Oscillating mirror type laser terminal coarse tracking unloading method

Abstract

The invention provides a rough tracking unloading method for a swing mirror type laser terminal, and relates to the technical field of space laser communication, and the method comprises the steps: obtaining a preset terminal coordinate system and a preset swing mirror coordinate system, rotating the swing mirror coordinate system, obtaining a swing mirror rotation angle, and forming a rotation matrix according to the swing mirror rotation angle; acquiring light spot data through a tracking camera, and calculating a light spot miss distance according to the light spot data of the tracking camera; according to the light spot miss distance and the rotation matrix, a reflected light vector before compensation is obtained, the miss distance after compensation is set to be 0, and a corresponding reflected light vector is obtained; the compensation amount of an azimuth motor and a pitching motor is calculated according to the reflected light vector before compensation and the reflected light vector after compensation, the angle of the swing mirror is adjusted through the compensation amount, swing mirror adjusting data are obtained, and the method can be used for rough and fine follow matching servo control and pointing deviation calibration.

Description

Technical Field

[0001] The invention proposes a coarse tracking and unloading method for a swing mirror type laser terminal, and relates to the technical field of space laser communication, and in particular to the technical field of coarse tracking and unloading of a swing mirror type laser terminal. Background Art

[0002] The optical architecture of existing laser terminals mainly includes Kudet type, periscope type, swing mirror type, etc. The swing mirror laser terminal has the advantages of small size and light weight, but its coordinated control with precision tracking is the current technical difficulty.

[0003] In addition, the pointing accuracy of satellite lasers is a very important technical indicator. It is an important factor to ensure that the laser terminal aims at the target and tracks stably. When the laser terminal leaves the factory, the pointing accuracy is generally adjusted well (within 10urad), but after the satellite enters orbit, due to thermal deformation, stress dissipation, active segment vibration and other reasons, the pointing of the laser terminal will have a large deviation, and the error estimate may be as high as the order of degrees. Therefore, it is necessary to conduct the first calibration upon entering orbit and the long-term calibration during orbit operation. Calculating the light pointing based on the centroid position of the tracking camera spot and the position of the motor will directly affect the calibration accuracy. Summary of the invention

[0004] The present invention provides a rough tracking and unloading method of a swing mirror laser terminal to solve the above problems:

[0005] The present invention proposes a rough tracking unloading method for a swing mirror laser terminal, the unloading method comprising:

[0006] S1, obtaining a preset terminal coordinate system and a preset swing mirror coordinate system, rotating the swing mirror coordinate system to obtain a swing mirror rotation angle, and forming a rotation matrix according to the swing mirror rotation angle;

[0007] S2, obtaining light spot data through a tracking camera, and calculating the light spot miss amount according to the light spot data of the tracking camera;

[0008] S3, obtaining the reflected light vector before compensation according to the spot miss amount and the rotation matrix, setting the miss amount after compensation to 0, and obtaining the corresponding reflected light vector;

[0009] S4, calculating the compensation amount of the azimuth motor and the pitch motor according to the reflected light vector before compensation and the reflected light vector after compensation, adjusting the angle of the swing mirror according to the compensation amount, and obtaining the swing mirror adjustment data.

[0010] Furthermore, the S1 includes:

[0011] Preset the terminal coordinate system and the swing mirror coordinate system respectively;

[0012] The terminal coordinate system is preset to O c -xc y c z c ;

[0013] The oscillating mirror coordinate system is preset as b -x b y b z b ;

[0014] The oscillating mirror coordinate system is first rotated by b around the y-axis, and then rotated by α around the z-axis to obtain the actual coordinate system of the terminal;

[0015] Obtaining rotation data of the oscillating mirror coordinate system, and obtaining a rotation matrix according to the rotation data;

[0016] The expression of the rotation matrix is:

[0017]

[0018] Where R is the rotation matrix.

[0019] Further, the S2 includes:

[0020] Connecting the oscillating mirror laser terminal to a tracking camera, and acquiring light spot data through the tracking camera;

[0021] Calculate the miss distance based on the spot data of the tracking camera;

[0022] Let the miss distance relative to the tracking point be x,y;

[0023] The spot vector in the tracking camera is expressed as

[0024] Further, the S3 includes:

[0025] Acquire the pre-compensation reflected light vector according to the rotation matrix combined with the miss amount;

[0026] The expression of the reflected light vector before compensation is:

[0027]

[0028] Set the offset amount after compensation to 0, and calculate the reflected light vector corresponding to the offset amount of 0;

[0029] The expression of the corresponding reflected light vector is:

[0030]

[0031] The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0032] Further, the S4 includes:

[0033] Calculate the compensation amount according to the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0;

[0034] The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor;

[0035] The calculation formula of the compensation amount of the azimuth motor is:

[0036]

[0037] Among them, Δα is the compensation amount of the azimuth motor, the unit is urad;

[0038] The compensation amount of the pitch motor is calculated as follows:

[0039]

[0040] Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

[0041] Furthermore, the unloading system comprises:

[0042] A rotation module is used to obtain a preset terminal coordinate system and a preset oscillating mirror coordinate system, rotate the oscillating mirror coordinate system, obtain a oscillating mirror rotation angle, and form a rotation matrix according to the oscillating mirror rotation angle;

[0043] The off-target data acquisition module is used to acquire the light spot data through the tracking camera and calculate the light spot off-target amount according to the light spot data of the tracking camera;

[0044] A vector acquisition module is used to obtain the reflected light vector before compensation according to the spot miss amount and the rotation matrix, set the miss amount after compensation to 0, and obtain the corresponding reflected light vector;

[0045] The compensation amount calculation module is used to calculate the compensation amount of the azimuth motor and the pitch motor according to the pre-compensation reflected light vector and the post-compensation reflected light vector, and adjust the angle of the swing mirror by the compensation amount to obtain the swing mirror adjustment data.

