Oscillating mirror type laser terminal lead angle light path fast return mirror compensation method and oscillating mirror type laser terminal lead angle light path fast return mirror compensation system

Abstract

The invention provides a swing mirror type laser terminal advance angle light path fast return mirror compensation method and system, and the method comprises the steps: detecting an advance azimuth compensation angle and a pitch compensation angle through an angle sensor disposed on a reflector of a swing mirror type laser terminal, and obtaining the azimuth angle and the pitch angle of a motor; the method comprises the following steps: establishing a nonlinear compensation model based on an advanced azimuth compensation angle, a pitching compensation angle, and an azimuth angle and a pitching angle of a motor, and compensating an advanced angle of the oscillating mirror type laser terminal based on a calculation result of the nonlinear compensation model. Coaxiality errors caused by mechanical errors, environmental disturbance and system dynamic characteristics can be effectively corrected, advanced aiming of relative circumferential speed light propagation delay between two satellites is compensated, it is ensured that the laser terminal always points to a target in the rotating process, and high-precision positioning is achieved.

Description

Technical Field

[0001] The invention proposes a method and system for compensating a leading angle optical path quick return mirror of a swing mirror type laser terminal, belonging to the technical field of space laser communication. Background Art

[0002] In inter-satellite and satellite-to-ground laser communications, due to the high-speed relative motion between the satellite and the target, the tracking and aiming system should not only accurately track the other party's position but also compensate for the alignment error caused by the relative angular displacement of the light beam during the round-trip time. That is, the output optical axis and the tracking optical axis need to be deflected at a certain angle, which is the lead angle. However, the lead angle calculation method of the existing laser terminal cannot accurately convert it into the compensation amount of the lead fast mirror in the rear optical path. Summary of the invention

[0003] The present invention provides a method and system for compensating a leading angle optical path quick return mirror of a swing mirror laser terminal to solve the above-mentioned problems:

[0004] The present invention proposes a method for compensating a leading angle optical path quick return mirror of a swing mirror type laser terminal, the method comprising:

[0005] The azimuth angle and pitch angle of the motor are obtained by detecting the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal;

[0006] A nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and the leading angle of the swing mirror laser terminal is compensated based on the calculation result of the nonlinear compensation model.

[0007] Furthermore, the azimuth angle and the pitch angle of the motor are obtained by detecting the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on the swing mirror laser terminal, including:

[0008] Collect motor encoder data and ephemeris broadcast data, output the data in the form of digital signals, and transmit them to the data processing system;

[0009] Preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration;

[0010] Integrate the preprocessed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle;

[0011] Get the azimuth angle and compensation angle of the motor.

[0012] Furthermore, a nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, including:

[0013] Define the nonlinear function and establish the nonlinear compensation model of azimuth advance compensation:

[0014] Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y)

[0015] Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle;

[0016] Establish a nonlinear compensation model for the pitch angle advance compensation:

[0017] Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y)

[0018] Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

[0019] Furthermore, the definition of nonlinear functions also includes:

[0020] The nonlinear function in the nonlinear compensation model that defines the azimuth advance compensation is:

[0021] Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms;

[0022] The nonlinear function in the nonlinear compensation model that defines the pitch angle advance compensation is:

[0023]

[0024] Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms;

[0025] The parameters in the nonlinear function are updated in real time based on the error feedback.

[0026] Furthermore, the parameters in the nonlinear function are updated in real time according to the error feedback, including:

[0027] Define the error term:

[0028] e x (n) = θ x (n)-Δθ x (n)

[0029] Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step;

[0030] e y (n) = θ y (n)-Δθ y (n)

[0031] Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step;

[0032] Specify the parameter update rule in the nonlinear function:

[0033]

[0034] Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor;

[0035]

[0036] Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

[0037] The present invention proposes a oscillating mirror type laser terminal leading angle optical path quick return mirror compensation system, the system comprising:

[0038] An angle data acquisition module is used to detect the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal, and acquire the azimuth angle and the pitch angle of the motor;

[0039] The compensation module is used to establish a nonlinear compensation model based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and compensate the leading angle of the swing mirror laser terminal based on the calculation result of the nonlinear compensation model.

[0040] Furthermore, the angle data acquisition module includes:

[0041] The acquisition module collects the motor encoder data and the ephemeris broadcast data, outputs the data in the form of digital signals, and transmits them to the data processing system;

[0042] A preprocessing module, used for preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration;

[0043] A coordinate conversion module is used to integrate the pre-processed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle;

[0044] The module for obtaining azimuth angle and compensation angle data is used to obtain the azimuth angle and compensation angle of the motor.

