on the measured angle data of the two-axis turntable and the theodolite.

[0054] In some embodiments, the first angle data includes a plurality of first elevation angles and a plurality of first azimuth angles, and the second angle data includes a plurality of second elevation angles and a plurality of second azimuth angles.

[0055] Exemplarily, the first pitch angle and the first azimuth angle may be expressed as The second elevation angle and the first azimuth angle can be expressed as

[0056] The two-axis turntable coordinate system includes a two-axis turntable zero-position coordinate system when the first pitch angle and the first azimuth angle are both 0, and a two-axis turntable instantaneous coordinate system when at least one of the first pitch angle and the first azimuth angle is not 0.

[0057] Exemplarily, the zero-position coordinate system of the two-axis turntable can be recorded as Tun-Zero. The zero-position coordinate system of the two-axis turntable defines the initial spatial orientation of the two-axis turntable when no rotation is performed, that is, the pitch angle and the azimuth angle are both zero. In this state, the origin of the coordinate system is set at the intersection of the pitch rotation axis and the azimuth rotation axis of the two-axis turntable, and this point is the center of the rotational motion of the two-axis turntable. According to the right-hand rule, the thumb points to the positive direction of the x-axis, the index finger points to the positive direction of the y-axis, and the middle finger points to the positive direction of the z-axis. The x-axis, y-axis and z-axis of the zero-position coordinate system of the two-axis turntable are determined according to the right-hand rule: the y-axis is along the direction of the pitch rotation axis of the two-axis turntable, and the z-axis is along the direction of the azimuth rotation axis, and the x-axis is determined according to the right-hand rule. No matter how the two-axis turntable rotates, the zero-position coordinate system of the two-axis turntable remains unchanged, providing a reference for the motion of the turntable, so that the posture of the turntable at any time can be described by the angle change relative to this zero-position coordinate system.

[0058] The instantaneous coordinate system of the two-axis turntable can be recorded as Tun-Ins. The instantaneous coordinate system of the two-axis turntable is a dynamically changing coordinate system. It is based on the zero-position coordinate system of the two-axis turntable and is updated in real time with any rotation of the pitch angle and azimuth angle of the two-axis turntable. When the two-axis turntable performs a rotation operation, whether it is a small adjustment or a large rotation, the instantaneous coordinate system will accurately reflect the current attitude change. The origin of the instantaneous coordinate system of the two-axis turntable is the same as the zero-position system, located at the intersection of the pitch axis and the azimuth axis, but the difference is that the x-axis, y-axis and z-axis directions of the instantaneous coordinate system of the two-axis turntable will change with the pitch and azimuth rotation of the two-axis turntable, and always remain consistent with the current attitude of the two-axis turntable. This design enables the instantaneous coordinate system to capture and describe the spatial orientation of the turntable in real time, providing an important reference frame for accurately controlling and monitoring the motion of the turntable.

[0059] The theodolite coordinate system includes a theodolite zero-position coordinate system when the second elevation angle and the second azimuth angle are both 0, and a theodolite instantaneous coordinate system when at least one of the second elevation angle and the second azimuth angle is not 0.

[0060] Exemplarily, the zero-position coordinate system of the theodolite can be recorded as Theo-Zero. The zero-position coordinate system of the theodolite is a reference coordinate system used to describe the initial coordinate state of the theodolite when no rotation is performed. In the zero-position coordinate system of the theodolite, when the pitch angle and azimuth angle of the theodolite are both set to zero degrees, the coordinate system remains fixed and will not change with the subsequent rotation of the theodolite. The origin of the zero-position coordinate system of the theodolite is set at the intersection of the vertical rotation axis (pitch rotation axis) and the horizontal rotation axis (azimuth rotation axis) of the theodolite. According to the right-hand rule, the x-axis of the zero-position coordinate system of the theodolite is determined, the y-axis is along the direction of the pitch rotation axis of the theodolite, and the z-axis is along the direction of the azimuth rotation axis. Such a coordinate system setting provides a stable reference for the theodolite, so that when performing angle measurement and positioning, it can accurately start from this zero-position state, and then determine the spatial relationship in other arbitrary postures.

[0061] The instantaneous coordinate system of the theodolite can be recorded as Theo-Ins. It is a dynamic coordinate system. The instantaneous coordinate system of the theodolite starts from the zero-position coordinate system of the theodolite and updates its direction in real time as the theodolite rotates vertically and horizontally. When the theodolite is performing observation or positioning operations, its vertical axis (pitch axis) and horizontal axis (azimuth axis) will rotate to specific angles as needed. This rotation causes the observation direction of the theodolite to change, and the instantaneous coordinate system accurately reflects this change. Specifically, the origin of the instantaneous coordinate system of the theodolite remains at the rotation center of the theodolite, but the coordinate axes (x-axis, y-axis, and z-axis) will rotate according to the adjustment of the vertical and horizontal angles to ensure that they are always consistent with the current observation direction of the theodolite. Such a coordinate system provides a dynamic reference frame for precise measurement and real-time tracking, allowing the theodolite to flexibly aim at different targets while maintaining the accuracy and consistency of the measurement data.

