A method and system for compensating a fast return mirror of a laser terminal with a swing mirror

Abstract

The application provides a swing mirror type laser terminal advance angle optical path fast return mirror compensation method and system, wherein the method comprises the following steps: detecting an advance azimuth compensation angle and a pitch compensation angle through an angle sensor installed on a mirror of a swing mirror type laser terminal, and acquiring an azimuth angle and a pitch angle of a motor; establishing a nonlinear compensation model based on the advance azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor; and compensating an advance angle of the swing mirror type laser terminal based on a calculation result of the nonlinear compensation model. Through the method and the corresponding system, coaxiality errors caused by mechanical errors, environmental disturbances and system dynamic characteristics can be effectively corrected, and the relative circumferential velocity light propagation delay advance aiming between two stars can be compensated, so that the laser terminal can always point to a target during rotation, and high-precision positioning is realized.

Description

TECHNICAL FIELD

[0001] The application provides a swing mirror type laser terminal advance angle optical path fast return mirror compensation method and system, and belongs to the technical field of space laser communication. BACKGROUND

[0002] In inter-satellite and satellite-ground laser communication, due to high-speed relative motion between a satellite and a target, a tracking and pointing system should compensate for the alignment error caused by the relative angular displacement during the time of light coming and going, that is, the outgoing optical axis and the tracking optical axis need to be deflected by a certain angle, and the angle is the advance angle, but the existing advance angle calculation method of a laser terminal cannot accurately convert the advance fast return mirror compensation amount of the rear optical path. SUMMARY

[0003] The application provides a swing mirror type laser terminal advance angle optical path fast return mirror compensation method and system, and belongs to the technical field of space laser communication.

[0004] The application provides a swing mirror type laser terminal advance angle optical path fast return mirror compensation method, which comprises the following steps:

[0005] The advance azimuth compensation angle and the pitch compensation angle are detected by using the angle sensor installed on the reflector of the swing mirror type laser terminal, and the azimuth angle and the pitch angle of the motor are obtained.

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

[0007] Further, the advance azimuth compensation angle and the pitch compensation angle are detected by using the angle sensor installed on the reflector of the swing mirror type laser terminal, and the azimuth angle and the pitch angle of the motor are obtained, and the method comprises the following steps:

[0008] The motor code disc data and the ephemeris broadcast data are collected, and the data are output in the form of digital signals and transmitted to a data processing system;

[0009] The collected angle digital signals are preprocessed, and the preprocessing comprises filtering, denoising and calibration;

[0010] The preprocessed angle digital data are integrated into the coordinate system of the swing mirror type laser terminal, coordinate conversion is performed, and the advance azimuth compensation angle and the pitch compensation angle are obtained.

[0011] The azimuth angle and the compensation angle of the motor are obtained.

[0012] Further, the nonlinear compensation model is established based on the advance azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and the method comprises the following steps:

[0013] A nonlinear function is defined, and a nonlinear compensation model of the azimuth angle lead compensation quantity is established:

[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] Wherein, Δθ x represents the azimuth angle lead compensation quantity, D x represents the lead 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] A nonlinear compensation model of the pitch angle lead compensation quantity is established:

[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] Wherein, Δθ y represents the pitch angle lead compensation quantity, f2(D x ,D y ,X,Y) represents the nonlinear function of the pitch angle.

[0019] Further, the nonlinear function is defined, and further includes:

[0020] The nonlinear function in the nonlinear compensation model of the azimuth angle lead compensation quantity is defined:

[0021] Wherein, k1, k2 and k3 represent the coefficients of the nonlinear compensation term;

[0022] The nonlinear function in the nonlinear compensation model of the pitch angle lead compensation quantity is defined:

[0023]

[0024] Wherein, k4, k5 and k6 represent the coefficients of the non-linear compensation term;

[0025] According to the error feedback, the parameters in the non-linear function are updated in real time.

[0026] Further, according to the error feedback, the parameters in the non-linear function are updated in real time, comprising:

[0027] Define the error term:

[0028] e x (n) = θ x (n) - Δθ x (n)

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

[0030] e y (n) = θ y (n) - Δθ y (n)

[0031] Wherein, 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] Set the parameter update rule in the non-linear function:

[0033]

[0034] Wherein, 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 the n time step, and μ represents the step factor.

[0035]

[0036] Wherein, k i (n+1) represents the coefficient of the non-linear compensation term at the n+1 time step, k i (n) represents the coefficient of the linear compensation term at the n time step.