[0045] Furthermore, the compensation module includes:

[0046] Establish an azimuth compensation model module to define a nonlinear function and establish a nonlinear compensation model for the azimuth lead compensation amount:

[0047] Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y)

[0048] Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle;

[0049] A pitch angle compensation model module is established to establish a nonlinear compensation model for the pitch angle advance compensation amount:

[0050] Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y)

[0051] Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

[0052] Furthermore, the module for establishing an azimuth compensation model includes:

[0053] Define the azimuth nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the azimuth advance compensation:

[0054] Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms;

[0055] Define the pitch angle nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the pitch angle advance compensation:

[0056]

[0057] Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms;

[0058] The parameter update module is used to update the parameters in the nonlinear function in real time according to the error feedback.

[0059] Furthermore, the parameter updating module includes:

[0060] Define error term module, used to define error term:

[0061] e x (n) = θ x (n)-Δθ x (n)

[0062] Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step;

[0063] e y (n) = θ y (n)-Δθy (n)

[0064] Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step;

[0065] The parameter update rule setting module is used to set the parameter update rule in the nonlinear function:

[0066]

[0067] Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor;

[0068]

[0069] Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

[0070] The beneficial effects of the present invention are as follows: by acquiring and calculating the compensation angle in real time, the deviation caused by mechanical error, environmental disturbance and system dynamic characteristics can be effectively offset, ensuring that the laser terminal always points to the target during the rotation process, and achieving high-precision positioning; the nonlinear compensation model can more comprehensively describe the system characteristics and changes, effectively improve the response speed and stability of the system, reduce the error transmission between the sensor and the driver, and improve the reliability of the overall system; based on the adaptive control of real-time data, the compensation parameters can be automatically adjusted during the operation process to effectively respond to environmental changes and dynamic disturbances. It provides an intelligent adaptive function, so that the system can adapt to different working conditions and environments; through the organic combination of angle sensor detection, data processing and compensation calculation, the efficient collaboration of various modules within the system is realized, and a complete set of compensation solutions is provided, thereby improving the overall performance of the swing mirror laser terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] Figure 1 It is a schematic diagram of a quick return mirror compensation method for an advanced angle optical path of a swing mirror type laser terminal described in the present invention. DETAILED DESCRIPTION

[0072] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0073] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. The embodiments described are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0074] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0075] One embodiment of the present invention provides a method for compensating a leading angle optical path quick return mirror of a swing mirror laser terminal, the method comprising:

[0076] The azimuth angle and pitch angle of the motor are obtained by detecting the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal;

[0077] A nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and the leading angle of the swing mirror laser terminal is compensated based on the calculation result of the nonlinear compensation model.

[0078] The working principle and effect of the above technical solution are as follows: a high-precision angle sensor is installed on the reflector of the swing mirror laser terminal to detect and obtain the forward azimuth compensation angle and pitch compensation angle of the reflector in real time; the angle sensor can provide accurate real-time data to ensure the accuracy of the input data; at the same time, the azimuth and pitch angles of the motor are obtained in real time through other sensors or internal measurement systems, and the angle data of the azimuth and pitch angles are used to describe the current position and posture of the reflector; the detected forward azimuth compensation angle (Dx), pitch compensation angle (Dy), and azimuth (X) and pitch (Y) angles of the motor are used as input to establish a nonlinear compensation model, which contains a multi-parameter nonlinear relationship, and the specific form is as follows: Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y,X,Y),Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y), through the established nonlinear compensation model, according to the real-time detected angle data and model parameters, calculate the angle (Δθx and Δθy) that needs to be compensated for the reflector. Using the calculated compensation angle, adjust the azimuth and pitch angles of the motor in real time, so that the reflector can accurately reach the required position, and adjust the compensation angle through the motor drive system, so that the mirror of the laser terminal can be accurately positioned. By real-time monitoring and compensating the azimuth and pitch angles of the reflector, the positioning accuracy of the laser terminal is significantly improved; the errors caused by internal and external environmental disturbances of the system are reduced, so that the pointing of the laser beam remains highly accurate; the nonlinear compensation model can comprehensively consider a variety of influencing factors and accurately compensate for various errors, thereby enhancing the overall stability of the system;