[0062] The collimator coordinate system can be denoted as Coll. It is a fixed coordinate system. The collimator coordinate system, like the two-axis turntable zero-position coordinate system, does not change with any mechanical movement, providing a stable reference for the system. In the collimator coordinate system, the origin is set at the center of the light outlet of the collimator, which is the starting point of the light beam emission and propagation. The x-axis is along the direction of the incident light in the light tube, defining the direction of light propagation, while the y-axis and z-axis are determined by the right-hand rule, where the y-axis is perpendicular to the x-axis and z-axis, and the z-axis points vertically downward. Such a coordinate system setting enables the collimator system to clearly describe the spatial propagation characteristics of the light beam, as well as the relative position relationship between the light beam and other equipment (such as a two-axis turntable and theodolite), which is crucial for accurately simulating and testing optical systems.

[0063] In some embodiments, step 202 may include the following steps: S21, determining a first known transformation matrix between the two-axis turntable zero-position coordinate system and the two-axis turntable instantaneous coordinate system, and a second known transformation matrix between the theodolite zero-position coordinate system and the theodolite instantaneous coordinate system.

[0064] Among them, the first known transformation matrix can be recorded as The second known transformation matrix can be written as

[0065] Specifically, the first known transformation matrix is ​​the transformation matrix from the zero-position coordinate system of the two-axis turntable to its instantaneous coordinate system, which reflects the transformation of the turntable from its initial position (pitch and azimuth are zero) to an arbitrary posture. The second known transformation matrix is ​​the transformation matrix from the theodolite zero-position coordinate system to the theodolite instantaneous coordinate system, which describes the transformation of the theodolite from its standard position (vertical and horizontal angles are zero) to the current measurement position.

[0066] The first known transformation matrix and the second known transformation matrix are known because they are based on design parameters of the two-axis turntable and the theodolite and can be obtained by direct measurement or calculation.

[0067] For example, the two-axis turntable zero-position coordinate system Tun-Zero is converted to the two-axis turntable instantaneous coordinate system Tun-Ins through ZY internal rotation. The conversion relationship between the two can be expressed by the following mathematical formula: Among them, ψ and θ represent the azimuth and pitch angles of the two-axis turntable zero-position coordinate system Tun-Zero and the instantaneous coordinate system Tun-Ins, respectively. The azimuth and pitch angles can be measured and obtained by the host computer of the two-axis turntable. Therefore, the first known transformation matrix is is a known matrix.

[0068] The theodolite zero-position coordinate system Theo-Zero is converted to the theodolite instantaneous coordinate system Theo-Ins through the ZY internal rotation. The conversion relationship between the two can be expressed as: Among them, ψ and θ represent the azimuth and elevation angles of the theodolite zero-position coordinate system Theo-Zero and the theodolite instantaneous coordinate system Theo-Ins, respectively. The azimuth and elevation angles can be measured and obtained by the host computer of the theodolite. Therefore, the second known transformation matrix is is a known matrix.

[0069] S22. Define the first unit vector of the x-axis in the collimator coordinate system in the two-axis turntable zero-position coordinate system as a first unknown transformation matrix, and the transformation matrix between the two-axis turntable instantaneous coordinate system and the theodolite zero-position coordinate system as a second unknown transformation matrix.

[0070] Among them, the first unknown transformation matrix can be recorded as W TUN-Zero , the second unknown transformation matrix can be written as

[0071] Specifically, the control processing unit defines the representation of the first unit vector of the x-axis in the collimator coordinate system in the two-axis turntable zero-position coordinate system, which constitutes the first unknown transformation matrix. At the same time, the control processing unit also defines the transformation matrix between the instantaneous coordinate system of the two-axis turntable and the zero-position coordinate system of the theodolite, which is the second unknown transformation matrix.

[0072] These two matrices are unknown because they involve the relative position and orientation between the two-axis turntable and the collimator during the actual measurement process, and need to be determined through subsequent data processing and calculation.

[0073] For example, the two-axis turntable zero-position coordinate system Tun-Zero is converted to the collimator coordinate system Coll through the ZYX internal rotation, and the conversion relationship between the two can be expressed as: Among them, ψ, θ and φ represent the azimuth, pitch and roll angles of the two-axis turntable zero-position coordinate system Tun-Zero transferred to the parallel light tube coordinate system Coll, respectively.

[0074] The first unit vector W Coll =(1 0 0) T , which is expressed in the two-axis turntable zero-position coordinate system Tun-Zero as the first unknown transformation matrix The first unknown transformation matrix is ​​constant and is the unknown vector to be solved.

