Beacon light capture duration measurement method, system and device, electronic equipment and medium

Abstract

The embodiment of the invention provides a beacon light capture time length measurement method, system and device, electronic equipment and a medium, and relates to the technical field of networks, the method comprises the following steps: continuously obtaining multiple frames of light spot images collected by a first laser terminal in the process of capturing beacon light emitted by a second laser terminal when the capture time length is measured each time, until the first laser terminal captures the beacon light; the light spot image comprises a light spot formed by beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator and an optical fiber delayer during transmission; respectively determining the capturing duration of the first laser terminal from the start of collecting the light spot image to the capturing of the beacon light each time; and calculating the target capture duration of the first laser terminal based on each capture duration. By applying the scheme provided by the embodiment of the invention, the duration of capturing the beacon light by the laser terminal can be measured.

Description

Technical Field

[0001] The present application relates to the field of network technology, and in particular to a beacon light capture duration measurement method, system, device, electronic device and medium. Background Art

[0002] With the development of aerospace technology, space optical communication, as an efficient and high-bandwidth communication method, has been widely used in satellite communication, interstellar communication and other fields. In space optical communication, a laser terminal can establish communication or restore communication after communication interruption by capturing the beacon light of another laser terminal. Therefore, the time it takes for a laser terminal to capture the beacon light directly affects the communication efficiency, reliability and stability of space optical communication. Therefore, in order to ensure the communication effect of space optical communication, it is necessary to measure the time it takes for a laser terminal to capture the beacon light before the laser terminal is launched. Summary of the invention

[0003] The purpose of the embodiments of the present application is to provide a beacon light capture duration measurement method, system, device, electronic device and medium to measure the duration of a laser terminal capturing a beacon light. The specific technical solution is as follows:

[0004] In a first aspect, an embodiment of the present application provides a beacon light capture duration measurement method, the method comprising:

[0005] Each time the capture duration is measured, a plurality of frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal are continuously obtained until the first laser terminal captures the beacon light;

[0006] The light spot image includes a light spot formed by the beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during transmission;

[0007] respectively determining the capture time of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time;

[0008] Based on each capture duration, the target capture duration of the first laser terminal is calculated.

[0009] In one embodiment of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0010] In one embodiment of the present application, during each capture duration measurement, the wavelength and / or polarization state of the beacon light is different.

[0011] In one embodiment of the present application, if the beacon light passes through a collimator during transmission, a vibration of a preset waveform is loaded on a fast mirror motor of the collimator.

[0012] In one embodiment of the present application, it is determined that the first laser terminal captures the beacon light in the following manner:

[0013] Each time a frame of spot image is obtained, a miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and a preset position, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light;

[0014] If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal captures the beacon light, and the miss amount of the target light spot image is less than the preset miss amount.

[0015] In one embodiment of the present application, the capture duration determined each time is: the duration from the first moment to the second moment;

[0016] The first moment is: the moment when the first frame of spot image is collected this time;

[0017] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0018] In one embodiment of the present application, the visual axis of the first laser terminal points to a preset area at the start of measurement, and when the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

[0019] In one embodiment of the present application, the preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during one scanning cycle.

[0020] In one embodiment of the present application, the target capture duration is the average or median of each capture duration.

[0021] In a second aspect, an embodiment of the present application provides a beacon light capture duration measurement system, the system comprising a beam quality analyzer, a main control device, and a docking sub-platform, wherein the docking sub-platform comprises at least one of a collimator, an optical attenuator, and an optical fiber delay device;

[0022] The main control device is communicatively connected to the first laser terminal and the first steering device on which the first laser terminal is installed;

[0023] The beacon light emitted by the second laser terminal is transmitted to the first laser terminal through the docking sub-platform;

[0024] The beam quality analyzer is used to: continuously obtain multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light; respectively determine the capture time of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time; based on each capture time, calculate the target capture time of the first laser terminal; wherein the spot image includes the spot formed by the beacon light;

[0025] The main control device is used to control the first steering device to rotate so that the first laser terminal captures the beacon light.

[0026] In one embodiment of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0027] In one embodiment of the present application, during each capture duration measurement, the wavelength and / or polarization state of the beacon light is different.