[0046] Furthermore, the rotation module comprises:

[0047] A coordinate system preset module, used to preset the terminal coordinate system and the swing mirror coordinate system respectively;

[0048] The terminal coordinate system is preset to O c -x c y c z c ;

[0049] The oscillating mirror coordinate system is preset as b -x by b z b ;

[0050] A coordinate system rotation module is used to rotate the oscillating mirror coordinate system by b around the y-axis and then by α around the z-axis to obtain the actual coordinate system of the terminal;

[0051] A matrix acquisition module, used to acquire rotation data of the oscillating mirror coordinate system, and acquire a rotation matrix according to the rotation data;

[0052] The expression of the rotation matrix is:

[0053]

[0054] Where R is the rotation matrix.

[0055] Furthermore, the off-target data acquisition module includes:

[0056] A light spot acquisition module is used to connect the oscillating mirror laser terminal to a tracking camera and acquire light spot data through the tracking camera;

[0057] A miss distance acquisition module is used to calculate the miss distance according to the spot data of the tracking camera;

[0058] Let the miss distance relative to the tracking point be x,y;

[0059] The spot vector acquisition module is used to express the spot vector in the tracking camera as

[0060] Furthermore, the vector acquisition module includes:

[0061] A data acquisition module, used for acquiring a pre-compensation reflected light vector according to the rotation matrix combined with the miss amount;

[0062] The expression of the pre-compensation reflection vector acquisition module used for the pre-compensation reflection light vector is:

[0063]

[0064] A compensated reflection vector acquisition module is used to set the compensated miss amount to 0 and calculate the reflected light vector corresponding to the miss amount of 0;

[0065] The expression of the corresponding reflected light vector is:

[0066]

[0067] The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0068] Furthermore, the compensation amount calculation module includes:

[0069] A combined calculation module is used to calculate the compensation amount based on the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0;

[0070] The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor;

[0071] The azimuth compensation acquisition module is used to calculate the compensation amount of the azimuth motor:

[0072]

[0073] Among them, Δα is the compensation amount of the azimuth motor, the unit is urad;

[0074] The pitch compensation acquisition module is used to calculate the compensation amount of the pitch motor using the following calculation formula:

[0075]

[0076] Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

[0077] Beneficial effects of the present invention: The technical solution of the present invention can obtain the back-calculation analytical solution of the error of the miss amount, perform precise servo control, and thus ensure the rough and fine tracking of the laser terminal. The calculation accuracy can reach the order of 0.1urad. By accurately measuring and adjusting the angle of the swing mirror, the miss amount of the laser beam can be significantly reduced, thereby improving the tracking accuracy of the laser terminal. The real-time response to the change of the target position and the stable tracking of the laser beam by adjusting the swing mirror angle enhance the stability of the entire system. Compared with the traditional tracking method, the present method compensates for the miss amount by directly adjusting the swing mirror angle, avoids complex mechanical structure and algorithm processing, and simplifies the structure of the system. Due to the use of real-time spot data acquisition and calculation, the method can quickly respond to changes in the target position and improve the response speed of the system. The present method can be applied to laser tracking tasks in different scenarios, and can adapt to the tracking requirements of different targets, different distances and different environmental conditions by adjusting parameters. The swing mirror laser terminal rough tracking unloading method realizes accurate tracking and stable control of the laser beam by accurately measuring and adjusting the angle of the swing mirror, improves the tracking accuracy, stability and response speed of the system, and simplifies the structure of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 A schematic diagram of a rough tracking and unloading method of a swing mirror laser terminal;

[0079] Figure 2 This is a simple schematic diagram of a swing mirror laser terminal;

[0080] Figure 3This is a schematic diagram of the urad compensation residuals for the azimuth and elevation miss distances (50,50);

[0081] Figure 4 The diagram is the residual error diagram of urad compensation for azimuth and elevation miss distance (500,500);

[0082] Figure 5 It is a schematic diagram of urad compensation residuals of azimuth and elevation miss distance (0,-500);

[0083] Figure 6 Schematic diagram of urad compensation residuals for azimuth and elevation miss distances (1000, 1000). DETAILED DESCRIPTION

[0084] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0085] In one embodiment of the present invention, a rough tracking unloading method of a swing mirror laser terminal is proposed by the present invention, and the unloading method comprises:

[0086] S1, obtaining a preset terminal coordinate system and a preset swing mirror coordinate system, rotating the swing mirror coordinate system to obtain a swing mirror rotation angle, and forming a rotation matrix according to the swing mirror rotation angle;

[0087] S2, obtaining light spot data through a tracking camera, and calculating the light spot miss amount according to the light spot data of the tracking camera;

[0088] S3, obtaining the reflected light vector before compensation according to the spot miss amount and the rotation matrix, setting the miss amount after compensation to 0, and obtaining the corresponding reflected light vector;

[0089] S4, calculating the compensation amount of the azimuth motor and the pitch motor according to the reflected light vector before compensation and the reflected light vector after compensation, adjusting the angle of the swing mirror according to the compensation amount, and obtaining the swing mirror adjustment data.