[0075] The instantaneous coordinate system Tun-Ins of the two-axis turntable is converted to the zero-position coordinate system Theo-Zero of the theodolite through the internal rotation of ZYX. The conversion relationship between the two can be expressed as: Among them, ψ, θ and φ represent the azimuth, pitch angle and roll angle of the two-axis turntable instantaneous coordinate system Tun-Ins transferred to the theodolite zero-position coordinate system Theo-Zero, respectively.

[0076] The second unknown transformation matrix The installation matrix representing the pitch rotation assembly of the theodolite mounted on a two-dimensional turntable is unknown but constant.

[0077] S23. Under the lighting condition, when the second unit vector of the x-axis in the instantaneous coordinate system of the theodolite coincides with the first unknown transformation matrix, determine the mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix and the second unknown transformation matrix.

[0078] Among them, the second unit vector can be recorded as W Theo-Ins .

[0079] Under the aiming condition, that is, when the aiming point of the theodolite telescope coincides with the aiming point of the collimator, the control processing unit determines the relationship between the second unit vector of the x-axis in the instantaneous coordinate system of the theodolite and the first unknown transformation matrix. At this time, the second unit vector coincides with the first unknown transformation matrix, and the control processing unit uses this condition to establish the mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix, and the second unknown transformation matrix.

[0080] In some embodiments, the mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix, and the second unknown transformation matrix may include: The third unknown transformation matrix between the zero-position coordinate system of the two-axis turntable and the instantaneous coordinate system of the theodolite is equal to the product of the first known transformation matrix, the second unknown transformation matrix and the second known transformation matrix; the first unknown transformation matrix is ​​equal to the product of the third unknown transformation matrix and the second unit vector.

[0081] Specifically, the third unknown transformation matrix can be written as

[0082] In this embodiment, the process of converting the two-axis turntable zero-position coordinate system Tun-Zero to the theodolite instantaneous coordinate system Theo-Ins is: first, the two-axis turntable zero-position coordinate system Tun-Zero is converted to the two-axis turntable instantaneous coordinate system Tun-Ins, then the two-axis turntable instantaneous coordinate system Tun-Ins is converted to the theodolite zero-position coordinate system Theo-Zero, and finally the theodolite zero-position coordinate system Theo-Zero is converted to the theodolite instantaneous coordinate system Theo-Ins.

[0083] This process can be expressed as: That is, the third unknown transformation matrix Equal to the first known transformation matrix The second unknown transformation matrix and the second known transformation matrix The product of .

[0084] When aiming the light, the second unit vector is represented by WTheo-Ins =(1 0 0) T , and the first unknown transformation matrix W TUN-Zero If they overlap, then: Among them, W TUN-Zero and It is an unknown quantity, but it is a constant quantity during the n-time data collection process; and W Theo-Ins is a known quantity.

[0085] S24, constructing a coordinate system conversion model according to the first angle data, the second angle data and the above mathematical relationship.

[0086] Specifically, the control processing unit uses the first angle data and the second angle data, combined with the mathematical relationship established in step S23, to construct a final coordinate system conversion model. This coordinate system conversion model can describe and calculate the spatial relationship between the two-axis turntable coordinate system and the collimator coordinate system under any given measurement posture, thereby achieving accurate calibration and alignment. Through this coordinate system conversion model, the control processing unit can accurately guide the operation of the two-axis turntable and the collimator to ensure their accurate alignment during the simulation of satellite communication.

[0087] In some embodiments, this step may specifically include: S241. Construct a solution function for the first unknown transformation matrix according to the mathematical relationship between the first unknown transformation matrix and the first known transformation matrix, the second unknown transformation matrix and the second known transformation matrix.

[0088] Among them, this solver function can be used to solve the first unknown transformation matrix W TUN-Zero , that is, the representation of the first unit vector of the x-axis in the parallel light tube coordinate system in the two-axis turntable zero position coordinate system.

[0089] To construct this solution function, the control processing unit analyzes the first unknown transformation matrix W TUN-Zero With the first known transformation matrix The second unknown transformation matrix and the second known transformation matrix The mathematical relationships between them describe the transformations between the two-axis turntable, theodolite coordinate system, and the collimator.

[0090] Specifically, the solution function may include: The second unit vector represents W Theo-Ins is known.

[0091] S242. Determine the truth loss function of the truth matrix corresponding to the first unknown transformation matrix based on the first angle data, the second angle data and the solution function.

[0092] The control processing unit uses the first angle data and the second angle data, combined with the above-mentioned solution function, to determine the truth loss function of the truth matrix corresponding to the first unknown transformation matrix. The truth loss function is a function that evaluates the difference between the model prediction and the actual observation data, usually in the form of the sum of squares of errors. The control processing unit quantifies the deviation between the first unknown transformation matrix predicted by the solution function and the actual measurement data through this loss function, thereby evaluating the accuracy and reliability of the solution function. This truth loss function will be used to guide the subsequent numerical optimization process to find the value of the first unknown transformation matrix that best matches the actual measurement data.

