Laser communication ranging method, system, device and medium

Abstract

The present disclosure provides a laser communication ranging method, system, device and medium. The laser communication ranging method is applied to a laser communication ranging system. The laser communication ranging system includes a first terminal and a second terminal. The method includes: in response to detecting a second pulse, the first terminal embeds a first ranging identifier into a next first terminal data frame after the detected second pulse; in response to detecting the second pulse, the second terminal embeds a second ranging identifier into a next second terminal data frame after the detected second pulse; the first terminal sends the first terminal data frame embedded with the first ranging identifier to the second terminal to determine a first time set; the second terminal sends the second terminal data frame embedded with the second ranging identifier to the first terminal to determine a second time set; and calculates the distance value between the first terminal and the second terminal according to the first time set and the second time set.

Description

Technical Field

[0001] The present disclosure relates to the field of laser communication, and in particular to a laser communication ranging method, system, device and medium. Background Art

[0002] The acquisition of relative position information between satellites is a prerequisite for ensuring the normal operation of the formation constellation. Therefore, the satellites need to complete precise inter-satellite and satellite-to-ground ranging on their own to determine the inter-satellite relative state or satellite-to-ground state in the formation constellation.

[0003] At the same time, in order to save the platform resources required by the ranging system, the mass, volume, power consumption, etc. of the satellite payload is greatly reduced. In the related technology, the ranging process is designed into the communication protocol, and the distance measurement and time difference measurement are completed during communication. The mass, volume, power consumption, etc. of the satellite payload is greatly reduced.

[0004] However, due to the existence of different clock domains during the communication process, in order to ensure the ranging accuracy, the pulse signals in different clock domains need to be synchronized in time and frequency. This process requires the use of a time and frequency synchronization system, such as network clock frequency synchronization, which makes the overall system complex and costly, making it difficult to balance ranging accuracy and system cost. Summary of the invention

[0005] In view of the above problems, the present invention provides a method of filling a ranging identifier in a normal data frame, which does not require interrupting the normal communication mode, does not require high synchronization of the second pulse signal, and does not require the transmission period of the ranging frame to be completely and strictly synchronized with the second pulse, so that the ranging function can be realized, and the accuracy can reach RMS ≤ 3cm. At the same time, the requirements for components are also reduced, and it can be realized using a pure FPGA development board without the need for other equipment.

[0006] The present disclosure provides a laser communication ranging method, characterized in that the laser communication ranging method is applied to a laser communication ranging system, the laser communication ranging system includes a first terminal and a second terminal, and the method includes: in response to detecting a second pulse, the first terminal embeds a first ranging identifier into a next first terminal data frame after the second pulse detected by the first terminal; in response to detecting the second pulse, the second terminal embeds a second ranging identifier into a next second terminal data frame after the second pulse detected by the second terminal; the first terminal sends the first terminal data frame embedded with the first ranging identifier to the second terminal to determine a first time set; the second terminal sends the second terminal data frame embedded with the second ranging identifier to the first terminal to determine a second time set; and calculates the distance value between the first terminal and the second terminal according to the first time set and the second time set.

[0007] In one embodiment, the second pulse detected by the first terminal does not need to be synchronized with the second pulse detected by the second terminal, the first terminal data frame does not need to be aligned with the second pulse edge detected by the first terminal, and the second terminal data frame does not need to be aligned with the second pulse edge detected by the second terminal.

[0008] In one embodiment, determining the first time set includes: determining a first sending time, a first receiving time, and a first loss delay, wherein the first sending time is the time when the first terminal determines that the first terminal data frame is sent, the first receiving time is the time when the first terminal receives the second terminal data frame, and the first loss delay is the sending loss delay and receiving loss delay of the first terminal serial port.

[0009] In one embodiment, determining the second time set includes: determining a second sending time, a second receiving time, and a second loss delay, wherein the second sending time is the time when the second terminal determines that the second terminal data frame is sent, the second receiving time is the time when the second terminal receives the first terminal data frame, and the second loss delay is the sending loss delay and receiving loss delay of the second terminal serial port.

[0010] In one embodiment, the method further includes: obtaining a sampling frequency based on a mixed mode clock manager MMCM; and based on the obtained sampling frequency, performing high sampling on the first terminal serial port and the second terminal serial port using a corresponding encoding method, thereby obtaining a first loss delay and a second loss delay.