[0090] The working principle of the above technical solution is as follows: obtain the preset terminal coordinate system and the swing mirror coordinate system, which are used to reflect the position and direction of the laser terminal and the swing mirror respectively. Rotate the swing mirror and measure the rotation angle of the swing mirror to construct a rotation matrix, which describes the rotation relationship between the swing mirror coordinate system and the terminal coordinate system. The tracking camera is used to capture the light spot formed by the laser beam on the target. The camera sends the image data of the light spot to the system. Calculate the offset between the center of the light spot and the center of the camera field of view, that is, the light spot miss amount. This offset represents the error between the current pointing direction of the laser beam and the target position. Using the light spot miss amount and the previously obtained rotation matrix, the reflected light vector before compensation can be obtained. This vector describes the direction of the laser beam before the swing mirror reflects. Set the offset amount after compensation to 0, that is, it is expected that the laser beam can accurately point to the target. Calculate the reflected light vector after compensation. By comparing the reflected light vectors before and after compensation, the system can calculate the compensation required for the azimuth motor and the pitch motor. These compensation amounts represent the angles that the swing mirror needs to be adjusted. The system controls the azimuth motor and the pitch motor to rotate according to these compensation values, thereby adjusting the angle of the swing mirror. The adjusted swing mirror angle data is recorded for subsequent tracking and correction.

[0091] The technical effect of the above technical solution is: by accurately measuring and adjusting the angle of the swing mirror, the off-target amount of the laser beam can be significantly reduced, thereby improving the tracking accuracy of the laser terminal. The stability of the entire system is enhanced by responding to changes in the target position in real time and maintaining stable tracking of the laser beam by adjusting the swing mirror angle. Compared with the traditional tracking method, this method compensates for the off-target amount by directly adjusting the swing mirror angle, avoiding complex mechanical structure and algorithm processing, and simplifying the structure of the system. Due to the use of real-time spot data acquisition and calculation, this method can quickly respond to changes in the target position and improve the response speed of the system. This method can be applied to laser tracking tasks in different scenarios, and can adapt to tracking requirements under different targets, different distances and different environmental conditions by adjusting parameters. The coarse tracking unloading method of the swing mirror laser terminal realizes accurate tracking and stable control of the laser beam by accurately measuring and adjusting the angle of the swing mirror, improves the tracking accuracy, stability and response speed of the system, and simplifies the structure of the system.

[0092] In one embodiment of the present invention, the S1 includes:

[0093] Preset the terminal coordinate system and the swing mirror coordinate system respectively;

[0094] The terminal coordinate system is preset to O c -x c y c z c ;

[0095] The oscillating mirror coordinate system is preset as b -xb y b z b ;

[0096] The oscillating mirror coordinate system is first rotated by b around the y-axis, and then rotated by α around the z-axis to obtain the actual coordinate system of the terminal;

[0097] Obtaining rotation data of the oscillating mirror coordinate system, and obtaining a rotation matrix according to the rotation data;

[0098] The expression of the rotation matrix is:

[0099]

[0100] Where R is the rotation matrix.

[0101] The working principle of the above technical solution is: preset a terminal coordinate system O c -x c y c z c , used to describe the position and direction of the laser terminal or target. Preset a swing mirror coordinate system O b -x b y b z b , used to describe the position and direction of the swing mirror. Swing mirror coordinate system O b -x b y b z b First, rotate the oscillating mirror around its own y-axis by an angle b, changing the horizontal direction (i.e. x c y c The oscillating mirror coordinate system rotates around its own z-axis by an angle α, changing the oscillating mirror’s vertical direction (i.e. x c z c plane, but relative to the rotated y-axis). After these two steps of rotation, the new direction of the oscillating mirror coordinate system corresponds to the direction of the actual coordinate system of the terminal. During the rotation of the oscillating mirror, the system will record the rotation data of the oscillating mirror, including the angle b around the y-axis and the angle α around the z-axis. Based on the rotation data, the system can calculate the rotation matrix R. The rotation matrix R is a 3x3 matrix used to describe the rotation relationship of the oscillating mirror coordinate system relative to the terminal coordinate system. The expression of the rotation matrix R involves trigonometric functions, such as sin and cos, which are used to calculate the direction cosines of each coordinate axis after rotation.

[0102] The technical effect of the above technical solution is: by presetting the terminal coordinate system and the swing mirror coordinate system, and describing the rotation relationship between them through the rotation matrix, the direction of the swing mirror and the direction of the laser beam can be accurately described. The precise calculation of the rotation matrix enables the system to accurately know the angle that the swing mirror needs to be adjusted, thereby ensuring that the laser beam can accurately point to the target. Using the rotation matrix to describe the rotation relationship between the coordinate systems can simplify the algorithm processing, so that the system can more efficiently calculate the adjustment angle of the swing mirror. By updating the rotation matrix in real time, the system can dynamically adapt to changes in the target position and maintain stable tracking of the laser beam. This method can be applied to laser tracking tasks in different scenarios, and can adapt to tracking requirements under different targets, different distances and different environmental conditions by adjusting parameters. By presetting the terminal coordinate system and the swing mirror coordinate system, and describing the rotation relationship between them through the rotation matrix, accurate tracking and stable control of the laser beam can be achieved, and the tracking accuracy, stability and adaptability of the system can be improved.

[0103] In one embodiment of the present invention, S2 includes:

[0104] Connecting the oscillating mirror laser terminal to a tracking camera, and acquiring light spot data through the tracking camera;

[0105] Calculate the miss distance based on the spot data of the tracking camera;

[0106] Let the miss distance relative to the tracking point be x,y;

[0107] The spot vector in the tracking camera (CCD) is expressed as

[0108] The working principle of the above technical solution is as follows: the swing mirror laser terminal is connected to the tracking camera (usually a CCD camera) through an appropriate interface or bracket to ensure that the camera can clearly capture the light spot formed by the laser beam on the target. When the laser beam is irradiated on the target, a light spot is formed on the target. The tracking camera captures the image data of this light spot in real time, including information such as the position, shape and intensity of the light spot. The system processes the light spot data obtained by the tracking camera and first identifies the center position of the light spot. The center position of the light spot is compared with the preset tracking point (usually the center of the camera field of view or a position specified by the user), and the miss amount x and y are calculated. The miss amount x and y represent the offset of the center of the light spot relative to the tracking point in the horizontal and vertical directions, respectively. In the image coordinate system of the tracking camera, the light spot can be regarded as a vector, with its starting point being the optical center of the camera and its end point being the center of the light spot. This vector not only contains the position information of the light spot, but can also be used in subsequent tracking and correction algorithms.