[0093] In some embodiments, this step may specifically include: S2421. Substitute the first angle data and the second angle data into the solution function to calculate and obtain multiple first unknown transformation matrix solution values.

[0094] The control processing unit is responsible for substituting the collected first angle data and second angle data into the previously constructed solution function. This solution function is designed to calculate the solution value of the first unknown transformation matrix, that is, to determine the representation of the first unit vector of the x-axis in the parallel light tube coordinate system in the two-axis turntable zero position coordinate system. By applying the actual measured angle data to the function, the control processing unit can calculate multiple possible solution values, which represent the possible states of the unknown transformation matrix under different measurement conditions. This step is the basis of the numerical solution process and provides raw data for subsequent analysis and optimization.

[0095] Specifically, the solution functions include: Based on the formula in the above solution function, the expression on the right side of the equation is defined as: There is only one unknown quantity in this expression. That is the second unknown transformation matrix.

[0096] First, consider any known matrix C as Substitute the expression f(right). Then replace the (pitch, azimuth) angles of the two-axis turntable that collects n light points and theodolite (vertical, horizontal) angle Substituting into the expression f(right), we can calculate n W by n sets of measurement data. TUN-Zero , where W TUN-ZeroDefined as the first unknown transformation matrix solution.

[0097] S2422. Calculate the average value of multiple first unknown transformation matrix solution values ​​to obtain an average vector.

[0098] The control processing unit calculates the average value of the multiple first unknown transformation matrix solution values ​​obtained in step S2421. Specifically, the control processing unit summarizes all solution values ​​and calculates their arithmetic average to obtain an average vector representing the average state. This average vector is a central tendency representation of all possible solution values, which helps the control processing unit evaluate and optimize the solution process because it provides a reference point for measuring the consistency and accuracy of each solution value.

[0099] Specifically, the above calculation results in n W TUN-Zero , take their average value and get the average vector

[0100] S2423. Determine a true value loss function based on the difference between multiple first unknown transformation matrix solution values ​​and the above average vector.

[0101] The true value loss function is a function that measures the difference between each solution value and the average vector, usually expressed as the sum of the squares of these differences. The control processing unit constructs the loss function by calculating the deviation between each solution value and the average vector and accumulating these deviations. This loss function is used to evaluate the degree of fit between the prediction results of the solution function and the actual measurement data, and is a key part of the optimization process because it guides the control processing unit to minimize the error by adjusting the solution parameters, thereby finding the optimal solution for the first unknown transformation matrix that best fits the actual measurement data.

[0102] Specifically, if the above matrix C is When the corresponding value matrix is ​​obtained, the W TUN-Zero With the average vector The difference is 0.

[0103] If the above matrix C is not When the corresponding truth matrix is TUN-Zero With the average vector The difference is not 0. And when the matrix C is farther away from When the corresponding truth matrix is ​​obtained, the W TUN-Zero With the average vector The greater the difference.

[0104] Therefore, the true value loss function loss can be expressed as: in, is the vector calculated for the i-th light collection data With the average vector The modulus of the difference.

[0105] S243. Determine a coordinate system transformation model based on the truth loss function.

[0106] The control processing unit finally determines the coordinate system transformation model based on the true value loss function. This process involves using numerical optimization algorithms, such as gradient descent or Newton's method, to minimize the loss function and find the value of the first unknown transformation matrix that minimizes the loss function. Once this optimal value is determined, the coordinate system transformation model is considered accurate and can be used to describe the precise spatial relationship between the two-axis turntable coordinate system and the collimator coordinate system. This model is crucial to achieving high-precision calibration and alignment, ensuring that the two-axis turntable in the ground inspection simulation system can accurately align the light beam emitted by the collimator to simulate a real satellite communication environment.

[0107] Specifically, in the coordinate system conversion model, the true value loss function loss is as follows: Substitute the first angle data and the second angle data into the true value loss function loss to solve the first unknown transformation matrix W TUN-Zero The solution value, and the second unknown transformation matrix The truth matrix of .

[0108] In this embodiment, the coordinate system conversion model specifically includes the following: Mathematical expression for converting the two-axis turntable zero coordinate system Tun-Zero to the parallel light tube coordinate system Coll.

[0109] Mathematical expression for converting the two-axis turntable zero-position coordinate system Tun-Zero to the two-axis turntable instantaneous coordinate system Tun-Ins.

[0110] Mathematical expression for converting the theodolite zero position coordinate system Theo-Zero to the theodolite instantaneous coordinate system Theo-Ins.

[0111] Mathematical expression for converting the instantaneous coordinate system Tun-Ins of the two-axis turntable to the zero-position coordinate system Theo-Zero of the theodolite.