[0011] In one embodiment, obtaining a sampling frequency based on a mixed mode clock manager MMCM includes: obtaining a user clock input frequency; using a mixed mode clock manager to multiply the obtained user clock input frequency to obtain an output frequency; and based on the first terminal and the second terminal serial port encoding method, performing a frequency deviation on the output frequency with a phase of an evenly divided degree, thereby obtaining a sampling frequency for the serial port encoding method.

[0012] In one embodiment, high sampling of the first terminal serial port and the second terminal serial port using a corresponding coding method includes: based on the sampling frequency, determining the sending loss delay from the system time recording interface to the serial interface when the first terminal and the second terminal send data frames; based on the sampling frequency, determining the receiving loss delay from the serial interface to the system time recording interface when the first terminal and the second terminal receive data frames; and based on the sending loss delay and the receiving loss delay, determining the first loss delay and the second loss delay.

[0013] According to a second aspect of the present disclosure, a system is provided, the system comprising: a first terminal, configured to, in response to detecting a second pulse, embed a first ranging identifier into a next first terminal data frame after the second pulse detected by the first terminal, and the first terminal sends the first terminal data frame embedded with the first ranging identifier to the second terminal so as to determine a first time set; a second terminal, configured to, in response to detecting a second pulse, embed a second ranging identifier into a next second terminal data frame after the second pulse detected by the second terminal, and the second terminal sends the second terminal data frame embedded with the second ranging identifier to the first terminal so as to determine a second time set and calculate a distance value between the first terminal and the second terminal based on the first time set and the second time set, wherein the second pulse does not need to be synchronized with the second pulse detected by the first terminal, the first terminal data frame does not need to be aligned with the second pulse edge, and the second terminal data frame does not need to be aligned with the second pulse edge detected by the second terminal.

[0014] According to a third aspect of the present disclosure, a computing device is provided, comprising one or more processors; and a memory storing computer executable instructions, which, when executed by the one or more processors, cause the one or more processors to execute the method according to the first aspect of the present disclosure.

[0015] According to a fourth aspect of the present disclosure, there is provided a non-transitory storage medium having computer executable instructions stored thereon, which, when executed by a computer, causes the computer to execute the method according to the first aspect of the present disclosure.

[0016] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements.

[0018] Figure 1 A schematic diagram of two-way communication laser ranging between satellite A and satellite B according to an embodiment of the present invention is shown.

[0019] Figure 2 A schematic diagram of second pulse alignment in the prior art is shown.

[0020] Figure 2 (a) shows a schematic diagram of second pulse alignment in the prior art.

[0021] Figure 2 (b) shows a schematic diagram of second pulse alignment in the prior art.

[0022] Figure 2 (c) shows a schematic diagram of second pulse alignment in the prior art.

[0023] Figure 3 A schematic diagram of a laser communication ranging frame according to an embodiment of the present invention is shown.

[0024] Figure 4 A schematic diagram of MMCM frequency multiplication according to an embodiment of the present invention is shown.

[0025] Figure 5 A schematic diagram of calculating the loss delay of a 64b / 66b serial port encoding method according to an embodiment of the present invention is shown.

[0026] Figure 6 A schematic block diagram of an example electronic device 600 is shown that may be used to implement embodiments of the present disclosure. DETAILED DESCRIPTION

[0027] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0028] As used herein, the term "including" and its variations mean open inclusion, i.e., "including but not limited to". Unless otherwise stated, the term "or" means "and / or". The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment". The term "another embodiment" means "at least one additional embodiment". Other explicit and implicit definitions may also be included below.

[0029] As introduced in the background technology, in satellite communications, obtaining relative position information between satellites is a prerequisite for the normal operation of the formation constellation. In order to reduce the platform resources required for the ranging system and reduce the mass, volume and power consumption of the satellite payload, the relevant technology designs the ranging process into the communication protocol, that is, the distance measurement and time difference measurement are completed during communication. However, due to the existence of different clock domains in the communication process, time and frequency synchronization is required, which usually requires the use of a time and frequency synchronization system (such as a network clock), which increases the complexity and cost of the system.