[0037] The present application provides a kind of mirror type laser terminal advance angle optical path fast return mirror compensation system, the system includes:

[0038] An angle data acquisition module is configured to detect a lead azimuth compensation angle and a pitch compensation angle through an angle sensor installed on a reflector of the laser terminal, and to acquire an azimuth angle and a pitch angle of the motor.

[0039] A compensation module is configured to establish a nonlinear compensation model based on the lead azimuth compensation angle, the pitch compensation angle, the azimuth angle and the pitch angle of the motor, and to compensate the lead angle of the laser terminal based on a calculation result of the nonlinear compensation model.

[0040] Further, the angle data acquisition module comprises:

[0041] An acquisition module is configured to acquire motor code disc data and ephemeris broadcast data, and to output the data in the form of digital signals to a data processing system.

[0042] A preprocessing module is configured to pre-process the acquired angle digital signals, and the preprocessing comprises filtering, denoising and calibration.

[0043] A coordinate conversion module is configured to integrate the pre-processed angle digital data into a coordinate system of the laser terminal, to perform coordinate conversion, and to acquire the lead azimuth compensation angle and the pitch compensation angle.

[0044] An azimuth angle and compensation angle data acquisition module is configured to acquire the azimuth angle and the compensation angle of the motor.

[0045] Further, the compensation module comprises:

[0046] An azimuth angle compensation model establishment module is configured to define a nonlinear function, and to establish a nonlinear compensation model of the lead azimuth 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] wherein, Δθ x represents the lead azimuth compensation amount, D x represents the lead 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, and f1(D x ,D y ,X,Y) represents a nonlinear function of the azimuth angle.

[0049] A pitch angle compensation model establishment module is configured to establish a nonlinear compensation model of the lead pitch 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] wherein, Δθ y represents the pitch angle lead compensation, f2(D x , D y , X, Y) represents the nonlinear function of the pitch angle.

[0052] Further, the azimuth angle compensation model establishing module comprises:

[0053] an azimuth angle nonlinear function defining module, configured to define the nonlinear function in the nonlinear compensation model of the azimuth angle lead compensation:

[0054] wherein, k1, k2 and k3 represent the coefficients of the nonlinear compensation term;

[0055] a pitch angle nonlinear function defining module, configured to define the nonlinear function in the nonlinear compensation model of the pitch angle lead compensation:

[0056]

[0057] wherein, k4, k5 and k6 represent the coefficients of the nonlinear compensation term;

[0058] an updating parameter module, configured to update the parameters in the nonlinear function in real time according to the error feedback.

[0059] Further, the updating parameter module comprises:

[0060] an error term defining module, configured to define the error term:

[0061] e x (n) = θ x (n) - Δθ x (n)

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

[0063] e y (n) = θ y (n) - Δθy (n)

[0064] wherein, 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] a parameter update rule setting module for setting the parameter update rule in the nonlinear function:

[0066]

[0067] wherein, 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 the n time step, and μ represents the step factor;

[0068]

[0069] wherein, 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 the n time step.

[0070] The present application has the following advantages: by real-time acquisition and calculation of the compensation angle, 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 rotation, and realizing high-precision positioning; the nonlinear compensation model can more comprehensively describe the system characteristics and changes, effectively improving the response speed and stability of the system, reducing the error transmission between the sensor and the driver, and improving the reliability of the overall system; based on real-time data, adaptive control can automatically adjust the compensation parameters during operation, effectively coping with environmental changes and dynamic disturbances. The intelligent adaptive function is provided, 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, efficient cooperation of each module in the system is realized, and a complete compensation solution is provided, thereby improving the overall performance of the mirror laser terminal. BRIEF DESCRIPTION OF DRAWINGS

[0071] Figure 1 Fig. 1 is a schematic diagram of the present application. DETAILED DESCRIPTION

[0072] In order to enable the above-mentioned objects, features and advantages of the present application to be clearer, the present application will be described in detail below with reference to 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, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application. The described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

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

[0075] One embodiment of the present application is a method for compensating for the lead angle of a mirror laser terminal, the method comprising:

[0076] The lead azimuth compensation angle and the pitch compensation angle are detected by an angle sensor installed on the mirror of the mirror laser terminal, and the azimuth angle and the pitch angle of the motor are obtained;