[0079] The adaptive adjustment and compensation mechanism enables the system to respond quickly to dynamic changes and maintain stable operation; real-time detection and calculation of compensation angles, rapid response and adjustment of the system, and improved dynamic response capabilities of the laser terminal; by quickly compensating for angle changes, ensure that the laser terminal can maintain high precision even during high-speed dynamic operation; improve system reliability and life, reduce wear on mechanical structures and servo systems, and extend system life; improve system reliability so that it can operate stably in a variety of complex and demanding working environments; intelligent adaptive adjustment, based on real-time feedback, the adaptive control algorithm can automatically adjust model parameters to ensure the best performance of the system under different operating conditions. One embodiment of the present invention detects the leading azimuth compensation angle and pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal, and obtains the azimuth and pitch angles of the motor, including:

[0080] Collect motor encoder data and ephemeris broadcast data, output the data in the form of digital signals, and transmit them to the data processing system;

[0081] Preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration;

[0082] Integrate the preprocessed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle;

[0083] Get the azimuth angle and compensation angle of the motor.

[0084] The working principle and effect of the above technical solution are as follows: the motor code disk is a position sensor, which obtains the rotational position data of the motor through a photoelectric encoder, and the data reflects the current azimuth and pitch angle of the motor; the ephemeris broadcast data comes from a navigation satellite system (such as GPS), providing information about the satellite's position, speed and time, and the information can help perform high-precision positioning and time calibration in the ground system; the motor code disk data (representing angle information) and the ephemeris broadcast data (representing time and position information) are output in the form of digital signals and transmitted to the data processing system; signal filtering technology (such as low-pass filter, band-pass filter, etc.) is used to remove high-frequency noise and harmonic interference in the data to make the signal smoother and more real; denoising algorithms (such as wavelet transform, Kalman filter, etc.) are applied to further eliminate random noise in the data and improve the signal-to-noise ratio of the data; the actual measured angle data is compared and corrected with the standard reference data to eliminate system errors and deviations, including software compensation and hardware adjustment; the pre-processed angle digital data is integrated into the coordinate system of the swing mirror laser terminal. This involves converting the motor code disk data and ephemeris broadcast data to the same reference coordinate system; performing necessary coordinate conversion (such as conversion from geographic coordinates to airborne coordinates) according to the mechanical structure of the laser terminal and the actual use environment; calculating the lead azimuth compensation angle and pitch compensation angle through coordinate conversion and data analysis; and obtaining the angle data of the current azimuth and pitch angle of the motor in real time, which is the feedback of the current actual position of the motor. Based on the above preprocessing and conversion results, the azimuth and pitch compensation angles required for the system are obtained to ensure that the system accurately points to the target. Improve data accuracy and reliability. Through filtering and denoising, the accuracy and stability of data are significantly improved, and the influence of noise and interference is reduced. The calibration step ensures the accuracy of the measured data and minimizes the measurement error. High-precision compensation, accurate coordinate conversion and compensation angle calculation are achieved, so that the laser terminal achieves high precision in pointing and positioning. By acquiring and calculating the compensation angle in real time, it can be quickly adjusted in a dynamic environment to ensure that the system always points accurately. Data preprocessing and calibration improve the stability of the system and reduce the uncertainty caused by mechanical, electrical and environmental factors. Real-time data processing and compensation calculation can quickly respond to changes in system status and improve the dynamic response performance of the system. By integrating the motor code disk data and ephemeris broadcast data into the coordinate system of the laser terminal, effective data integration and utilization are achieved. The above technical solution creates a highly accurate and stable data foundation by collecting motor code disk data and ephemeris broadcast data and preprocessing them. Through coordinate conversion operations, the processed angle data is integrated into the coordinate system of the swing mirror laser terminal, so that the system can accurately calculate the leading azimuth compensation angle and pitch compensation angle. At the same time, the real-time azimuth and pitch angles of the motor are obtained, effectively realizing real-time compensation and dynamic adjustment of the system.This technical solution not only improves the accuracy and stability of data and systems, but also enhances the intelligence and performance of the system, ultimately achieving high-precision and high-reliability laser terminal control and pointing.