[0028] In one embodiment of the present application, if the docking sub-platform includes a collimator, a vibration with a preset waveform is loaded on a fast mirror motor of the collimator.

[0029] In one embodiment of the present application, the beam quality analyzer determines that the first laser terminal captures the beacon light in the following manner:

[0030] Each time a frame of spot image is obtained, a miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and a preset position, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light;

[0031] If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal captures the beacon light, and the miss amount of the target light spot image is less than the preset miss amount.

[0032] In one embodiment of the present application, the capture duration determined each time is: the duration from the first moment to the second moment;

[0033] The first moment is: the moment when the first frame of spot image is collected this time;

[0034] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0035] In one embodiment of the present application, the visual axis of the first laser terminal points to a preset area at the start of measurement, and when the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

[0036] In one embodiment of the present application, the preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during one scanning cycle.

[0037] In one embodiment of the present application, the target capture duration is the average or median of each capture duration.

[0038] In a third aspect, an embodiment of the present application provides a beacon light capture duration measurement device, the device comprising:

[0039] An image acquisition module, used for continuously acquiring multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light;

[0040] The light spot image includes a light spot formed by the beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during transmission;

[0041] A duration determination module, used to respectively determine the capture duration of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time;

[0042] The target duration calculation module is used to calculate the target capture duration of the first laser terminal based on each capture duration.

[0043] In one embodiment of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0044] In one embodiment of the present application, during each capture duration measurement process, the wavelength and / or polarization state of the beacon light is different.

[0045] In one embodiment of the present application, if the beacon light passes through a collimator during transmission, a vibration of a preset waveform is loaded on a fast mirror motor of the collimator.

[0046] In one embodiment of the present application, it is determined that the first laser terminal captures the beacon light through the following modules:

[0047] A miss amount calculation module is used to calculate the miss amount based on the relative position between the centroid position of the light spot in the light spot image and a preset position each time a frame of the light spot image is obtained, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light;

[0048] The capture determination module is used to determine that the first laser terminal captures the beacon light if there are a continuous preset number of frames of target light spot images, and the miss amount of the target light spot image is less than a preset miss amount.

[0049] In one embodiment of the present application, the capture duration determined each time is: the duration from the first moment to the second moment;

[0050] The first moment is: the moment when the first frame of spot image is collected this time;

[0051] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0052] In one embodiment of the present application, the visual axis of the first laser terminal points to a preset area at the start of measurement, and when the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

[0053] In one embodiment of the present application, the preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during one scanning cycle.

[0054] In one embodiment of the present application, the target capture duration is the average or median of each capture duration.

[0055] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus;

[0056] Memory, used to store computer programs;

[0057] The processor is used to implement any method step in the first aspect when executing a program stored in the memory.

[0058] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of any one of the first aspects are implemented.

[0059] In a sixth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the method steps described in the first aspect above.

[0060] Beneficial effects of the embodiments of the present application:

[0061] The beacon light capture duration measurement method provided in the embodiment of the present application can not only automatically complete the measurement of the beacon light capture duration of the laser terminal, but also save labor costs. Moreover, the method of measuring the capture duration multiple times in the present application can improve the accuracy of the measured target capture duration. In addition, the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during the transmission process. The collimator can simulate the far-field light beam, the optical attenuator can simulate the attenuation of the optical signal in the link in the space environment, and the optical fiber delay device can simulate the propagation delay of the optical signal in the space environment. Therefore, the scheme provided in the embodiment of the present application can simulate the transmission environment of the beacon light in space, so that the target capture duration measured by the embodiment of the present application is closer to the actual capture duration of the laser terminal in the space environment, so that the measurement result is more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0063] Figure 1 A schematic diagram of a process for measuring a beacon light capture duration provided in an embodiment of the present application;

[0064] Figure 2 A schematic diagram of the structure of a beacon light capture duration measurement system provided in an embodiment of the present application;

[0065] Figure 3 A schematic diagram of the structure of a first beacon light capture duration measurement system equipped with a laser terminal provided in an embodiment of the present application;

[0066] Figure 4 A schematic diagram of the structure of a second beacon light capture duration measurement system equipped with a laser terminal provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of the structure of a beacon light capture duration measurement device provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0070] In order to measure the laser terminal beacon light capture duration, the embodiments of the present application provide a beacon light capture duration measurement method, system and device.