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

[0078] The working principle and effects of the above technical solution are as follows: a high-precision angle sensor is installed on the mirror of the mirror laser terminal to detect and obtain the lead azimuth compensation angle and the pitch compensation angle of the mirror in real time; the angle sensor can provide accurate real-time data, thereby ensuring the accuracy of the input data; at the same time, the azimuth angle and the pitch angle of the motor are obtained in real time by other sensors or internal measurement systems, and the angle data of the azimuth angle and the pitch angle are used to describe the current position and attitude of the mirror; the detected lead azimuth compensation angle (Dx), pitch compensation angle (Dy), and azimuth angle (X) and pitch angle (Y) of the motor are taken as inputs 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 yX, 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), by establishing a nonlinear compensation model, according to the real-time detected angle data and model parameters, the angle (Δθx and Δθy) required for the mirror to be compensated is calculated. The azimuth and elevation angles of the motor are adjusted in real time by using the calculated compensation angle, so that the mirror accurately reaches the required position. Through the motor drive system, the angle adjustment of the compensation is realized, and finally the mirror of the laser terminal reaches accurate positioning. By real-time monitoring and compensating the azimuth and elevation angles of the mirror, the positioning accuracy of the laser terminal is significantly improved; the errors caused by internal and external environmental disturbances are reduced, so that the pointing of the laser beam remains highly accurate; the nonlinear compensation model can consider various influencing factors and accurately compensate various errors, thereby enhancing the overall stability of the system;

[0079] The adaptive adjustment and compensation mechanism enables the system to quickly respond to dynamic changes and maintain stable operation; real-time detection and calculation of the compensation angle improves the dynamic response capability of the laser terminal; through rapid compensation of angle changes, the laser terminal can also maintain high precision during high-speed dynamic operation; improves system reliability and service life, reduces wear and tear of mechanical structures and servo systems, and prolongs system life; improves the reliability of the system, so that it can also 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. In one embodiment of the present application, the lead azimuth compensation angle and the elevation compensation angle are detected by the angle sensor installed on the mirror of the swing mirror laser terminal, and the azimuth angle and the elevation angle of the motor are obtained, including:

[0080] Collecting motor code disc data and ephemeris broadcast data, outputting the data in the form of digital signals to the data processing system;

[0081] Preprocessing the collected angle digital signals, the preprocessing including filtering, denoising and calibration;

[0082] Integrating the preprocessed angle digital data into the coordinate system of the swing mirror laser terminal, performing coordinate conversion, and obtaining the lead azimuth compensation angle and the elevation compensation angle;

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

[0084] The working principle and effects of the above technical solution are as follows: the motor code disc is a position sensor, the rotation position data of the motor is obtained through the photoelectric encoder, and the data reflects the current azimuth angle and pitch angle of the motor; the ephemeris broadcast data comes from a navigation satellite system (such as GPS), and provides information about the position, velocity and time of the satellite, which can help in high-precision positioning and time calibration in ground systems; the motor code disc data (representing angle information) and 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 techniques (such as low-pass filters, band-pass filters, etc.) are used to remove high-frequency noise and harmonic interference in the data, making the signal smoother and more authentic; denoising algorithms (such as wavelet transform, Kalman filtering, 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 preprocessed angle digital data is integrated into the coordinate system of the swing mirror laser terminal. This involves converting the motor code disc data and ephemeris broadcast data into the same reference coordinate system; according to the mechanical structure of the laser terminal and the actual use environment, necessary coordinate conversion (such as from geographic coordinates to airborne coordinates) is performed; through coordinate conversion and data analysis, the lead azimuth compensation angle and pitch compensation angle are calculated; the current azimuth angle and pitch angle of the motor are obtained in real time, and the angle data 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 accurate pointing of the system. The data accuracy and reliability are improved, the data accuracy and stability are significantly improved through filtering and denoising processing, the influence of noise and interference is reduced, and the calibration step ensures the accuracy of the measurement data, reducing the measurement error to a minimum; high-precision compensation is achieved, accurate coordinate conversion and compensation angle calculation enable the laser terminal to achieve high precision in pointing and positioning; by obtaining and calculating the compensation angle in real time, the system can be quickly adjusted in a dynamic environment to ensure accurate pointing at all times; data preprocessing and calibration improve the stability of the system, reducing the uncertainty caused by mechanical, electrical and environmental factors; real-time data processing and compensation calculation can quickly respond to changes in system state, improving the dynamic response performance of the system; by integrating the motor code disc data and ephemeris broadcast data into the coordinate system of the laser terminal, effective integration and utilization of data are achieved; the above technical solution collects motor code disc data and ephemeris broadcast data and performs preprocessing to create a highly accurate and stable data foundation; through coordinate conversion, the processed angle data is integrated into the coordinate system of the swing mirror laser terminal, enabling the system to accurately calculate the lead azimuth compensation angle and pitch compensation angle; at the same time, the real-time azimuth angle and pitch angle of the motor are obtained, effectively realizing real-time compensation and dynamic adjustment of the system.The technical scheme not only improves the accuracy and stability of data and system, but also enhances the intelligence and performance of the system, and finally realizes high-precision and high-reliability laser terminal control and pointing.