[0030] In order to solve the ranging problem, two-way communication laser ranging is usually used. Figure 1FIG. 2 shows a two-way communication laser ranging diagram of satellite A and satellite B according to an embodiment of the present invention. Figure 1 As shown, satellite A and satellite B send ranging frames at the same time, record the sending time and receiving time, and get two time delays T A and T B , taking into account the transmission delay and the transmission delay, the final delay T between satellite A and satellite B can be calculated using the formula (1) as follows:

[0031] (1)

[0032] Among them, T tA and T tB are the transmission delays of satellite A and satellite B respectively, T rA and T rB The receiving delays of satellite A and satellite B are respectively. In order to solve the problem of pulse-per-second accuracy, the traditional approach is to use ultra-high-precision atomic clocks and ultra-high-frequency ADC sampling. Figure 1 In, T rAB is the reception time displayed by satellite A, T rBA is the reception time displayed by satellite B. A1 is the time base of satellite A on orbit A, and t A2 The end time of the whole second of the time base of satellite A on orbit A. B1 is the time base of satellite B on orbit B, and t B2 The end time of the whole second on the B orbit of the B satellite's time base.

[0033] Specifically, traditional ranging needs to ensure that business data is transmitted at a certain number of frames per second. For example, when the serial transmission rate is 10Gbps and the length of each frame is 1000 bytes, 1,250,000 frames need to be transmitted per second. The first frame per second is the ranging frame. At the same time, when the second pulse arrives, it needs to be strictly aligned with the first frame. In this case, it is necessary to ensure that the second pulse of each subsequent second is strictly aligned with the first frame, which requires a very high accuracy of the second pulse.

[0034] Figure 2 (a) Figure 2 (b) and Figure 2 (c) shows a schematic diagram of the alignment of second pulses in the prior art. Figure 2 As shown in (a), when the second pulse accuracy is not enough, the second pulse will lag behind the data frame or lead the data frame. Figure 2 (b) and Figure 2As shown in (c), additional error correction operations are required at this time. The most effective and direct method is to insert invalid data after a complete round of data frames (1250000 frames in the example) and wait for the next second pulse to arrive to realign the first data frame (i.e., ranging frame). At this time, due to the insertion of invalid data, the throughput of transmitted data will be affected. The degree of impact depends on the error of the second pulse. In particular, when the second pulse arrives ahead of time, the transmission space of the current full second is basically wasted, and the maximum data throughput loss is close to 50%. Therefore, in this way, it is very necessary to strictly ensure the accuracy of the second pulse.

[0035] The present invention performs clock synchronization through a software algorithm, utilizes inter-satellite communication data to perform clock calibration, adjusts the clocks of a transmitting end and a receiving end, and ensures time measurement accuracy.

[0036] The present invention provides a laser communication ranging method, which avoids the requirement of strict alignment of the first data frame with the second pulse by additionally filling a ranging identifier in the data frame. This method can ensure stable ranging when the second pulse accuracy is insufficient, while avoiding the loss of data transmission throughput in the traditional method.

[0037] Figure 3 A schematic diagram of a laser communication ranging frame according to an embodiment of the present invention is shown. The laser communication ranging system of the present invention includes two terminals, namely a first terminal and a second terminal. Each terminal includes: a communication module responsible for sending and receiving laser data frames; a clock module for generating second pulses; and a digital signal processing module for processing received data frames and performing time measurement and distance calculation.

[0038] like Figure 3 As shown, the first terminal embeds the first ranging identifier in the next data frame after detecting the second pulse. The second terminal embeds the second ranging identifier in the next data frame after detecting the second pulse. After detecting the arrival of the second pulse, the ranging identifier is added to the next frame. Since two-way ranging is used, the deviation caused by the inconsistent sending time of the ranging frames at both ends can be eliminated. Therefore, although the time of the next frame after the arrival of the second pulse is not fixed, this error can be eliminated through two-way ranging. The advantage of this method is that it does not require strict transmission according to a specific number of frames per second, nor does it require the second pulse to be strictly aligned with the first frame. In other words, the present invention does not rely on the concept of the so-called "first frame" for the second pulse.