[0109] The technical effect of the above technical solution is: by capturing the spot data in real time and calculating the miss amount, the error between the current pointing direction of the laser beam and the target position can be accurately known, so as to adjust the angle of the swing mirror in time and improve the tracking accuracy. The tracking camera can continuously monitor the position change of the spot, and maintain stable tracking performance even when the target moves or the ambient light changes. The system can calculate and output the miss amount data in real time, provide accurate feedback information for the subsequent correction algorithm, and enable the system to respond quickly to changes in the target position. Due to the use of automated tracking and calculation technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. This method is not only suitable for laser tracking tasks, but can also be extended to other application scenarios that require precise measurement and tracking, such as machine vision, automatic navigation and other fields. The method of connecting the swing mirror laser terminal to the tracking camera and obtaining the spot data through the tracking camera to calculate the miss amount can achieve accurate tracking and stable control of the laser beam, improve the tracking accuracy and stability of the system, and simplify operation and maintenance.

[0110] In one embodiment of the present invention, S3 includes:

[0111] Acquire the pre-compensation reflected light vector according to the rotation matrix combined with the miss amount;

[0112] The expression of the reflected light vector before compensation is:

[0113]

[0114] Set the offset amount after compensation to 0, and calculate the reflected light vector corresponding to the offset amount of 0;

[0115] The expression of the corresponding reflected light vector is:

[0116]

[0117] The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0118] The working principle of the above technical solution is as follows: the rotation matrix R is known, which describes the rotation relationship of the oscillating mirror coordinate system relative to the terminal coordinate system. The miss amount (x, y) measured by the tracking camera represents the error between the current direction of the laser beam and the target position. Using this information, the reflected light vector before compensation is calculated, which describes the direction of the laser beam before the oscillating mirror is reflected, and takes into account the deviation caused by the rotation of the oscillating mirror and the miss amount. The expression of the reflected light vector before compensation usually involves the operation of the rotation matrix R and the miss amount (x, y), as well as possible unit vectors and coordinate transformations. The goal is to enable the laser beam to accurately point to the target, that is, the miss amount is 0. The offset amount after compensation is set to 0, and the corresponding reflected light vector is calculated accordingly. The vector describes the direction that the laser beam should reach after the oscillating mirror is reflected to ensure that the laser beam can accurately point to the target. The expression of the reflected light vector after compensation also involves the rotation matrix R (or the adjusted rotation matrix) and possible unit vectors and coordinate transformations, but the influence of the miss amount is no longer considered at this time. The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0119] The technical effect of the above technical solution is: by accurately calculating the reflected light vector before and after compensation, the system can more accurately know the angle that the swing mirror needs to be adjusted, thereby improving the tracking accuracy of the laser beam. The integrated and stored reflected light vector information provides a stable reference point for the system, which can maintain stable tracking performance even when the target moves or the ambient light changes. With the reflected light vector information before and after compensation, the system can more effectively execute the swing mirror adjustment algorithm and reduce unnecessary calculations and resource consumption. Due to the use of automated calculation and storage technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. This method is not only suitable for laser tracking tasks, but can also be extended to other application scenarios that require precise measurement and tracking, such as machine vision, automatic navigation, and remote sensing. By calculating the reflected light vector before and after compensation based on the rotation matrix and the miss-target amount, and integrating and storing this information, accurate tracking and stable control of the laser beam can be achieved, while improving tracking accuracy, stability, and algorithm processing efficiency.

[0120] In one embodiment of the present invention, the S4 includes:

[0121] Calculate the compensation amount according to the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0;

[0122] The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor;

[0123] The calculation formula of the compensation amount of the azimuth motor is:

[0124]

[0125] Among them, Δα is the compensation amount of the azimuth motor, the unit is urad;

[0126] The compensation amount of the pitch motor is calculated as follows:

[0127]

[0128] Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

[0129] Calculate the azimuth calibration coefficient of the oscillating mirror through the compensation amount of the azimuth motor;

[0130] The calculation formula of the azimuth calibration coefficient is:

[0131]

[0132] Among them, F xs is the azimuth calibration coefficient, K f is the azimuth mirror rotation calibration coefficient (provided by the manufacturer or predicted by the model), θ fl is the theoretical rotation instruction data in the azimuth direction;

[0133] Calculate the pitch calibration coefficient of the oscillating mirror through the compensation amount of the pitch motor;

[0134]

[0135] Among them, Y xs is the pitch calibration coefficient, K y is the tilt mirror calibration coefficient (provided by the manufacturer or predicted by the model), θ yl is the theoretical rotation instruction data in the pitch direction;

[0136] Calculate the average value of the azimuth calibration coefficient and the elevation calibration coefficient to obtain the comprehensive calibration coefficient of the oscillating mirror;

[0137] Comparing the comprehensive calibration coefficient of the oscillating mirror with a preset calibration coefficient threshold to obtain a calibration comparison result;

[0138] The calibration parameters of the swing mirror are optimized according to the calibration comparison results.