[0085] In one embodiment of the present application, a nonlinear compensation model is established based on a lead azimuth compensation angle, a lead pitch compensation angle, an azimuth angle of a motor and a pitch angle of the motor, and the nonlinear compensation model comprises:

[0086] A nonlinear function is defined to establish a nonlinear compensation model of the lead azimuth compensation amount:

[0087] Delta theta 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] Wherein, delta theta x represents the lead azimuth compensation amount, D x represents the lead azimuth compensation angle, D y represents the lead pitch compensation angle, X represents the azimuth angle of the motor, Y represents the pitch angle of the motor, and f1(D x ,D y ,X,Y) represents the nonlinear function of the azimuth angle.

[0089] A nonlinear compensation model of the lead pitch compensation amount is established:

[0090] Delta theta 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] Wherein, delta theta y represents the lead pitch compensation amount, and 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: the in-depth description of multi-dimensional angle relationship, the azimuth angle and the pitch angle in the mirror system are often not independent, and their errors are coupled with each other. Using X, Y, Dx and Dy multiple parameters, the multi-dimensional angle relationship of the real system can be more reflected; using trigonometric functions to describe the nonlinear relationship can effectively capture the periodic characteristics in the angle change, especially in the mechanical rotating system, the trigonometric function has 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 and temperature changes in operation; the product terms (such as D y cosX and D y D x cos(2Y)sin(X)) in the formula can reflect the high-order interaction effect between different angles, and ensure 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, and by continuously adjusting ci and ki, the compensation model can adaptively change to adapt to different operating environments and conditions. By describing the multi-dimensional complex nonlinear relationship, the compensation model can more accurately reflect the error of the real system, thereby improving the compensation precision and making the azimuth angle and the pitch angle of the system more accurate; enhancing the stability of the system, more accurate compensation means reducing the shock and unstable factors in the system operation, so that the system can maintain stability under various working environments and dynamic conditions; flexible response to dynamic changes, the model with adaptive ability can quickly respond to changes in system state and environmental conditions, and maintain the best performance by adjusting the parameters in real time; the high adjustability and flexibility of the model make it can be applied to different types of laser terminals, and adapt to various application scenarios; improve the service life of the system, more accurate compensation reduces the wear of the mechanical structure and the sensor, prolongs the service life of the equipment, and reduces the maintenance cost. In one embodiment of the present application, the nonlinear function is defined, and further comprises:

[0093] The nonlinear function in the nonlinear compensation model for defining the azimuth angle lead compensation quantity is:

[0094] Wherein, k1, k2 and k3 represent the coefficients of the nonlinear compensation term;

[0095] The nonlinear function in the nonlinear compensation model for defining the pitch angle lead compensation quantity is:

[0096]

[0097] Wherein, k4, k5 and k6 represent the coefficients of the nonlinear compensation term;

[0098] Parameters in the nonlinear function are updated in real time according to error feedback.

[0099] The working principle and effects of the above technical solutions are as follows: k1D 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 in the mechanical system are usually jointly affected by multiple factors, and the linear relationship of a single variable may not capture these complex interactions; high-order function terms are used to capture high-order nonlinear characteristics in the system. These high-order nonlinear terms can reflect complex phenomena such as harmonics and resonance existing in the angle sensor and the system; periodic function terms are used to describe periodic changes. The motion in the 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, capture complex interactions, by including interaction terms of multiple variables, the model can capture the complex relationships between different variables, making the compensation more accurate; the introduction of high-order and periodic characteristics helps to more accurately describe the actual nonlinear characteristics of the system, especially 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 un-compensated errors, and improve the stability of long-term operation of the system; although the formula looks complex, modern computing systems can efficiently perform real-time calculations, which enables the system to quickly respond to dynamic changes and ensure the effectiveness of real-time compensation; reduce mechanical wear and energy loss: because the compensation is more accurate, the mechanical movement is smoother, which directly reduces friction and wear, prolongs the service life of the equipment, and optimizes energy consumption; long-term stable operation of the system means that unplanned downtime and maintenance frequency are reduced, thereby reducing maintenance costs and improving the economic benefits of the system; the nonlinear function helps to more accurately describe and compensate for multiple 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; it improves the compensation accuracy, enhances the stability and real-time response capability of the system, and at the same time provides wide adaptability to meet the needs under different working environments and conditions; the system not only runs more stably, but also is more economical and efficient, and reduces maintenance and operating costs.