[0085] In one embodiment of the present invention, a nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, including:

[0086] Define the nonlinear function and establish the nonlinear compensation model of azimuth advance compensation:

[0087] Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y)

[0088] Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle;

[0089] Establish a nonlinear compensation model for the pitch angle advance compensation:

[0090] Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y)

[0091] Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

[0092] The working principle and effect of the above technical solution are: in-depth description of multi-dimensional angle relationship. Azimuth and elevation angles are often not independent in the reflector system, and their errors are coupled with each other. Using multiple parameters such as X, Y, Dx and Dy can better reflect the multi-dimensional angle relationship of the real system; using trigonometric functions to describe nonlinear relationships can effectively capture the periodic characteristics of angle changes, especially in mechanical rotation systems, where trigonometric functions have natural adaptability; by introducing complex nonlinear functions f1 and f2, the compensation model can describe more complex nonlinear errors, such as nonlinear errors caused by mechanical design defects, friction during operation and temperature changes; product terms in the formula (such as D y cosX and D y D x cos(2Y)sin(X)) can reflect the high-order interaction effects between different angles, ensuring that the compensation model can more comprehensively reflect the complex relationship between different factors; the system parameters ci and ki can be determined by system calibration, so that the compensation model can be optimized for a specific system, so that each system can obtain the best compensation effect, and by continuously adjusting ci and ki, the compensation model can adapt to changes and adapt to different operating environments and conditions. By describing the complex nonlinear relationship in multiple dimensions, the compensation model can more accurately reflect the error of the real system, thereby improving the compensation accuracy and making the azimuth and pitch angles of the system more accurate; enhancing system stability, more accurate compensation means reducing the oscillation and instability factors in the operation of the system, so that the system can remain stable under various working environments and dynamic conditions; flexibly responding to dynamic changes, the model with adaptive capabilities can quickly respond to changes in system status and environmental conditions, and maintain optimal performance by adjusting parameters in real time; the high adjustability and flexibility of the model enable it to be applied to different types of swing mirror laser terminals and adapt to a variety of different application scenarios; improving system life, more accurate compensation reduces the wear of mechanical structures and sensors, extends the service life of the equipment, and reduces maintenance costs. An embodiment of the present invention defines a nonlinear function, and also includes:

[0093] The nonlinear function in the nonlinear compensation model that defines the azimuth advance compensation is:

[0094] Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms;

[0095] The nonlinear function in the nonlinear compensation model that defines the pitch angle advance compensation is:

[0096]

[0097] Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms;

[0098] The parameters in the nonlinear function are updated in real time based on the error feedback.

[0099] The working principle and effect of the above technical solution are as follows: x D y sin(X)cos(Y) and k3D y sinθ(4Y) is used to describe the interaction between two or more variables. The angle and compensation amount in a mechanical system are usually affected by multiple factors, and the linear relationship of a single variable may not be able to capture these complex interaction effects. High-order function terms are used to capture the high-order nonlinear characteristics of the system. These high-order nonlinear terms can reflect complex phenomena such as harmonics and resonance in angle sensors and systems. Periodic function terms are used to describe periodic changes. The motion in a mechanical system usually has periodic characteristics, and high-order periodic terms can better capture these characteristics. System calibration parameters can be determined through experiments and system tuning, making the compensation model more flexible and able to adapt to different system characteristics and working environments. Improve compensation accuracy and capture complex interactive relationships. By including interactive terms of multiple variables, the model can capture the complex relationships between different variables, making the compensation amount more accurate. The introduction of high-order and periodic characteristics helps to more accurately describe the actual nonlinear characteristics of the system, which is particularly important when dealing with complex mechanical and electrical system errors. It can accurately describe and compensate for complex errors in the system, reduce system instability caused by uncompensated errors, and improve the stability of long-term operation of the system. Although the formulas seem complicated, modern computing systems can efficiently perform real-time calculations, which enables the system to respond quickly to dynamic changes and ensure the effect of real-time compensation. Reduce mechanical wear and energy loss: because the compensation is more accurate and the mechanical movement is smoother, this directly reduces friction and wear, extends the service life of the equipment, and optimizes energy consumption. Long-term stable operation of the system means reducing the frequency of unplanned downtime and maintenance, thereby reducing maintenance costs and improving the economic benefits of the system. The nonlinear function helps to more accurately describe and compensate for various errors in the system. Through high-order, interactive and periodic nonlinear terms, the model effectively captures the complex dynamic characteristics existing in the actual system; improves the compensation accuracy, enhances the system stability and real-time response capability, and provides a wide range of adaptability to meet the needs of different working environments and conditions; the system not only runs more stably and more economically and efficiently, but also reduces maintenance and operating costs.