[0139] The working principle of the above technical solution is as follows: the reflected light vector before compensation describes the direction of the laser beam before the swing mirror reflects, taking into account the deviation caused by the current posture of the swing mirror and the miss amount. The reflected light vector with a miss amount of 0 after compensation describes the direction that the laser beam should reach after the swing mirror reflects, so as to ensure that the laser beam can accurately point to the target. By comparing these two reflected light vectors, the required compensation amount can be calculated. The compensation amount includes the compensation amount Δα of the azimuth motor and the compensation amount Δb of the pitch motor. The compensation amount Δα of the azimuth motor mainly affects the direction of the laser beam in the horizontal direction (i.e., the azimuth angle). The compensation amount Δb of the pitch motor mainly affects the direction of the laser beam in the vertical direction (i.e., the pitch angle). The calculation formula of the compensation amount involves the difference between the direction cosines of the two reflected light vectors, as well as possible coordinate transformation and unit conversion. The calculated compensation amount will be applied to the azimuth motor and the pitch motor to adjust the posture of the swing mirror. By adjusting the posture of the swing mirror, the reflection direction of the laser beam can be changed so that it can accurately point to the target.

[0140] The technical effect of the above technical solution is that by accurately calculating the compensation amount and applying it to the azimuth motor and the pitch motor, the system can more accurately adjust the posture of the swing mirror, thereby improving the tracking accuracy of the laser beam. The calculation and application of the compensation amount provides a stable feedback mechanism for the system, which can maintain stable tracking performance even when the target moves or the ambient light changes.

[0141] With accurate compensation information, the system can control the azimuth and pitch motors more efficiently, reducing unnecessary adjustments and energy consumption. Due to the use of automated compensation calculation and application technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. By quickly calculating and applying compensation, the system can quickly respond to changes in the target position and improve the response speed and performance of the overall system. By calculating the compensation based on the reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation, and applying it to the azimuth and pitch motors, the system can achieve precise tracking and stable control of the laser beam, while improving tracking accuracy, stability, and motor control efficiency. The azimuth calibration coefficient (F xs ) and the pitch calibration factor (Y xs), which can more accurately reflect the error of the swing mirror during the actual rotation process. This method takes into account the influence of the motor compensation on the rotation of the swing mirror, thereby improving the accuracy and reliability of calibration. By calculating the average value of the azimuth calibration coefficient and the pitch calibration coefficient, the comprehensive calibration coefficient of the swing mirror is obtained, which simplifies the calibration process and avoids the complexity that may be caused by processing the calibration coefficients in two directions separately. The comprehensive calibration coefficient provides a unified indicator to evaluate the overall calibration status of the swing mirror, which is convenient for subsequent optimization and adjustment. This method allows the comprehensive calibration coefficient of the swing mirror to be compared with the preset calibration coefficient threshold to automatically obtain the calibration comparison result. According to the calibration comparison results, the calibration parameters of the swing mirror can be automatically optimized, which reduces manual intervention and improves the automation and intelligence level of the calibration process. Accurate calibration helps to reduce the error of the swing mirror during rotation, thereby improving the stability and performance of the entire system. By calibrating regularly or on demand, it can be ensured that the swing mirror is always in the best working condition and the service life of the equipment is extended.

[0142] In one embodiment of the present invention, the unloading system comprises:

[0143] A rotation module is used to obtain a preset terminal coordinate system and a preset oscillating mirror coordinate system, rotate the oscillating mirror coordinate system, obtain a oscillating mirror rotation angle, and form a rotation matrix according to the oscillating mirror rotation angle;

[0144] The off-target data acquisition module is used to acquire the light spot data through the tracking camera and calculate the light spot off-target amount according to the light spot data of the tracking camera;

[0145] A vector acquisition module is used to obtain the reflected light vector before compensation according to the spot miss amount and the rotation matrix, set the miss amount after compensation to 0, and obtain the corresponding reflected light vector;

[0146] The compensation amount calculation module is used to calculate the compensation amount of the azimuth motor and the pitch motor according to the pre-compensation reflected light vector and the post-compensation reflected light vector, and adjust the angle of the swing mirror by the compensation amount to obtain the swing mirror adjustment data.

[0147] The working principle of the above technical solution is as follows: obtain the preset terminal coordinate system and the swing mirror coordinate system, which are used to reflect the position and direction of the laser terminal and the swing mirror respectively. Rotate the swing mirror and measure the rotation angle of the swing mirror to construct a rotation matrix, which describes the rotation relationship between the swing mirror coordinate system and the terminal coordinate system. The tracking camera is used to capture the light spot formed by the laser beam on the target. The camera sends the image data of the light spot to the system. Calculate the offset between the center of the light spot and the center of the camera field of view, that is, the light spot miss amount. This offset represents the error between the current pointing direction of the laser beam and the target position. Using the light spot miss amount and the previously obtained rotation matrix, the reflected light vector before compensation can be obtained. This vector describes the direction of the laser beam before the swing mirror reflects. Set the offset amount after compensation to 0, that is, it is expected that the laser beam can accurately point to the target. Calculate the reflected light vector after compensation. By comparing the reflected light vectors before and after compensation, the system can calculate the compensation required for the azimuth motor and the pitch motor. These compensation amounts represent the angles that the swing mirror needs to be adjusted. The system controls the azimuth motor and the pitch motor to rotate according to these compensation values, thereby adjusting the angle of the swing mirror. The adjusted swing mirror angle data is recorded for subsequent tracking and correction.

[0148] The technical effect of the above technical solution is: by accurately measuring and adjusting the angle of the swing mirror, the off-target amount of the laser beam can be significantly reduced, thereby improving the tracking accuracy of the laser terminal. The stability of the entire system is enhanced by responding to changes in the target position in real time and maintaining stable tracking of the laser beam by adjusting the swing mirror angle. Compared with the traditional tracking method, this method compensates for the off-target amount by directly adjusting the swing mirror angle, avoiding complex mechanical structure and algorithm processing, and simplifying the structure of the system. Due to the use of real-time spot data acquisition and calculation, this method can quickly respond to changes in the target position and improve the response speed of the system. This method can be applied to laser tracking tasks in different scenarios, and can adapt to tracking requirements under different targets, different distances and different environmental conditions by adjusting parameters. The coarse tracking unloading method of the swing mirror laser terminal realizes accurate tracking and stable control of the laser beam by accurately measuring and adjusting the angle of the swing mirror, improves the tracking accuracy, stability and response speed of the system, and simplifies the structure of the system.