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

[0101] Define the error term:

[0102] e x (n)=θ x (n)-Δθx (n)

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

[0104] e y (n) = θ y (n) - Δθ y (n)

[0105] wherein 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] The parameter update rule in the nonlinear function is set as:

[0107]

[0108] wherein 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 the n time step, and μ represents the step factor;

[0109]

[0110] wherein 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 the n time step.

[0111] The working principle and effects of the above technical solution are as follows: the initial experimental data are used to perform initial estimation and calibration on ci and ki; the system error is monitored in real time, and the values of ci and ki are dynamically adjusted using the above algorithm; the high precision and stability of the system under different operation and environmental conditions are ensured; the optimal μ value is determined through experiments and debugging, so that the system converges to the optimal solution as soon as possible under the premise of ensuring stability, and the high-precision control and response of the swing mirror laser terminal in a dynamic environment are ensured.

[0112] In an embodiment of the present application, a swing mirror laser terminal lead angle optical path fast return mirror compensation system comprises:

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

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

[0115] The working principle and effects of the above technical solution are as follows: a high-precision angle sensor is installed on the mirror of the laser terminal to detect and obtain the lead azimuth compensation angle and the pitch compensation angle of the mirror in real time; the angle sensor can provide accurate real-time data, thereby ensuring the accuracy of the input data; meanwhile, the azimuth angle and the pitch angle of the motor are obtained in real time through other sensors or internal measurement systems, and the angle data of the azimuth angle and the pitch angle are used to describe the current position and posture of the mirror; the detected lead azimuth compensation angle (Dx), the pitch compensation angle (Dy), the azimuth angle (X) and the pitch angle (Y) of the motor are taken as inputs to establish a nonlinear compensation model, and the model 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 yX, Y), through the established nonlinear compensation model, according to the real-time detected angle data and model parameters, the angle (Delta theta x and Delta theta y) that needs to be compensated to the reflector is calculated. The azimuth angle and the pitch angle of the motor are adjusted in real time by using the calculated compensation angle, so that the reflector accurately reaches the required position, the angle adjustment of the compensation is realized through the motor driving system, and finally the mirror surface of the laser terminal reaches accurate positioning. By real-time monitoring and compensating the azimuth and pitch angle of the reflector, the positioning accuracy of the laser terminal is significantly improved; the error caused by the internal and external environmental disturbance of the system is reduced, so that the pointing of the laser beam remains highly accurate; the nonlinear compensation model can consider various influencing factors and accurately compensate various errors, thereby enhancing the overall stability of the system; the adaptive adjustment and compensation mechanism enables the system to quickly respond to dynamic changes and maintain stable operation; real-time detection and calculation of the compensation angle, fast response and adjustment of the system improve the dynamic response capability of the laser terminal; through fast compensation angle change, the laser terminal can also maintain high precision when running at high speed; improve the reliability and service life of the system, reduce the wear of the mechanical structure and the servo system, and prolong the service life of the system; improve the reliability of the system, so that it can also run 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, and ensure the best performance of the system under different operating conditions.

[0116] In one embodiment of the application, the angle data acquisition module comprises:

[0117] The acquisition module acquires motor code disc data and ephemeris broadcast data, and outputs the data in the form of digital signals to the data processing system;

[0118] The preprocessing module is used for preprocessing the acquired angle digital signals, and the preprocessing includes filtering, denoising and calibration;

[0119] The coordinate conversion module is used for integrating the preprocessed angle digital data into the coordinate system of the swing mirror laser terminal, performing coordinate conversion, and obtaining the lead azimuth compensation angle and the pitch compensation angle;

[0120] The azimuth angle and compensation angle data acquisition module is used for acquiring the azimuth angle and compensation angle of the motor.