[0112] Mathematical expression of the process of converting the two-axis turntable zero-position coordinate system Tun-Zero to the theodolite instantaneous coordinate system Theo-Ins.

[0113] As well as, the solution function and the true value loss function.

[0114] The above mathematical expressions have been explained in the previous article and will not be repeated here.

[0115] Step 203, based on the first angle data, the second angle data and the coordinate system conversion model, determine a plurality of conversion matrices between the two-axis turntable coordinate system, the theodolite coordinate system of the theodolite and the collimator coordinate system.

[0116] The control processing unit uses the first angle data (the pitch angle and azimuth angle of the two-axis turntable) and the second angle data (the vertical angle and horizontal angle of the theodolite) in combination with the coordinate system conversion model obtained in the above step 202 to determine multiple conversion matrices between the two-axis turntable coordinate system, the theodolite coordinate system and the collimator coordinate system.

[0117] After determining the coordinate system transformation model based on the above-mentioned truth loss function, the control processing unit will use this coordinate system transformation model and the collected first angle data (involving the pitch and azimuth rotation angles of the two-axis turntable) and second angle data (involving the vertical and horizontal rotation angles of the theodolite) to determine multiple transformation matrices between the two-axis turntable coordinate system, the theodolite coordinate system and the parallel light tube coordinate system through a series of mathematical operations and optimization algorithms.

[0118] Specifically, the coordinate system transformation model accurately describes the spatial relationship between the two-axis turntable coordinate system (Tun-Zero and Tun-Ins), the theodolite coordinate system (Theo-Zero and Theo-Ins), and the collimator coordinate system (Coll) through a series of mathematical expressions and optimization processes.

[0119] Firstly, the transformation matrix from the zero-position coordinate system of the two-axis turntable to the instantaneous coordinate system and the transformation matrix from the zero-position coordinate system of the theodolite to the instantaneous coordinate system were constructed using the pitch angle and azimuth angle (first angle data) of the two-axis turntable and the vertical angle and horizontal angle (second angle data) of the theodolite.

[0120] Then, by solving the function and the truth loss function, the second unknown transformation matrix from the instantaneous coordinate system of the two-axis turntable to the zero-position coordinate system of the theodolite can be calculated: Through numerical optimization methods such as gradient descent or Newton's method, the true value loss function is minimized to obtain The optimal solution of , that is, the solution value of the second unknown transformation matrix.

[0121] Finally, combining all known transformation matrices and the obtained transformation matrix, the complete transformation matrix from the two-axis turntable zero-position coordinate system to the collimator coordinate system and the transformation matrix from the two-axis turntable zero-position coordinate system to the theodolite instantaneous coordinate system were determined, thereby achieving a precise description of the spatial relationship between the two-axis turntable and the collimator, providing a reliable mathematical basis for equipment alignment in ground inspection simulation systems and satellite communication simulation.

[0122] In this embodiment, a plurality of transformation matrices between the two-axis turntable coordinate system, the theodolite coordinate system and the collimator coordinate system include known transformation matrices and transformation matrices that need to be calculated.

[0123] Among them, the known transformation matrices include: The conversion matrix from the two-axis turntable zero position coordinate system Tun-Zero to the two-axis turntable instantaneous coordinate system Tun-Ins, and the conversion matrix from the theodolite zero position coordinate system Theo-Zero to the theodolite instantaneous coordinate system Theo-Ins.

[0124] The transformation matrix that needs to be calculated includes: The conversion matrix from the instantaneous coordinate system Tun-Ins of the two-axis turntable to the zero-position coordinate system Theo-Zero of the theodolite is obtained by calculation, which involves the conversion from the instantaneous coordinate system of the two-axis turntable to the zero-position coordinate system of the theodolite. It needs to be calculated in combination with the angle data of the two-axis turntable and the theodolite and the relative position relationship between them.

[0125] The transformation matrix from the instantaneous coordinate system Tun-Ins of the two-axis turntable to the instantaneous coordinate system Theo-Ins of the theodolite also needs to be calculated. It integrates the transformation from the instantaneous coordinate system of the two-axis turntable to the zero-position coordinate system of the theodolite, and from the zero-position coordinate system of the theodolite to the instantaneous coordinate system of the theodolite.

[0126] The transformation matrix from the two-axis turntable zero coordinate system Tun-Zero to the collimator coordinate system Coll is unknown and needs to be calculated through the calibration process. It involves the transformation from the two-axis turntable zero coordinate system to the collimator coordinate system, which usually requires complex geometric and trigonometric calculations, as well as possible iterative optimization processes to minimize system errors.

[0127] Step 204 , determining a conversion relationship between the two-axis turntable and the collimator according to the multiple conversion matrices.