[0149] In one embodiment of the present invention, the rotation module comprises:

[0150] A coordinate system preset module, used to preset the terminal coordinate system and the swing mirror coordinate system respectively;

[0151] The terminal coordinate system is preset to O c -x c y c z c ;

[0152] The oscillating mirror coordinate system is preset asb -x b y b z b ;

[0153] A coordinate system rotation module is used to rotate the oscillating mirror coordinate system by b around the y-axis and then by α around the z-axis to obtain the actual coordinate system of the terminal;

[0154] A matrix acquisition module, used to acquire rotation data of the oscillating mirror coordinate system, and acquire a rotation matrix according to the rotation data;

[0155] The expression of the rotation matrix is:

[0156]

[0157] Where R is the rotation matrix.

[0158] The working principle of the above technical solution is: preset a terminal coordinate system O c -x c y c z c , used to describe the position and direction of the laser terminal or target. Preset a swing mirror coordinate system O b -x b ybz b , used to describe the position and direction of the swing mirror. Swing mirror coordinate system O b -x b y b z b First, rotate the oscillating mirror around its own y-axis by an angle b, changing the horizontal direction (i.e. x c y c The oscillating mirror coordinate system rotates around its own z-axis by an angle α, changing the oscillating mirror’s vertical direction (i.e. x c z c plane, but relative to the rotated y-axis). After these two steps of rotation, the new direction of the oscillating mirror coordinate system corresponds to the direction of the actual coordinate system of the terminal. During the rotation of the oscillating mirror, the system will record the rotation data of the oscillating mirror, including the angle b around the y-axis and the angle α around the z-axis. Based on the rotation data, the system can calculate the rotation matrix R. The rotation matrix R is a 3x3 matrix used to describe the rotation relationship of the oscillating mirror coordinate system relative to the terminal coordinate system. The expression of the rotation matrix R involves trigonometric functions, such as sin and cos, which are used to calculate the direction cosines of each coordinate axis after rotation.

[0159] The technical effect of the above technical solution is: by presetting the terminal coordinate system and the swing mirror coordinate system, and describing the rotation relationship between them through the rotation matrix, the direction of the swing mirror and the direction of the laser beam can be accurately described. The precise calculation of the rotation matrix enables the system to accurately know the angle that the swing mirror needs to be adjusted, thereby ensuring that the laser beam can accurately point to the target. Using the rotation matrix to describe the rotation relationship between the coordinate systems can simplify the algorithm processing, so that the system can more efficiently calculate the adjustment angle of the swing mirror. By updating the rotation matrix in real time, the system can dynamically adapt to changes in the target position and maintain stable tracking of the laser beam. This method can be applied to laser tracking tasks in different scenarios, and can adapt to tracking requirements under different targets, different distances and different environmental conditions by adjusting parameters. By presetting the terminal coordinate system and the swing mirror coordinate system, and describing the rotation relationship between them through the rotation matrix, accurate tracking and stable control of the laser beam can be achieved, and the tracking accuracy, stability and adaptability of the system can be improved.

[0160] In one embodiment of the present invention, the off-target data acquisition module comprises:

[0161] A light spot acquisition module is used to connect the oscillating mirror laser terminal to a tracking camera and acquire light spot data through the tracking camera;

[0162] A miss distance acquisition module is used to calculate the miss distance according to the spot data of the tracking camera;

[0163] Let the miss distance relative to the tracking point be x,y;

[0164] The spot vector acquisition module is used to express the spot vector in the tracking camera (CCD) as

[0165] The working principle of the above technical solution is as follows: the swing mirror laser terminal is connected to the tracking camera (usually a CCD camera) through an appropriate interface or bracket to ensure that the camera can clearly capture the light spot formed by the laser beam on the target. When the laser beam is irradiated on the target, a light spot is formed on the target. The tracking camera captures the image data of this light spot in real time, including information such as the position, shape and intensity of the light spot. The system processes the light spot data obtained by the tracking camera and first identifies the center position of the light spot. The center position of the light spot is compared with the preset tracking point (usually the center of the camera field of view or a position specified by the user), and the miss amount x and y are calculated. The miss amount x and y represent the offset of the center of the light spot relative to the tracking point in the horizontal and vertical directions, respectively. In the image coordinate system of the tracking camera, the light spot can be regarded as a vector, with its starting point being the optical center of the camera and its end point being the center of the light spot. This vector not only contains the position information of the light spot, but can also be used in subsequent tracking and correction algorithms.

[0166] The technical effect of the above technical solution is: by capturing the spot data in real time and calculating the miss amount, the error between the current pointing direction of the laser beam and the target position can be accurately known, so as to adjust the angle of the swing mirror in time and improve the tracking accuracy. The tracking camera can continuously monitor the position change of the spot, and maintain stable tracking performance even when the target moves or the ambient light changes. The system can calculate and output the miss amount data in real time, provide accurate feedback information for the subsequent correction algorithm, and enable the system to respond quickly to changes in the target position. Due to the use of automated tracking and calculation technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. This method is not only suitable for laser tracking tasks, but can also be extended to other application scenarios that require precise measurement and tracking, such as machine vision, automatic navigation and other fields. The method of connecting the swing mirror laser terminal to the tracking camera and obtaining the spot data through the tracking camera to calculate the miss amount can achieve accurate tracking and stable control of the laser beam, improve the tracking accuracy and stability of the system, and simplify operation and maintenance.