[0100] In one embodiment of the present invention, the parameters in the nonlinear function are updated in real time according to the error feedback, including:

[0101] Define the error term:

[0102] e x (n) = θ x (n)-Δθx (n)

[0103] Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step;

[0104] e y (n) = θ y (n)-Δθ y (n)

[0105] Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step;

[0106] Specify the parameter update rule in the nonlinear function:

[0107]

[0108] Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor;

[0109]

[0110] Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

[0111] The working principle and effect of the above technical solution are: use the initial experimental data to make initial estimates and calibrations of ci and ki; monitor the system error in real time, and use the above algorithm to dynamically adjust the values ​​of ci and ki; ensure the high precision and stability of the system under different operating and environmental conditions; determine the optimal μ value through experiments and debugging, so that the system can converge to the optimal solution as quickly as possible while ensuring stability, thereby ensuring high-precision control and response of the swing-mirror laser terminal in a dynamic environment.

[0112] One embodiment of the present invention provides a leading angle optical path quick return mirror compensation system for a swing mirror type laser terminal, the system comprising:

[0113] An angle data acquisition module is used to detect the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal, and acquire the azimuth angle and the pitch angle of the motor;

[0114] The compensation module is used to establish a nonlinear compensation model based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and compensate the leading angle of the swing mirror laser terminal based on the calculation result of the nonlinear compensation model.

[0115] The working principle and effect of the above technical solution are as follows: a high-precision angle sensor is installed on the reflector of the swing mirror laser terminal to detect and obtain the forward azimuth compensation angle and pitch compensation angle of the reflector in real time; the angle sensor can provide accurate real-time data to ensure the accuracy of the input data; at the same time, the azimuth and pitch angles of the motor are obtained in real time through other sensors or internal measurement systems, and the angle data of the azimuth and pitch angles are used to describe the current position and posture of the reflector; the detected forward azimuth compensation angle (Dx), pitch compensation angle (Dy), and azimuth (X) and pitch (Y) angles of the motor are used as input to establish a nonlinear compensation model, which contains a multi-parameter nonlinear relationship, and the specific form is as follows: Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y),Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y,X,Y), and through the established nonlinear compensation model, the angles (Δθx and Δθy) that need to be compensated for the reflector are calculated based on the real-time detected angle data and model parameters. Using the calculated compensation angle, the azimuth and pitch angles of the motor are adjusted in real time to make the reflector accurately reach the required position. The compensation angle adjustment is achieved through the motor drive system, and finally the mirror surface of the laser terminal is accurately positioned. By real-time monitoring and compensation of the azimuth and pitch angles of the reflector, the positioning accuracy of the laser terminal is significantly improved; the errors caused by internal and external environmental disturbances of the system are reduced, so that the pointing of the laser beam remains highly accurate; the nonlinear compensation model can comprehensively consider a variety of influencing factors and accurately compensate for various errors, thereby enhancing the overall stability of the system; the adaptive adjustment and compensation mechanism enables the system to respond quickly to dynamic changes and maintain stable operation; real-time detection and calculation of compensation angles, rapid response and adjustment of the system, improve the dynamic response capability of the laser terminal; by quickly compensating for angle changes, ensure that the laser terminal can maintain high accuracy during high-speed dynamic operation; improve system reliability and life, reduce wear of mechanical structures and servo systems, and extend system life; improve system reliability so that it can operate stably in various complex and harsh working environments; intelligent adaptive adjustment, the adaptive control algorithm based on real-time feedback can automatically adjust the model parameters to ensure the best performance of the system under different operating conditions.

[0116] In one embodiment of the present invention, the angle data acquisition module includes:

[0117] The acquisition module collects the motor encoder data and the ephemeris broadcast data, outputs the data in the form of digital signals, and transmits them to the data processing system;

[0118] A preprocessing module, used for preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration;

[0119] A coordinate conversion module is used to integrate the pre-processed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle;

[0120] The module for obtaining azimuth angle and compensation angle data is used to obtain the azimuth angle and compensation angle of the motor.