[0128] The control processing unit determines the final conversion relationship between the two-axis turntable and the collimator based on the multiple conversion matrices obtained by these calculations. This step may involve a comprehensive analysis of multiple matrices, including calculating the average value of the matrix or selecting the best conversion matrix through an optimization algorithm. The control processing unit will evaluate the consistency and accuracy of these matrices to ensure that the final conversion relationship can truly reflect the spatial relationship between the two-axis turntable and the collimator. This process may require iterative optimization to improve the accuracy of the conversion matrix by continuously adjusting and comparing the predicted results with the actual measurement data.

[0129] Ultimately, the control processing unit will determine one or a group of matrices or Euler angles that can accurately describe the transformation relationship between the two-axis turntable coordinate system and the parallel light tube coordinate system. These matrices or Euler angles will be used to guide the actual equipment alignment and calibration work to ensure the accuracy and reliability of the ground inspection simulation system when simulating satellite communications.

[0130] In some embodiments, this step specifically includes: (1) According to the true value loss function and the solution value of the first unknown transformation matrix, the solution value of the second unknown transformation matrix is ​​obtained.

[0131] The control processing unit uses the defined truth loss function and the calculated first unknown transformation matrix W TUN-Zero The solution value is used to solve the second unknown transformation matrix The control processing unit continuously adjusts the second unknown transformation matrix through the iterative optimization process. The parameters of the two-axis turntable are used to minimize the truth loss function. This process requires the control processing unit to accurately process and analyze the data to ensure the accuracy of the solution process. In this way, the control processing unit can determine the accurate conversion relationship between the instantaneous coordinate system of the two-axis turntable and the zero-position coordinate system of the theodolite, which is a key step in achieving accurate calibration.

[0132] Exemplarily, the specific implementation of this step can be as follows: 1. Input the initial matrix C, such as the identity matrix, and let 2. According to Calculate W for n sets of data TUN-Zero ; 3. According to W of n sets of data TUN-Zero , calculate the average vector 4. According to Calculate the true value loss function loss; 5. Use the line search algorithm and quasi-Newton method to calculate the matrix The first solution C1; 6. Order Repeat steps 1-5 above; 7. After reaching the iteration termination condition, the optimal solution C_opt of C is used as The truth matrix of C_opt is the solution value of the second unknown transformation matrix that needs to be solved. The iterative termination conditions include: the total number of iterations is greater than the set upper limit max_times, or the truth loss function loss is less than the threshold ξ.

[0133] (2) Based on the solution value of the second unknown transformation matrix and the solution function, determine the solution value of the third unknown transformation matrix.

[0134] The control processing unit uses the solution value of the second unknown transformation matrix as an input parameter and substitutes it into the solution function to derive the solution value of the third unknown transformation matrix. This step is critical because it connects the relationship between different coordinate systems in series, providing the necessary mathematical basis for ultimately determining the transformation relationship between the two-axis turntable coordinate system and the collimator.

[0135] Specifically, the second unknown transformation matrix is ​​obtained by solving After the solution value is obtained, according to the following two formulas of the solving function: The third unknown transformation matrix can be derived The calculation formula is: because, All of these are known quantities, so the third unknown transformation matrix can be calculated The solution can be used as the true value conversion matrix between the zero-position coordinate system of the two-axis turntable and the instantaneous coordinate system of the theodolite.

[0136] (3) Determine the Euler angle between the two-axis turntable and the collimator according to the solution value of the third unknown transformation matrix, wherein the Euler angle is used to represent the transformation relationship between the two-axis turntable and the collimator.

[0137] According to the solution of the third unknown transformation matrix, the control processing unit can determine the Euler angle between the two-axis turntable and the collimator, because the transformation matrix contains complete information about the rotation relationship between the two-axis turntable coordinate system and the collimator coordinate system. Substituting the elements of into the calculation formula of Euler angles, that is, using the trigonometric function values ​​of specific elements in the matrix to solve the azimuth (ψ), pitch (θ) and roll (φ), the control processing unit can extract the three key angles that describe the spatial rotation between the two coordinate systems. These Euler angles provide an intuitive and accurate way to express the change in direction of the two-axis turntable coordinate system relative to the collimator coordinate system, so that in the ground inspection simulation system, no matter how the two-axis turntable adjusts its posture, it can accurately simulate and predict the alignment state between it and the collimator, which is crucial for achieving high-precision satellite communication simulation and testing.

[0138] Among them, when the theodolite and the collimator are in the alignment state, the telescope of the theodolite is precisely aligned with the light outlet of the collimator, forming a precise optical alignment. At this alignment moment, the Euler angle between the two-axis turntable zero coordinate system Tun-Zero and the theodolite instantaneous coordinate system Theo-Ins actually reflects the rotation from the two-axis turntable zero coordinate system Tun-Zero to the theodolite instantaneous coordinate system Theo-Ins. Since in the alignment state, the telescope of the theodolite is flush with the light outlet pointing to the collimator, this rotation is actually equivalent to the rotation from the two-axis turntable zero coordinate system Tun-Zero to the collimator coordinate system Coll.