[0167] In one embodiment of the present invention, the vector acquisition module includes:

[0168] A data acquisition module, used for acquiring a pre-compensation reflected light vector according to the rotation matrix combined with the miss amount;

[0169] The expression of the pre-compensation reflection vector acquisition module used for the pre-compensation reflection light vector is:

[0170]

[0171] A compensated reflection vector acquisition module is used to set the compensated miss amount to 0 and calculate the reflected light vector corresponding to the miss amount of 0;

[0172] The expression of the corresponding reflected light vector is:

[0173]

[0174] The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0175] The working principle of the above technical solution is as follows: the rotation matrix R is known, which describes the rotation relationship of the oscillating mirror coordinate system relative to the terminal coordinate system. The miss amount (x, y) measured by the tracking camera represents the error between the current direction of the laser beam and the target position. Using this information, the reflected light vector before compensation is calculated, which describes the direction of the laser beam before the oscillating mirror is reflected, and takes into account the deviation caused by the rotation of the oscillating mirror and the miss amount. The expression of the reflected light vector before compensation usually involves the operation of the rotation matrix R and the miss amount (x, y), as well as possible unit vectors and coordinate transformations. The goal is to enable the laser beam to accurately point to the target, that is, the miss amount is 0. The offset amount after compensation is set to 0, and the corresponding reflected light vector is calculated accordingly. The vector describes the direction that the laser beam should reach after the oscillating mirror is reflected to ensure that the laser beam can accurately point to the target. The expression of the reflected light vector after compensation also involves the rotation matrix R (or the adjusted rotation matrix) and possible unit vectors and coordinate transformations, but the influence of the miss amount is no longer considered at this time. The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

[0176] The technical effect of the above technical solution is: by accurately calculating the reflected light vector before and after compensation, the system can more accurately know the angle that the swing mirror needs to be adjusted, thereby improving the tracking accuracy of the laser beam. The integrated and stored reflected light vector information provides a stable reference point for the system, which can maintain stable tracking performance even when the target moves or the ambient light changes. With the reflected light vector information before and after compensation, the system can more effectively execute the swing mirror adjustment algorithm and reduce unnecessary calculations and resource consumption. Due to the use of automated calculation and storage technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. This method is not only suitable for laser tracking tasks, but can also be extended to other application scenarios that require precise measurement and tracking, such as machine vision, automatic navigation, and remote sensing. By calculating the reflected light vector before and after compensation based on the rotation matrix and the miss-target amount, and integrating and storing this information, accurate tracking and stable control of the laser beam can be achieved, while improving tracking accuracy, stability, and algorithm processing efficiency.

[0177] In one embodiment of the present invention, the compensation amount calculation module includes:

[0178] A combined calculation module is used to calculate the compensation amount based on the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0;

[0179] The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor;

[0180] The azimuth compensation acquisition module is used to calculate the compensation amount of the azimuth motor:

[0181]

[0182] Among them, Δα is the compensation amount of the azimuth motor, the unit is urad;

[0183] The pitch compensation acquisition module is used to calculate the compensation amount of the pitch motor using the following calculation formula:

[0184]

[0185] Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

[0186] The working principle of the above technical solution is as follows: the reflected light vector before compensation describes the direction of the laser beam before the swing mirror reflects, taking into account the deviation caused by the current posture of the swing mirror and the miss amount. The reflected light vector with a miss amount of 0 after compensation describes the direction that the laser beam should reach after the swing mirror reflects, so as to ensure that the laser beam can accurately point to the target. By comparing these two reflected light vectors, the required compensation amount can be calculated. The compensation amount includes the compensation amount Δα of the azimuth motor and the compensation amount Δb of the pitch motor. The compensation amount Δα of the azimuth motor mainly affects the direction of the laser beam in the horizontal direction (i.e., the azimuth angle). The compensation amount Δb of the pitch motor mainly affects the direction of the laser beam in the vertical direction (i.e., the pitch angle). The calculation formula of the compensation amount involves the difference between the direction cosines of the two reflected light vectors, as well as possible coordinate transformation and unit conversion. The calculated compensation amount will be applied to the azimuth motor and the pitch motor to adjust the posture of the swing mirror. By adjusting the posture of the swing mirror, the reflection direction of the laser beam can be changed so that it can accurately point to the target.

[0187] The technical effect of the above technical solution is: by accurately calculating the compensation amount and applying it to the azimuth motor and the pitch motor, the system can more accurately adjust the posture of the swing mirror, thereby improving the tracking accuracy of the laser beam. The calculation and application of the compensation amount provides a stable feedback mechanism for the system, which can maintain stable tracking performance even when the target moves or the ambient light changes. With accurate compensation amount information, the system can more efficiently control the azimuth motor and the pitch motor, reducing unnecessary adjustments and energy consumption. Due to the use of automated compensation amount calculation and application technology, the system reduces the need for manual intervention and reduces the complexity of operation and maintenance. By quickly calculating and applying the compensation amount, the system can quickly respond to changes in the target position and improve the response speed and performance of the overall system. By calculating the compensation amount based on the reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation, and applying it to the azimuth motor and the pitch motor, the system can achieve accurate tracking and stable control of the laser beam, while improving tracking accuracy, stability and motor control efficiency.