[0039] In response to detecting the second pulse, the first terminal embeds the first ranging identifier into the next first terminal data frame after the second pulse detected by the first terminal, and in response to detecting the second pulse, the second terminal embeds the second ranging identifier into the next second terminal data frame after the second pulse detected by the second terminal. This ensures that the ranging frame is stably transmitted every second, and no additional error correction is required when the second pulse accuracy is insufficient. While ensuring that the ranging accuracy remains unchanged, the loss of data transmission throughput in the traditional method is avoided.

[0040] After inserting the ranging identifier, the first terminal sends the data frame containing the first ranging identifier to the second terminal. The second terminal sends the data frame containing the second ranging identifier to the first terminal. The first terminal determines the first sending time TX for sending the data frame of the first terminal. A , the first receiving time RX at which the first terminal data frame receives the second terminal data frame B and the first loss delay T of the first terminal tA and T rB .

[0041] The second terminal determines a second sending time TX at which the second terminal data frame is sent B , the second receiving time RX at which the second terminal data frame receives the first terminal data frame A and the second loss delay T of the second terminal tB and T rA Therefore, the final delay between the first terminal and the second terminal can be calculated according to formula (1). According to the final delay, the distance value between the first terminal and the second terminal is calculated.

[0042] The above method has been tested in a simulation environment. There is no need for multiple measurements. Each second pulse signal only needs to record the time value from the local sending time to the receiving time of the other party's signal. The ranging accuracy RMS ≤ 3cm, and it does not affect the normal business data transmission. The present invention is not sensitive to second pulses. The communicating parties do not need to strictly align the second pulses to achieve two-way communication without affecting the ranging performance. The second pulses detected by the first terminal do not need to be aligned with the second pulses detected by the second terminal, the data frame of the first terminal does not need to be aligned with the second pulses detected by the first terminal, and the data frame of the second terminal does not need to be aligned with the second pulses detected by the second terminal.

[0043] Therefore, the present invention is simple to implement and can be completed using an FPGA development board without the aid of other external devices and components. It uses existing mature IP cores for development and has strong portability. The present invention is simple to implement, consumes less resources, and has low power consumption, and can meet the needs of most scenarios.

[0044] As described above, in formula (1), the first terminal determines the first transmission time TX of the first terminal data frame transmission:A , determine the first receiving time RX at which the first terminal data frame receives the second terminal data frame B and the second terminal determines a second sending time TX at which the second terminal data frame is sent B , determine the second receiving time RX at which the second terminal data frame receives the first terminal data frame A Both can pass through the time system of the first terminal and the second terminal, but it is also necessary to determine the first loss delay T of the first terminal tA and T rB and the second loss delay T of the second terminal tB and T rA In order to calculate the loss delay and realize oversampling, the present invention uses a mixed mode clock manager MMCM to multiply the frequency to achieve a high sampling rate, which can meet the ranging requirements under 10Gbps transmission.

[0045] Specifically, in one embodiment, a user clock frequency can be obtained; the obtained user clock frequency can be multiplied using a mixed mode clock manager to obtain an output frequency of 644.53125 MHz; and the output frequency of 644.53125 MHz can be frequency offset with a phase of 22.5 degrees per 16 minutes to obtain a sampling frequency of 10.3125 GHz for 64b / 66b encoding. Figure 4 FIG. 4 shows a schematic diagram of MMCM frequency multiplication according to an embodiment of the present invention. Figure 4 As shown, the user clock is multiplied by MMCM to 644.53125 MHz, and 16 frequency deviation clocks are used to frequency-shift 644.53125 MHz to construct a high-frequency sampling of 10.3125 GHz, which can be aligned with the high-speed serial rate of the serial port.

[0046] Furthermore, the first time set and the second time set can be high-sampled using 64b / 66b encoding. The corresponding position of the user data on the serial port is calculated using the 64b / 66b encoding rule, and the loss delay of the serial-to-parallel conversion is correctly calculated, that is, the first transmission loss delay T of the first terminal. tA and the first receiving loss delay T rB and the second transmission loss delay T of the second terminal tB and the second receiving loss delay T rA . Figure 5 FIG. 2 is a schematic diagram showing the loss delay of calculating the 64b / 66b serial port encoding method according to an embodiment of the present invention. Figure 5 As shown, the first position is the 2-bit header added by 64b / 66b encoding, and the dotted line corresponds to the position of the highest bit of the user data in the serial.