[0139] Therefore, the Euler angle between the two-axis turntable zero position coordinate system Tun-Zero and the theodolite instantaneous coordinate system Theo-Ins is actually equal to the Euler angle from the two-axis turntable zero position coordinate system Tun-Zero to the parallel light tube coordinate system Coll.

[0140] Furthermore, in this embodiment, the third unknown transformation matrix The Euler angle calculated by solving the solution value is equivalent to the Euler angle from the two-axis turntable zero position coordinate system Tun-Zero to the parallel light tube coordinate system Coll, which can also represent the conversion relationship between the two-axis turntable and the parallel light tube.

[0141] The specific Euler angle solution process is as follows: Solving for Euler angles: The Euler angle of the conversion from the two-axis turntable zero coordinate system Tun-Zero to the parallel light tube coordinate system Coll is usually small. Assuming the Euler angle range ψ, θ, The three Euler angles are: Due to the influence of human measurement error and measurement noise, according to n groups of matrices N groups of three Euler angles can be solved. In order to eliminate the influence of measurement noise, the average value of the n groups of Euler angles is used as the final conversion relationship between the two-axis turntable and the collimator.

[0142] The method provided in the above embodiment can be executed by a control processing unit, which is an electronic device. The following describes the electronic device in the embodiment of the present invention from the perspective of hardware processing. Figure 3 , is a schematic diagram of a physical device structure of an electronic device in an embodiment of the present invention.

[0143] It should be noted that Figure 3 The structure of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0144] like Figure 3 As shown, the electronic device includes a central processing unit (CPU) 401, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 402 or the program loaded from the storage part 408 to the random access memory (RAM) 403, such as executing the method described in the above embodiment. In RAM 403, various programs and data required for system operation are also stored. CPU 401, ROM 402 and RAM 403 are connected to each other through bus 404. Input / output (I / O) interface 405 is also connected to bus 404.

[0145] The following components are connected to the I / O interface 405: an input section 406 including an audio input device, a button switch, etc.; an output section 407 including a liquid crystal display (LCD) and an audio output device, an indicator light, etc.; a storage section 408 including a hard disk, etc.; and a communication section 409 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 409 performs communication processing via a network such as the Internet. A drive 410 is also connected to the I / O interface 405 as needed. A removable medium 411, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 410 as needed so that a computer program read therefrom is installed into the storage section 408 as needed.

[0146] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 409, and / or installed from the removable medium 411. When the computer program is executed by the central processing unit (CPU) 401, various functions defined in the present invention are performed.

[0147] It should be noted that specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a 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 thereof. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in conjunction with an instruction execution system, apparatus, or device.

[0148] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present invention. Each box in the flowchart or block diagram may represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box may also occur in an order different from that marked in the accompanying drawings.

[0149] Specifically, the electronic device of this embodiment includes a processor and a memory, the memory is coupled to one or more processors, the memory is used to store computer program code, the computer program code includes computer instructions, and one or more processors call the computer instructions to enable the electronic device to execute the method provided by the above embodiment.

[0150] As another aspect, the present invention further provides a computer-readable storage medium, which may be included in the electronic device described in the above embodiment; or may exist independently without being assembled into the electronic device. The above storage medium carries one or more computer programs, and when the above one or more computer programs are executed by a processor of the electronic device, the electronic device implements the method provided in the above embodiment.

[0151] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

[0152] As used in the above embodiments, the term "when..." may be interpreted to mean "if..." or "after..." or "in response to determining..." or "in response to detecting...", depending on the context. Similarly, the phrases "upon determining..." or "if (the stated condition or event) is detected" may be interpreted to mean "if determining..." or "in response to determining..." or "upon detecting (the stated condition or event)" or "in response to detecting (the stated condition or event)", depending on the context.

[0153] Those skilled in the art can understand that to implement all or part of the processes in the above-mentioned embodiments, the processes can be completed by computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. When the programs are executed, they can include the processes of the above-mentioned method embodiments. The aforementioned storage media include: ROM or random access memory RAM, magnetic disk or optical disk and other media that can store program codes.

Claims

1. A method for calibrating the relationship between a two-axis turntable and a collimator, characterized in that: A control processing unit applied to a ground inspection simulation system, wherein the ground inspection simulation system further comprises a two-axis turntable, a collimator and a theodolite, wherein the two-axis turntable comprises a pitch rotation assembly and a horizontal azimuth rotation assembly, wherein the theodolite comprises a base rotatable in the horizontal azimuth and a telescope rotatable in the vertical direction, wherein the base is connected to the pitch rotation assembly, and the telescope is arranged opposite to a light outlet of the collimator, wherein the method comprises: When the theodolite and the collimator are in an alignment condition, obtaining first angle data of the two-axis turntable and second angle data of the theodolite; the alignment condition indicates that the alignment point of the telescope coincides with the alignment point of the collimator; When a two-axis turntable coordinate system of the two-axis turntable, a theodolite coordinate system of the theodolite, and a collimator coordinate system of the collimator are defined, a coordinate system conversion model is constructed according to the first angle data and the second angle data; Determine a plurality of conversion matrices between the two-axis turntable coordinate system, the theodolite coordinate system of the theodolite, and the collimator coordinate system based on the first angle data, the second angle data, and the coordinate system conversion model; The conversion relationship between the two-axis turntable and the collimator is determined according to the multiple conversion matrices.