[0121] The working principle and effect of the above technical solution are as follows: the motor code disk is a position sensor, which obtains the rotational position data of the motor through a photoelectric encoder, and the data reflects the current azimuth and pitch angle of the motor; the ephemeris broadcast data comes from a navigation satellite system (such as GPS), providing information about the satellite's position, speed and time, and the information can help perform high-precision positioning and time calibration in the ground system; the motor code disk data (representing angle information) and the ephemeris broadcast data (representing time and position information) are output in the form of digital signals and transmitted to the data processing system; signal filtering technology (such as low-pass filter, band-pass filter, etc.) is used to remove high-frequency noise and harmonic interference in the data to make the signal smoother and more real; denoising algorithms (such as wavelet transform, Kalman filter, etc.) are applied to further eliminate random noise in the data and improve the signal-to-noise ratio of the data; the actual measured angle data is compared and corrected with the standard reference data to eliminate system errors and deviations, including software compensation and hardware adjustment; the pre-processed angle digital data is integrated into the coordinate system of the swing mirror laser terminal. This involves converting the motor code disk data and ephemeris broadcast data to the same reference coordinate system; performing necessary coordinate conversion (such as conversion from geographic coordinates to airborne coordinates) according to the mechanical structure of the laser terminal and the actual use environment; calculating the lead azimuth compensation angle and pitch compensation angle through coordinate conversion and data analysis; and obtaining the angle data of the current azimuth and pitch angle of the motor in real time, which is the feedback of the current actual position of the motor. Based on the above preprocessing and conversion results, the azimuth and pitch compensation angles required for the system are obtained to ensure that the system accurately points to the target. Improve data accuracy and reliability. Through filtering and denoising, the accuracy and stability of data are significantly improved, and the influence of noise and interference is reduced. The calibration step ensures the accuracy of the measured data and minimizes the measurement error. High-precision compensation, accurate coordinate conversion and compensation angle calculation are achieved, so that the laser terminal achieves high precision in pointing and positioning. By acquiring and calculating the compensation angle in real time, it can be quickly adjusted in a dynamic environment to ensure that the system always points accurately. Data preprocessing and calibration improve the stability of the system and reduce the uncertainty caused by mechanical, electrical and environmental factors. Real-time data processing and compensation calculation can quickly respond to changes in system status and improve the dynamic response performance of the system. By integrating the motor code disk data and ephemeris broadcast data into the coordinate system of the laser terminal, effective data integration and utilization are achieved. The above technical solution creates a highly accurate and stable data foundation by collecting motor code disk data and ephemeris broadcast data and preprocessing them. Through coordinate conversion operations, the processed angle data is integrated into the coordinate system of the swing mirror laser terminal, so that the system can accurately calculate the leading azimuth compensation angle and pitch compensation angle. At the same time, the real-time azimuth and pitch angles of the motor are obtained, effectively realizing real-time compensation and dynamic adjustment of the system.This technical solution not only improves the accuracy and stability of data and systems, but also enhances the intelligence and performance of the system, ultimately achieving high-precision and high-reliability laser terminal control and pointing.

[0122] In one embodiment of the present invention, the compensation module comprises:

[0123] Establish an azimuth compensation model module to define a nonlinear function and establish a nonlinear compensation model for the azimuth lead compensation amount:

[0124] Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y)

[0125] Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle;

[0126] A pitch angle compensation model module is established to establish a nonlinear compensation model for the pitch angle advance compensation amount:

[0127] Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y)

[0128] Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

[0129] The working principle and effect of the above technical solution are: in-depth description of multi-dimensional angle relationship. Azimuth and elevation angles are often not independent in the reflector system, and their errors are coupled with each other. Using multiple parameters such as X, Y, Dx and Dy can better reflect the multi-dimensional angle relationship of the real system; using trigonometric functions to describe nonlinear relationships can effectively capture the periodic characteristics of angle changes, especially in mechanical rotation systems, where trigonometric functions have natural adaptability; by introducing complex nonlinear functions f1 and f2, the compensation model can describe more complex nonlinear errors, such as nonlinear errors caused by mechanical design defects, friction during operation and temperature changes; product terms in the formula (such as D y cosX and D y D x cos(2Y)sin(X)) can reflect the high-order interaction effects between different angles, ensuring that the compensation model can more comprehensively reflect the complex relationship between different factors; the system parameters ci and ki can be determined through system calibration, so that the compensation model can be optimized for a specific system, so that each system can obtain the best compensation effect. By continuously adjusting ci and ki, the compensation model can adapt to changes and adapt to different operating environments and conditions. By describing the complex nonlinear relationship in multiple dimensions, the compensation model can more accurately reflect the error of the real system, thereby improving the compensation accuracy and making the azimuth and pitch angles of the system more accurate; enhancing system stability, more accurate compensation means reducing the oscillation and instability factors in the operation of the system, so that the system can remain stable under various working environments and dynamic conditions; flexibly responding to dynamic changes, the model with adaptive capabilities can quickly respond to changes in system status and environmental conditions, and maintain optimal performance by adjusting parameters in real time; the high adjustability and flexibility of the model enable it to be applied to different types of swing mirror laser terminals and adapt to a variety of different application scenarios; improving system life, more accurate compensation reduces the wear of mechanical structures and sensors, extends the service life of the equipment, and reduces maintenance costs.