[0188] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A rough tracking unloading method for a swing mirror laser terminal, characterized in that: The uninstallation method comprises: S1, obtaining a preset terminal coordinate system and a preset swing mirror coordinate system, rotating the swing mirror coordinate system to obtain a swing mirror rotation angle, and forming a rotation matrix according to the swing mirror rotation angle; S2, obtaining light spot data through a tracking camera, and calculating the light spot miss amount according to the light spot data of the tracking camera; S3, obtaining the reflected light vector before compensation according to the spot miss amount and the rotation matrix, setting the miss amount after compensation to 0, and obtaining the corresponding reflected light vector; S4, calculating the compensation amount of the azimuth motor and the pitch motor according to the reflected light vector before compensation and the reflected light vector after compensation, adjusting the angle of the swing mirror according to the compensation amount, and obtaining the swing mirror adjustment data.

2. According to claim 1, a rough tracking unloading method of a swing mirror laser terminal is characterized in that: The S1 includes: Preset the terminal coordinate system and the swing mirror coordinate system respectively; The terminal coordinate system is preset to c -x c y c z c ; The oscillating mirror coordinate system is preset as b -x b y b z b ; The oscillating mirror coordinate system is first rotated by b around the y-axis, and then rotated by α around the z-axis to obtain the actual coordinate system of the terminal; Obtaining rotation data of the oscillating mirror coordinate system, and obtaining a rotation matrix according to the rotation data; The expression of the rotation matrix is: Where R is the rotation matrix.

3. According to claim 1, a rough tracking and unloading method of a swing mirror laser terminal is characterized in that: The S2 includes: Connecting the oscillating mirror laser terminal to a tracking camera, and acquiring light spot data through the tracking camera; Calculate the miss distance based on the spot data of the tracking camera; Let the miss distance relative to the tracking point be x,y; The spot vector in the tracking camera is expressed as 4. According to claim 1, a rough tracking unloading method of a swing mirror laser terminal is characterized in that: The S3 includes: Acquire the pre-compensation reflected light vector according to the rotation matrix combined with the miss amount; The expression of the reflected light vector before compensation is: Set the offset amount after compensation to 0, and calculate the reflected light vector corresponding to the offset amount of 0; The expression of the corresponding reflected light vector is: The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

5. According to claim 1, a rough tracking unloading method of a swing mirror laser terminal is characterized in that: The S4 includes: Calculate the compensation amount according to the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0; The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor; The calculation formula of the compensation amount of the azimuth motor is: Among them, Δα is the compensation amount of the azimuth motor, the unit is urad; The compensation amount of the pitch motor is calculated as follows: Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

6. An unloading system for implementing the rough tracking unloading method of a swing mirror laser terminal according to claim 1, characterized in that: The unloading system comprises: A rotation module is used to obtain a preset terminal coordinate system and a preset oscillating mirror coordinate system, rotate the oscillating mirror coordinate system, obtain a oscillating mirror rotation angle, and form a rotation matrix according to the oscillating mirror rotation angle; The off-target data acquisition module is used to acquire the light spot data through the tracking camera and calculate the light spot off-target amount according to the light spot data of the tracking camera; A vector acquisition module is used to obtain the reflected light vector before compensation according to the spot miss amount and the rotation matrix, set the miss amount after compensation to 0, and obtain the corresponding reflected light vector; The compensation amount calculation module is used to calculate the compensation amount of the azimuth motor and the pitch motor according to the pre-compensation reflected light vector and the post-compensation reflected light vector, and adjust the angle of the swing mirror by the compensation amount to obtain the swing mirror adjustment data.

7. The unloading system of the swing mirror laser terminal rough tracking unloading method according to claim 6 is characterized in that: The rotation module comprises: A coordinate system preset module, used to preset the terminal coordinate system and the swing mirror coordinate system respectively; The terminal coordinate system is preset to c -x c y c z c ; The oscillating mirror coordinate system is preset as b -x b y b z b ; A coordinate system rotation module is used to rotate the oscillating mirror coordinate system by b around the y-axis and then by α around the z-axis to obtain the actual coordinate system of the terminal; A matrix acquisition module, used to acquire rotation data of the oscillating mirror coordinate system, and acquire a rotation matrix according to the rotation data; The expression of the rotation matrix is: Where R is the rotation matrix.

8. The unloading system of the swing mirror laser terminal rough tracking unloading method according to claim 6 is characterized in that: The off-target data acquisition module comprises: A light spot acquisition module is used to connect the oscillating mirror laser terminal to a tracking camera and acquire light spot data through the tracking camera; A miss distance acquisition module is used to calculate the miss distance according to the spot data of the tracking camera; Let the miss distance relative to the tracking point be x,y; The spot vector acquisition module is used to express the spot vector in the tracking camera as 9. The unloading system of the swing mirror laser terminal rough tracking unloading method according to claim 6 is characterized in that: The vector acquisition module comprises: A data acquisition module, used for acquiring a pre-compensation reflected light vector according to the rotation matrix combined with the miss amount; The expression of the pre-compensation reflection vector acquisition module used for the pre-compensation reflection light vector is: A compensated reflection vector acquisition module is used to set the compensated miss amount to 0 and calculate the reflected light vector corresponding to the miss amount of 0; The expression of the corresponding reflected light vector is: The reflected light vector before compensation and the reflected light vector with a miss amount of 0 after compensation are integrated and stored.

10. The unloading system of the swing mirror laser terminal rough tracking unloading method according to claim 6 is characterized in that: The compensation amount calculation module includes: A combined calculation module is used to calculate the compensation amount based on the reflected light vector before compensation and the reflected light vector after compensation with the miss amount being 0; The compensation amount includes the compensation amount of the azimuth motor and the compensation amount of the pitch motor; The azimuth compensation acquisition module is used to calculate the compensation amount of the azimuth motor: Among them, Δα is the compensation amount of the azimuth motor, the unit is urad; The pitch compensation acquisition module is used to calculate the compensation amount of the pitch motor using the following calculation formula: Wherein, Δb is the compensation amount of the pitch motor, and its unit is urad.

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