2. The method according to claim 1, characterized in that The first angle data includes a plurality of first pitch angles and a plurality of first azimuth angles, and the second angle data includes a plurality of second pitch angles and a plurality of second azimuth angles; The two-axis turntable coordinate system includes a two-axis turntable zero-position coordinate system when the first pitch angle and the first azimuth angle are both 0, and a two-axis turntable instantaneous coordinate system when at least one of the first pitch angle and the first azimuth angle is not 0; The theodolite coordinate system includes a theodolite zero-position coordinate system when the second elevation angle and the second azimuth angle are both 0, and a theodolite instantaneous coordinate system when at least one of the second elevation angle and the second azimuth angle is not 0.

3. The method according to claim 2, characterized in that The step of constructing a coordinate system conversion model according to the first angle data and the second angle data includes: Determine a first known transformation matrix between the two-axis turntable zero-position coordinate system and the two-axis turntable instantaneous coordinate system, and a second known transformation matrix between the theodolite zero-position coordinate system and the theodolite instantaneous coordinate system; Define the first unit vector of the x-axis in the collimator coordinate system to be expressed in the two-axis turntable zero-position coordinate system as a first unknown transformation matrix, and the transformation matrix between the two-axis turntable instantaneous coordinate system and the theodolite zero-position coordinate system as a second unknown transformation matrix; Under the aiming condition, when the second unit vector of the x-axis in the instantaneous coordinate system of the theodolite coincides with the first unknown transformation matrix, determining the mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix and the second unknown transformation matrix; A coordinate system conversion model is constructed according to the first angle data, the second angle data and the mathematical relationship.

4. The method according to claim 3, characterized in that The mathematical relationship between the second unit vector, the first known transformation matrix, the second known transformation matrix, the first unknown transformation matrix and the second unknown transformation matrix specifically includes: The third unknown transformation matrix between the two-axis turntable zero-position coordinate system and the theodolite instantaneous coordinate system is equal to the product of the first known transformation matrix, the second unknown transformation matrix and the second known transformation matrix; The first unknown transformation matrix is ​​equal to the product of the third unknown transformation matrix and the second unit vector.

5. The method according to claim 4, characterized in that The step of constructing a coordinate system conversion model according to the first angle data, the second angle data and the mathematical relationship comprises: Constructing a solution function for the first unknown transformation matrix according to a mathematical relationship between the first unknown transformation matrix and the first known transformation matrix, the second unknown transformation matrix, and the second known transformation matrix; Determine a truth loss function of a truth matrix corresponding to the first unknown transformation matrix based on the first angle data, the second angle data and the solution function; A coordinate system transformation model is determined based on the truth loss function.

6. The method according to claim 5, characterized in that The determining, based on the first angle data, the second angle data and the solution function, a truth loss function corresponding to the first unknown transformation matrix comprises: Substituting the first angle data and the second angle data into the solution function to calculate and obtain a plurality of first unknown transformation matrix solution values; Calculate an average value of a plurality of first unknown transformation matrix solution values ​​to obtain an average vector; A true value loss function is determined based on the differences between the plurality of first unknown transformation matrix solution values ​​and the average vector.

7. The method according to claim 6, characterized in that The step of determining the conversion relationship between the two-axis turntable and the collimator according to the multiple conversion matrices comprises: Solving the solution of the second unknown transformation matrix according to the truth loss function and the solution of the first unknown transformation matrix; Determine the solution value of the third unknown transformation matrix based on the solution value of the second unknown transformation matrix and the solution function; The Euler angles between the two-axis turntable and the collimator are determined according to the solution value of the third unknown transformation matrix, and the Euler angles are used to represent the transformation relationship between the two-axis turntable and the collimator.

8. An electronic device, characterized in that: including one or more processors and memory; The memory is coupled to the one or more processors, and the memory is used to store computer program codes, wherein the computer program codes include computer instructions, and the one or more processors call the computer instructions to enable the electronic device to execute the method according to any one of claims 1 to 7.

9. A computer-readable storage medium storing computer instructions, characterized in that: When the computer instructions are executed on an electronic device, the electronic device is caused to execute the method as claimed in any one of claims 1 to 7.

10. A computer program product, characterized in that When the computer program product is executed on an electronic device, the electronic device is enabled to execute the method according to any one of claims 1 to 7.

Images