[0121] The working principle and effects of the above technical solution are as follows: the motor code disc is a position sensor, the rotation position data of the motor is obtained through the photoelectric encoder, and the data reflects the current azimuth angle and pitch angle of the motor; the ephemeris broadcast data comes from a navigation satellite system (such as GPS), and provides information about the position, velocity and time of the satellite, which can help in high-precision positioning and time calibration in ground systems; the motor code disc data (representing angle information) and 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 techniques (such as low-pass filters, band-pass filters, etc.) are used to remove high-frequency noise and harmonic interference in the data, making the signal smoother and more authentic; denoising algorithms (such as wavelet transform, Kalman filtering, 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 preprocessed angle digital data is integrated into the coordinate system of the swing mirror laser terminal. This involves converting the motor code disc data and ephemeris broadcast data into the same reference coordinate system; according to the mechanical structure of the laser terminal and the actual use environment, necessary coordinate conversion (such as from geographic coordinates to airborne coordinates) is performed; through coordinate conversion and data analysis, the lead azimuth compensation angle and pitch compensation angle are calculated; the current azimuth angle and pitch angle of the motor are obtained in real time, and the angle data 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 accurate pointing of the system. The data accuracy and reliability are improved, the data accuracy and stability are significantly improved through filtering and denoising processing, the influence of noise and interference is reduced, and the calibration step ensures the accuracy of the measurement data, reducing the measurement error to a minimum; high-precision compensation is achieved, accurate coordinate conversion and compensation angle calculation enable the laser terminal to achieve high precision in pointing and positioning; by obtaining and calculating the compensation angle in real time, the system can be quickly adjusted in a dynamic environment to ensure accurate pointing at all times; data preprocessing and calibration improve the stability of the system, reducing the uncertainty caused by mechanical, electrical and environmental factors; real-time data processing and compensation calculation can quickly respond to changes in system state, improving the dynamic response performance of the system; by integrating the motor code disc data and ephemeris broadcast data into the coordinate system of the laser terminal, effective integration and utilization of data are achieved; the above technical solution collects motor code disc data and ephemeris broadcast data and performs preprocessing to create a highly accurate and stable data foundation; through coordinate conversion, the processed angle data is integrated into the coordinate system of the swing mirror laser terminal, enabling the system to accurately calculate the lead azimuth compensation angle and pitch compensation angle; at the same time, the real-time azimuth angle and pitch angle of the motor are obtained, effectively realizing real-time compensation and dynamic adjustment of the system.The technical scheme improves the accuracy and stability of data and system, enhances the intelligence and performance of the system, and finally realizes high-precision and high-reliability laser terminal control and pointing.

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

[0123] The azimuth angle compensation model module is configured to define a nonlinear function and establish a nonlinear compensation model of the azimuth angle lead compensation amount.

[0124] Delta theta 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] wherein, Delta theta x represents the azimuth angle lead compensation amount, D x represents the lead 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 a nonlinear function of the azimuth angle.

[0126] The pitch angle compensation model module is configured to establish a nonlinear compensation model of the pitch angle lead compensation amount.

[0127] Delta theta 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] wherein, Delta theta y represents the pitch angle lead compensation amount, f2(D x ,D y ,X,Y) represents a nonlinear function of the pitch angle.

[0129] The working principle and effect of the above technical solution are as follows: the deep description of the multi-dimensional angle relationship, the azimuth angle and the pitch angle in the mirror system are often not independent, and their errors are coupled with each other. Using X, Y, Dx and Dy multiple parameters, the multi-dimensional angle relationship of the real system can be more reflected; using the trigonometric function to describe the nonlinear relationship can effectively capture the periodic characteristics in the angle change, especially in the mechanical rotating system, the trigonometric function has natural adaptability; by introducing the 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 and temperature change in operation; the product terms (such as D y cosX and D y D x cos(2Y)sin(X)) in the formula can reflect the high-order interaction effect between different angles, and ensure 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, and by continuously adjusting ci and ki, the compensation model can adaptively change to adapt to different operating environments and conditions. By describing the multi-dimensional complex nonlinear relationship, the compensation model can more accurately reflect the error of the real system, thereby improving the compensation precision and making the azimuth angle and the pitch angle of the system more accurate; the system stability is enhanced, and more accurate compensation means that the shock and unstable factors in the system operation are reduced, so that the system can maintain stability under various working environments and dynamic conditions; the model with self-adaptive ability can quickly respond to the changes of system state and environmental conditions, and maintain the best performance by adjusting the parameters in real time; the high adjustability and flexibility of the model make it applicable to different types of laser terminals, and adapt to various application scenarios; the system life is prolonged, the more accurate compensation reduces the wear of the mechanical structure and the sensor, prolongs the service life of the equipment, and reduces the maintenance cost.

[0130] In an embodiment of the present application, the azimuth angle compensation model establishing module comprises:

[0131] The azimuth angle nonlinear function defining module is used to define the nonlinear function in the nonlinear compensation model of the azimuth angle lead compensation quantity:

[0132] Wherein, k1, k2 and k3 represent the coefficients of the nonlinear compensation term;

[0133] The pitch angle nonlinear function defining module is used to define the nonlinear function in the nonlinear compensation model of the pitch angle lead compensation quantity:

[0134]

[0135] where k4, k5, and k6 represent coefficients of the non-linear compensation terms;

[0136] an updating parameter module configured to update the parameters in the non-linear function in real time according to the error feedback.