[0047] Based on the sampling frequency, the transmission loss delay from the system time recording interface to the 64b / 66b serial interface when the first terminal and the second terminal send data frames is determined. Figure 5 As shown, the transmission loss delay from the user interface to the serial interface at the transmitter can be expressed as formula (2):

[0048] (2)

[0049] The receiving loss delay from the serial interface to the user interface at the receiving end can be expressed as formula (3):

[0050] (3)

[0051] Wherein, N=31, which indicates the number of user data included in one round of 64b / 66b alignment, and n indicates the position of the current user data in the N data, and the count starts from 1. Based on the sampling frequency, the reception loss delay from the 64b / 66b serial interface to the system time recording interface when the first terminal and the second terminal receive the data frame is determined; and based on the transmission loss delay and the reception loss delay, the first loss delay and the second loss delay are determined.

[0052] The problem of high precision requirement for second pulse is solved by inserting the ranging mark after the second pulse, which reflects the low clock sensitivity of this solution. The sampling frequency is obtained based on the mixed mode clock manager MMCM and based on the obtained sampling frequency, the 64b / 66b encoding method is used to solve the problem of high-speed ADC sampling, which reflects the low requirements for hardware equipment and simple implementation of this solution.

[0053] By using the above technical means, the ranging identifier can be filled in the normal data frame without interrupting the normal communication mode. The synchronization requirements for the second pulse signal are not high, and the transmission period of the ranging frame does not need to be completely and strictly synchronized with the second pulse. The ranging function can be realized, and the accuracy can reach RMS ≤ 3cm. At the same time, the requirements for components are also reduced, and it can be realized using a pure FPGA development board without the help of other equipment.

[0054] The present invention also provides a laser communication ranging system, which includes: a first device, configured to embed a first ranging identifier into a next first terminal data frame after a second pulse detected by a first terminal, send the first terminal data frame to a second terminal, and determine a first time set; and a second device, configured to embed a second ranging identifier into a next second terminal data frame after a second pulse detected by a second terminal, send the second terminal data frame to the first terminal, determine a second time set, and calculate the distance value between the first terminal and the second terminal based on the first time set and the second time set.

[0055] Figure 6 Schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. Figure 1 The network communication device shown can be implemented by an electronic device 600. As shown, the electronic device 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to computer program instructions stored in a read-only memory (ROM) 602 or computer program instructions loaded from a storage unit 608 to a random access memory (RAM) 603. In the random access memory 603, various programs and data required for the operation of the electronic device 600 can also be stored. The central processing unit 601, the read-only memory 602, and the random access memory 603 are connected to each other via a bus 604. An input / output (I / O) port 605 is also connected to the bus 604.

[0056] Multiple components in the electronic device 600 are connected to the input / output port 605, including: an input unit 606, such as a keyboard, a mouse, a microphone, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0057] The various processes and processing described above, such as methods, may be performed by the central processing unit 601. For example, in some embodiments, the methods may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 600 via the read-only memory 602 and / or the communication unit 609. When the computer program is loaded into the random access memory 603 and executed by the central processing unit 601, one or more actions in the method described above may be performed.

[0058] The present disclosure relates to methods, apparatuses, systems, electronic devices, computer-readable storage media and / or computer program products. The computer program products may include computer-readable program instructions for executing various aspects of the present disclosure.

[0059] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (a non-exhaustive list) of computer-readable storage media include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above. The computer-readable storage medium used herein is not to be interpreted as a transient signal itself, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0060] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network may include copper transmission cables, optical fiber transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge computing devices. The network adapter card or network port in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in each computing / processing device.

[0061] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0062] Various aspects of the present disclosure are described herein with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of boxes in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0063] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0064] Computer-readable program instructions can be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are executed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, so that the instructions executed on the computer, other programmable data processing apparatus, or other device implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0065] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the specified logical function. In some alternative implementations, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or action, or can be implemented with a combination of special hardware and computer instructions.