[0071] See also Figure 1 , which is a flow chart of a beacon light capture time measurement method provided in an embodiment of the present application. The executor of the present application may be a first beam quality analyzer capable of acquiring a spot image captured by a first laser terminal. The first beam quality analyzer can identify the position of the spot center in the spot image, calculate the off-target amount, and calculate the capture time, including the following steps S101-S103.

[0072] S101: Each time the capture duration is measured, a plurality of frames of light spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal are continuously obtained until the first laser terminal captures the beacon light.

[0073] The light spot image includes the light spot formed by the beacon light. The beacon light is transmitted through at least one of a collimator, an optical attenuator, and an optical fiber delay device.

[0074] When the beacon light passes through the collimator during transmission, the collimator is located between the first laser terminal and the second laser terminal. The aperture of the collimator needs to cover the receiving aperture of the first laser terminal, and the aperture of the collimator needs to take into account the translational motion capacity difference in the process of the first laser terminal capturing the beacon light. The translational motion capacity difference is caused by the movement of the first laser terminal in the process of capturing the beacon light, that is, the aperture of the collimator needs to always cover the receiving aperture of the first laser terminal in the process of the first laser terminal capturing the beacon light.

[0075] When the beacon light passes through a collimator, an optical attenuator, and an optical fiber delay device during transmission, the beacon light emitted by the second laser terminal passes through the second collimator, the second focal plane optical fiber interconnection interface, the second optical fiber, the optical fiber delay device, the optical attenuator, the first optical fiber, the first focal plane optical fiber interconnection interface, and the first collimator to be emitted to the first laser terminal. Among them, the optical fiber delay device and the optical attenuator can be one or more groups. The collimator can simulate the far-field light beam, and the optical attenuator can simulate the attenuation of the optical signal in the link. The optical attenuation range is 5dB-60dB, and it can simulate the link of 500km-7000km in the space environment. The optical fiber delay device can introduce the propagation delay of the optical signal. Therefore, the link attenuation and propagation delay of the beacon light emitted by the laser terminal when it propagates in the space environment can be simulated by the collimator, the optical attenuator, and the optical fiber delay device.

[0076] Before measuring, parameters can be injected into the collimator, optical attenuator, and optical fiber delay device according to actual needs to simulate different conditions of beacon light transmission in a space environment. The above parameters can be injected by the main control device, and the main control device is communicated with the actual collimator, optical attenuator, and optical fiber delay device respectively.

[0077] The collimator, optical attenuator, fiber delay, focal plane fiber interconnection interface, and optical fiber mentioned above can be included in the docking sub-platform, and the docking sub-platform is connected to the main control device. In this application, it can be divided into a first docking sub-platform and a second docking sub-platform. The first docking sub-platform can include a first collimator, a first optical fiber, a first focal plane fiber interconnection interface, a fiber delay, and an optical attenuator, and the first docking sub-platform is connected to the first laser terminal. The second docking sub-platform can include a second collimator, a second optical fiber, a second focal plane fiber interconnection interface, a fiber delay, and an optical attenuator, and the second docking sub-platform is connected to the second laser terminal.

[0078] The first laser terminal is mounted on the steering device, and during the process of capturing the beacon light, the steering device rotates to change the orientation of the first laser terminal, thereby enabling the first laser terminal to capture the beacon light. The steering device may be a two-dimensional turntable.

[0079] At the beginning of the measurement, the optical head of the first laser terminal is aligned with the main mirror of the first docking sub-platform, and is connected to the first focal plane fiber interconnection interface of the first docking sub-platform through a flange. The optical head of the second laser terminal is aligned with the main mirror of the second docking sub-platform, and is connected to the second focal plane fiber interconnection interface of the second docking sub-platform through a flange.

[0080] In the process of measuring the capture time of the beacon light captured by the first laser terminal, the second laser terminal emits the beacon light. Conversely, the capture time of the beacon light captured by the second laser terminal can also be measured by using the embodiment of the present application. In this process, the first laser terminal emits the beacon light and the second laser terminal captures the beacon light. The measurement process of the second laser terminal is similar to the measurement process of the first laser terminal, and will not be repeated here.