[0137] The working principle and effects of the above technical solution are as follows: if k1D x D y sin(X)cos(Y) and k3D y sin(4Y) are used to describe the interaction between two or more variables, the angle and compensation in the mechanical system are usually influenced by multiple factors, and the linear relationship of a single variable may not capture these complex interactions; the high-order function term is used to capture the high-order non-linear characteristics in the system, and these high-order non-linear terms can reflect the complex phenomena such as harmonics and resonance existing in the angle sensor and the system; the periodic function term is used to describe the periodic change. The motion in the mechanical system usually has periodic characteristics, and the high-order periodic term can better capture these characteristics; the system calibration parameters can be determined through experiments and system tuning, so that the compensation model is more flexible and can adapt to different system characteristics and working environments. The compensation precision is improved, the complex interaction relationship is captured, the model can capture the complex relationship between different variables through the interaction term of multiple variables, so that the compensation quantity is more accurate; the introduction of high-order and periodic characteristics helps to more accurately describe the actual non-linear characteristics of the system, which is particularly important when dealing with complex mechanical and electrical system errors; the complex errors in the system can be accurately described and compensated, the system instability caused by un-compensated errors is reduced, and the long-term stability of the system is improved; although the formula looks complex, modern computing systems can efficiently perform real-time calculations, which enables the system to quickly respond to dynamic changes and ensure the effect of real-time compensation; mechanical wear and energy loss are reduced because the compensation is more accurate and the mechanical motion is smoother, which directly reduces friction and wear, prolongs the service life of the equipment, and optimizes energy consumption; long-term stable operation of the system means that the frequency of unplanned downtime and maintenance is reduced, thereby reducing maintenance costs and improving the economic benefits of the system; the non-linear function helps to more accurately describe and compensate for various errors in the system. Through high-order, interactive, and periodic non-linear terms, the model effectively captures the complex dynamic characteristics existing in the actual system; the compensation accuracy is improved, the system stability and real-time response capability are enhanced, and at the same time, wide adaptability is provided to meet the needs under different working environments and conditions; the system not only runs more stably, but also is more economical and efficient, and reduces maintenance and operating costs.

[0138] In an embodiment of the present application, the updating parameter module comprises:

[0139] a defining error term module configured to define an error term:

[0140] e x (n) = θ x (n) - Δθ x (n)

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

[0142] e y (n) = θ y (n) - Δθ y (n)

[0143] wherein 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 in the nonlinear function is set by the parameter update rule setting module:

[0145]

[0146] wherein 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 the n time step, and μ represents the step factor;

[0147]

[0148] wherein 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 the n time step.

[0149] The working principle and effects of the above technical solution are as follows: the initial estimation and calibration of ci and ki are performed by using the initial experimental data; the system error is monitored in real time, and the values of ci and ki are dynamically adjusted using the above algorithm; the high precision and stability of the system under different operating and environmental conditions are ensured; the optimal μ value is determined through experiments and debugging, so that the system converges to the optimal solution as soon as possible under the premise of ensuring stability, and the high-precision control and response of the mirror laser terminal in a dynamic environment are ensured.

[0150] Obviously, many modifications and variations of the present application are possible in light of the above teachings. It is, therefore, to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A method for compensating the fast-return mirror of the optical path at the leading angle of a tilting mirror type laser terminal, characterized in that, The method includes: The azimuth and pitch angles of the motor are obtained by detecting the forward position compensation angle and pitch compensation angle by using an angle sensor on the reflector installed on the oscillating mirror laser terminal. A nonlinear compensation model is established based on the forward position compensation angle, pitch compensation angle, azimuth angle and pitch angle of the motor. The forward position angle of the mirror-type laser terminal is compensated based on the calculation results of the nonlinear compensation model. A nonlinear compensation model is established based on the forward heading compensation angle, pitch compensation angle, and the motor's azimuth and pitch angles, including: Define a nonlinear function and establish a nonlinear compensation model for the azimuth angle advance compensation: in, This indicates the azimuth advance compensation amount. Indicates the forward compensation angle. X represents the pitch compensation angle, Y represents the motor's azimuth angle, and X represents the motor's pitch angle. A nonlinear function representing the azimuth angle; Establish a nonlinear compensation model for pitch angle advance compensation: in, This indicates the pitch angle advance compensation amount. A nonlinear function representing the pitch angle; Defining nonlinear functions also includes: Define the nonlinear function in the nonlinear compensation model for azimuth lead compensation: Where k1, k2, and k3 represent the coefficients of the nonlinear compensation term; Define the nonlinear function in the nonlinear compensation model for pitch angle lead compensation: Where k4, k5, and k6 represent the coefficients of the nonlinear compensation term; The parameters in the nonlinear function are updated in real time based on error feedback.