[0130] In one embodiment of the present invention, the module for establishing an azimuth compensation model includes:

[0131] Define the azimuth nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the azimuth advance compensation:

[0132] Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms;

[0133] Define the pitch angle nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the pitch angle advance compensation:

[0134]

[0135] Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms;

[0136] The parameter update module is used to update the parameters in the nonlinear function in real time according to the error feedback.

[0137] The working principle and effect of the above technical solution are as follows: x D y sin(X)cos(Y) and k3D y sin(4Y) is used to describe the interaction between two or more variables. The angle and compensation amount in a mechanical system are usually affected by multiple factors, and the linear relationship of a single variable may not be able to capture these complex interaction effects; high-order function terms are used to capture the high-order nonlinear characteristics of the system. These high-order nonlinear terms can reflect complex phenomena such as harmonics and resonance in angle sensors and systems; periodic function terms are used to describe periodic changes. The motion in a mechanical system usually has periodic characteristics, and high-order periodic terms can better capture these characteristics; system calibration parameters can be determined through experiments and system tuning, making the compensation model more flexible and able to adapt to different system characteristics and working environments. Improve compensation accuracy and capture complex interactive relationships. By including interactive terms of multiple variables, the model can capture the complex relationships between different variables, making the compensation amount more accurate. The introduction of high-order and periodic characteristics helps to more accurately describe the actual nonlinear characteristics of the system, which is particularly important when dealing with complex mechanical and electrical system errors. It can accurately describe and compensate for complex errors in the system, reduce system instability caused by uncompensated errors, and improve the stability of long-term operation of the system. Although the formulas seem complicated, modern computing systems can efficiently perform real-time calculations, which enables the system to respond quickly to dynamic changes and ensure the effect of real-time compensation. Reduce mechanical wear and energy loss: because the compensation is more accurate and the mechanical movement is smoother, this directly reduces friction and wear, extends the service life of the equipment, and optimizes energy consumption. Long-term stable operation of the system means reducing the frequency of unplanned downtime and maintenance, thereby reducing maintenance costs and improving the economic benefits of the system. The nonlinear function helps to more accurately describe and compensate for various errors in the system. Through high-order, interactive and periodic nonlinear terms, the model effectively captures the complex dynamic characteristics existing in the actual system; improves the compensation accuracy, enhances the system stability and real-time response capability, and provides a wide range of adaptability to meet the needs of different working environments and conditions; the system not only runs more stably and more economically and efficiently, but also reduces maintenance and operating costs.

[0138] In one embodiment of the present invention, the parameter updating module includes:

[0139] Define error term module, used to define error term:

[0140] e x (n) = θ x (n)-Δθ x (n)

[0141] Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step;

[0142] e y (n) = θ y (n)-Δθ y (n)

[0143] Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step;

[0144] The parameter update rule setting module is used to set the parameter update rule in the nonlinear function:

[0145]

[0146] Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor;

[0147]

[0148] Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

[0149] The working principle and effect of the above technical solution are: use the initial experimental data to make initial estimates and calibrations of ci and ki; monitor the system error in real time, and use the above algorithm to dynamically adjust the values ​​of ci and ki; ensure the high precision and stability of the system under different operating and environmental conditions; determine the optimal μ value through experiments and debugging, so that the system can converge to the optimal solution as quickly as possible while ensuring stability, thereby ensuring high-precision control and response of the swing-mirror laser terminal in a dynamic environment.

[0150] 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 method for compensating the leading angle optical path of a swing mirror laser terminal by a quick return mirror, characterized in that: The method comprises: The azimuth angle and pitch angle of the motor are obtained by detecting the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal; A nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and the leading angle of the swing mirror laser terminal is compensated based on the calculation result of the nonlinear compensation model.

2. According to claim 1, a method for compensating the leading angle optical path of a swing mirror laser terminal is characterized in that: The leading azimuth compensation angle and the pitch compensation angle are detected by the angle sensor installed on the reflector of the swing mirror laser terminal to obtain the azimuth angle and the pitch angle of the motor, including: Collect motor encoder data and ephemeris broadcast data, output the data in the form of digital signals, and transmit them to the data processing system; Preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration; Integrate the preprocessed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle; Get the azimuth angle and compensation angle of the motor.