[0066] Those skilled in the art should understand that the present invention is not limited to the above-mentioned embodiments, and the present invention can be implemented in many other forms without departing from its purpose and scope. Therefore, the examples and embodiments shown are regarded as illustrative rather than restrictive, and the present invention may cover various modifications and substitutions without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A laser communication ranging method, characterized in that: The laser communication ranging method is applied to a laser communication ranging system, the laser communication ranging system includes a first terminal and a second terminal, and the method includes: In response to detecting the second pulse, the first terminal embeds the first ranging identifier into a next first terminal data frame after the detected second pulse; In response to detecting the second pulse, the second terminal embeds the second ranging identifier into a next second terminal data frame after the detected second pulse; The first terminal sends a first terminal data frame embedded with a first ranging identifier to the second terminal, so as to determine a first time set; The second terminal sends, to the first terminal, a second terminal data frame embedded with a second ranging identifier, so as to determine a second time set; and Based on the first time set and the second time set, the distance value between the first terminal and the second terminal is calculated, wherein the second pulse detected by the first terminal does not need to be synchronized with the second pulse detected by the second terminal, the first terminal data frame does not need to be aligned with the second pulse edge detected by the first terminal, and the second terminal data frame does not need to be aligned with the second pulse edge detected by the second terminal.

2. The laser communication ranging method according to claim 1, characterized in that: Determining the first time set includes: Determine a first sending time, a first receiving time and a first loss delay, wherein the first sending time is the time when the first terminal determines that the first terminal data frame is sent, the first receiving time is the time when the first terminal receives the second terminal data frame, and the first loss delay is the sending loss delay and receiving loss delay of the first terminal serial port.

3. The laser communication ranging method according to claim 1, characterized in that: Determining the second time set includes: Determine a second sending time, a second receiving time and a second loss delay, wherein the second sending time is the time when the second terminal determines that the second terminal data frame is sent, the second receiving time is the time when the second terminal receives the first terminal data frame, and the second loss delay is the sending loss delay and receiving loss delay of the second terminal serial port.

4. The laser communication ranging method according to claim 2 or 3, characterized in that: The method further comprises: Obtaining a sampling frequency based on a mixed-mode clock manager MMCM; and Based on the acquired sampling frequency, high sampling is performed on the first terminal serial port and the second terminal serial port using a corresponding encoding method, thereby generating a first loss delay and a second loss delay.

5. The laser communication ranging method according to claim 3, characterized in that: The sampling frequency is obtained based on the mixed-mode clock manager MMCM including: Get the user clock input frequency; multiplying the obtained user clock input frequency using a mixed-mode clock manager to obtain an output frequency; and Based on the serial port coding mode of the first terminal and the second terminal, a frequency deviation is performed on the output frequency with a phase of an evenly divided degree, so as to obtain a sampling frequency for the serial port coding mode.

6. The laser communication ranging method according to claim 5, characterized in that: The performing high sampling on the first terminal serial port and the second terminal serial port by using a corresponding encoding method includes: Determine, based on the sampling frequency, a transmission loss delay from the system time recording interface to the serial interface when the first terminal and the second terminal send data frames; Determine, based on the sampling frequency, a reception loss delay from the serial interface to the system time recording interface when the first terminal and the second terminal receive the data frame; and Based on the transmission loss delay and the reception loss delay, a first loss delay and a second loss delay are determined.

7. A laser communication ranging system, characterized in that: include: A first terminal is configured to, in response to detecting a second pulse, embed a first ranging identifier into a next first terminal data frame after the detected second pulse, and the first terminal sends the first terminal data frame embedded with the first ranging identifier to the second terminal, so as to determine a first time set; a second terminal, configured to, in response to detecting a second pulse, embed a second ranging identifier into a second terminal data frame next to the detected second pulse, wherein the second terminal sends the second terminal data frame embedded with the second ranging identifier to the first terminal, so as to determine a second time set and calculate a distance value between the first terminal and the second terminal according to the first time set and the second time set, The second pulse detected by the first terminal does not need to be synchronized with the second pulse detected by the second terminal, the first terminal data frame does not need to be aligned with the second pulse edge detected by the first terminal, and the second terminal data frame does not need to be aligned with the second pulse edge detected by the second terminal.

8. A computing device for laser communication ranging, characterized in that: The computing device comprises: one or more processors; and A memory storing computer executable instructions which, when executed by the one or more processors, cause the one or more processors to perform the method according to any one of claims 1-6.

9. A non-transitory storage medium having computer executable instructions stored thereon, characterized in that: When the computer executable instructions are executed by a computer, the computer performs the method according to any one of claims 1-6.

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