2. The method for compensating the fast-return mirror of the optical path at the leading angle of a tilting mirror laser terminal according to claim 1, characterized in that, The azimuth and pitch angles of the motor are obtained by detecting the forward alignment compensation angle and pitch compensation angle using an angle sensor mounted on a reflector on a tilting mirror laser terminal, including: Collect motor encoder data and ephemeris broadcast data, output the data in the form of digital signals, and transmit it to the data processing system; The acquired angle digital signal is preprocessed, including filtering, noise reduction, and calibration. The preprocessed angle digital data is integrated into the coordinate system of the tilting mirror laser terminal, and coordinate transformation is performed to obtain the forward position compensation angle and the pitch compensation angle. Obtain the azimuth and compensation angle of the motor.

3. The method for compensating the fast-return mirror of the optical path at the leading angle of a tilting mirror laser terminal according to claim 1, characterized in that, The parameters in the nonlinear function are updated in real time based on error feedback, including: Define the error term: in, This represents the error between the actual azimuth angle and the compensated azimuth angle. This indicates the actual azimuth of the system at the current time step; in, This represents the error between the actual pitch angle and the compensated pitch angle. This indicates the actual pitch angle of the system at the current time step; Define the parameter update rules for nonlinear functions: in, This represents the coefficient of the linear compensation term at time step n+1. The coefficient of the linear compensation term is represented by μ, which represents the step size factor. in, This represents the coefficient of the nonlinear compensation term at time step n+1. This represents the coefficient of the linear compensation term at time step n.

4. A fast-return mirror compensation system for the leading angle optical path of a tilting mirror type laser terminal, characterized in that, The system includes: The angle data acquisition module is used to detect the forward position compensation angle and pitch compensation angle through the angle sensor on the reflector installed on the mirror of the swing mirror laser terminal, and to obtain the azimuth angle and pitch angle of the motor. The compensation module is used to establish a nonlinear compensation model based on the forward position compensation angle, pitch compensation angle, azimuth angle and pitch angle of the motor, and to compensate the forward angle of the mirror-type laser terminal based on the calculation results of the nonlinear compensation model. The compensation module includes: A module for establishing an azimuth compensation model is used to define nonlinear functions and establish a nonlinear compensation model for the azimuth lead compensation amount. in, This indicates the azimuth advance compensation amount. Indicates the forward compensation angle. X represents the pitch compensation angle, Y represents the motor's azimuth angle, and X represents the motor's pitch angle. A nonlinear function representing the azimuth angle; A module for establishing a pitch angle compensation model is created to establish a nonlinear compensation model for the pitch angle lead compensation amount. in, This indicates the pitch angle advance compensation amount. A nonlinear function representing the pitch angle; The module for establishing the azimuth compensation model includes: The azimuth angle nonlinear function module is used to define the nonlinear functions in the nonlinear compensation model for the azimuth angle lead compensation amount: Where k1, k2, and k3 represent the coefficients of the nonlinear compensation term; Define the nonlinear function module for pitch angle, which is used to define the nonlinear function in the nonlinear compensation model for pitch angle lead compensation: Where k4, k5, and k6 represent the coefficients of the nonlinear compensation term; The parameter update module is used to update the parameters in the nonlinear function in real time based on error feedback.

5. The fast-return mirror compensation system for the leading angle optical path of a tilting mirror laser terminal according to claim 4, characterized in that, The angle data acquisition module includes: The acquisition module collects motor encoder data and ephemeris broadcast data, outputs the data in the form of digital signals, and transmits them to the data processing system. The preprocessing module is used to preprocess the acquired angle digital signal, and the preprocessing includes filtering, noise reduction and calibration. The coordinate transformation module is used to integrate the preprocessed angle digital data into the coordinate system of the tilting mirror laser terminal, perform coordinate transformation, and obtain the forward position compensation angle and the pitch compensation angle. The azimuth and compensation angle data acquisition module is used to acquire the azimuth and compensation angle of the motor.

6. The fast-return mirror compensation system for the leading angle optical path of a tilting mirror laser terminal according to claim 4, characterized in that, The updated parameter module includes: The error term definition module is used to define error terms: in, This represents the error between the actual azimuth angle and the compensated azimuth angle. This indicates the actual azimuth of the system at the current time step; in, This represents the error between the actual pitch angle and the compensated pitch angle. This indicates the actual pitch angle of the system at the current time step; The parameter update rule setting module is used to define the parameter update rules for nonlinear functions. in, This represents the coefficient of the linear compensation term at time step n+1. The coefficient of the linear compensation term is represented by μ, which represents the step size factor. in, This represents the coefficient of the nonlinear compensation term at time step n+1. This represents the coefficient of the linear compensation term at time step n.

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