3. According to claim 1, a method for compensating the leading angle optical path of a swing mirror laser terminal is characterized in that: A nonlinear compensation model is established based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, including: Define the nonlinear function and establish the nonlinear compensation model of azimuth advance compensation: Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y) Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle; Establish a nonlinear compensation model for the pitch angle advance compensation: Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y) Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

4. According to claim 3, a method for compensating the leading angle optical path of a swing mirror laser terminal is characterized in that: Define nonlinear functions, also include: The nonlinear function in the nonlinear compensation model that defines the azimuth advance compensation is: Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms; The nonlinear function in the nonlinear compensation model that defines the pitch angle advance compensation is: Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms; The parameters in the nonlinear function are updated in real time based on the error feedback.

5. According to claim 4, a method for compensating the leading angle optical path of a swing mirror laser terminal is characterized in that: The parameters in the nonlinear function are updated in real time based on the error feedback, including: Define the error term: e x (n)=θ x (n)-Δθ x (n) Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step; e y (n)=θ y (n)-Δθ y (n) Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step; Specify the parameter update rule in the nonlinear function: Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor; Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

6. A oscillating mirror laser terminal leading angle optical path quick return mirror compensation system, characterized in that: The system comprises: An angle data acquisition module is used to detect the leading azimuth compensation angle and the pitch compensation angle through an angle sensor installed on a reflector on a swing mirror laser terminal, and acquire the azimuth angle and the pitch angle of the motor; The compensation module is used to establish a nonlinear compensation model based on the leading azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and compensate the leading angle of the swing mirror laser terminal based on the calculation result of the nonlinear compensation model.

7. According to claim 6, a oscillating mirror laser terminal leading angle optical path quick return mirror compensation system is characterized in that: The angle data acquisition module includes: The acquisition module collects the motor encoder data and ephemeris broadcast data, outputs the data in the form of digital signals, and transmits them to the data processing system; A preprocessing module, used for preprocessing the collected angle digital signal, wherein the preprocessing includes filtering, denoising and calibration; A coordinate conversion module is used to integrate the pre-processed angle digital data into the coordinate system of the oscillating mirror laser terminal, perform coordinate conversion, and obtain the leading position compensation angle and the pitch compensation angle; The module for obtaining azimuth angle and compensation angle data is used to obtain the azimuth angle and compensation angle of the motor.

8. According to claim 6, a oscillating mirror laser terminal leading angle optical path quick return mirror compensation system is characterized in that: The compensation module comprises: Establish an azimuth compensation model module to define a nonlinear function and establish a nonlinear compensation model for the azimuth lead compensation amount: Δθ x =D x sin(2Y)sin(X)+c1D y cos(X)+c2D y D x cos(2Y)sin(X)+f1(D x ,D y ,X,Y) Among them, Δθ x Indicates the azimuth lead compensation, D x Denotes the leading azimuth compensation angle, D y represents the pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle; A pitch angle compensation model module is established to establish a nonlinear compensation model for the pitch angle advance compensation amount: Δθ y =2D y sin(X)+c3D x sin(2Y)cos(X)+c4D y D x cos(2Y)cos(X)+f2(D x ,D y ,X,Y) Among them, Δθ y Indicates the pitch angle lead compensation, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

9. According to claim 6, a oscillating mirror laser terminal leading angle optical path quick return mirror compensation system is characterized in that: The module for establishing the azimuth compensation model comprises: Define the azimuth nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the azimuth advance compensation: Among them, k1, k2 and k3 represent the coefficients of nonlinear compensation terms; Define the pitch angle nonlinear function module, which is used to define the nonlinear function in the nonlinear compensation model of the pitch angle advance compensation: Among them, k4, k5 and k6 represent the coefficients of nonlinear compensation terms; The parameter update module is used to update the parameters in the nonlinear function in real time according to the error feedback.

10. The leading angle optical path quick return mirror compensation system of a swing mirror type laser terminal according to claim 6, characterized in that: The parameter updating module comprises: Define error term module, used to define error term: e x (n)=θ x (n)-Δθ x (n) Among them, e x (n) represents the error between the actual azimuth and the compensated azimuth, θ x (n) represents the actual azimuth of the system at the current time step; e y (n)=θ y (n)-Δθ y (n) Among them, e y (n) represents the error between the actual pitch angle and the compensated pitch angle, θ y (n) represents the actual pitch angle of the system at the current time step; The parameter update rule setting module is used to set the parameter update rule in the nonlinear function: Among them, c i (n+1) represents the coefficient of the linear compensation term at the n+1 time step, c i (n) represents the coefficient of the linear compensation term at n time steps, and μ represents the step size factor; Among them, k i (n+1) represents the coefficient of the nonlinear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at n time steps.

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