[0081] In addition, the optical head end of the first laser terminal emits light of different wavelength and polarization from the beacon light emitted by the second laser terminal, and the emitted light enters the first beam quality analyzer to form a light spot. According to the light spot and the beacon light emitted by the second laser terminal through the first docking sub-platform, the optical axis of the first laser terminal can be adjusted so that the communication receiving optical axis, tracking optical axis, and emission optical axis of the first laser terminal are parallel to the optical axis of the first parallel light pipe.

[0082] Furthermore, the sight axis direction of the first laser terminal can be set before the measurement starts. The sight axis of the first laser terminal points to a preset area at the start of the test. When the sight axis points to the preset area, the angle between the sight axis and the beacon light is less than the preset angle. The preset area is an area formed by the pointing deviation between the sight axis of the first laser terminal and the beacon light caused by comprehensive factors such as the emission vibration of the first laser terminal, orbit and attitude disturbance, steering device vibration, and motor control accuracy of the first laser terminal. The angle between the sight axis of the first laser terminal and the beacon light can be called a pointing deviation. For example, the preset angle can be a fixed value set manually, such as 1mrad.

[0083] The preset angle can also be set according to the actual telemetry of the space node. In this case, the preset angle is calculated based on the maximum horizontal angle and the maximum pitch angle of the laser terminal in one scanning cycle. Specifically, the preset angle can be calculated based on the following formula:

[0084]

[0085] Wherein, R is the preset angle, A is the maximum horizontal angle, and E is the maximum elevation angle.

[0086] At the beginning of the measurement, the visual axis of the first laser terminal may point to a position in the preset area, which may be a random position or a pre-set position. The main control device may inject telemetry or simulation data into the first laser terminal and the steering device on which the first laser terminal is installed before the test starts, and the telemetry or simulation data indicates the initial orientation of the first laser terminal and the steering device on which the first laser terminal is installed, so that the visual axis of the first laser terminal points to the position before the measurement starts.

[0087] When the first laser terminal captures the beacon light, the main control device sends the track guidance data and attitude data to the steering device installed with the first laser terminal to control the movement of the first laser terminal to simulate the direction of the laser terminal on the space node. Specifically, when controlling the movement of the first laser terminal, the main control device sets the initial value of the pitch angle of the steering device installed with the first laser terminal. and the initial value of the horizontal angle , the steering device coordinate correction amount, the superposition amount of the pointing difference between the first laser terminal and the steering device in the pitch direction The amount of superposition of the horizontal direction difference , the superposition of the theoretical pointing angles of the space node (local satellite) where the first laser terminal is located to the space node (other satellite) where the second laser terminal is located in the pitch direction The horizontal superposition of the pointing angle , and the relative position between the centroid position of the light spot in the light spot image collected by the first laser terminal in the process of capturing the beacon light and the fixed preset position in the light spot image, calculate the rotation control amount of the steering device in the horizontal and pitch directions, so as to control the rotation of the steering device installed with the first laser terminal, and then drive the first laser terminal to move. The superposition of the theoretical pointing angle of this satellite to other satellites in the horizontal and pitch directions is a simulated theoretical value. Specifically, the method in the relevant technology can be used in this application to control the rotation of the steering device, which will not be repeated here.

[0088] In addition, before the measurement starts, the main control device can also input parameters to the steering device installed with the first laser terminal to control its rotation speed and movement speed.

[0089] S102: Determine the capture time of the first laser terminal from the start of collecting the light spot image to the capture of the beacon light each time.

[0090] In one embodiment of the present application, the following steps A-B are used to determine whether the first laser terminal captures the beacon light.

[0091] Step A: Each time a frame of spot image is obtained, the miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and the preset position.

[0092] The miss-target amount is the angle between the visual axis of the first laser terminal and the beacon light.

[0093] Specifically, the closer the centroid position of the light spot is to the preset position, the smaller the angle between the visual axis of the first laser terminal and the beacon light. Conversely, the farther the centroid position of the light spot is from the preset position, the larger the angle between the visual axis of the first laser terminal and the beacon light. Therefore, the miss amount can be calculated based on the relative position between the centroid position of the light spot and the preset position. The specific calculation can be implemented by using relevant technologies, which will not be described in detail here.

[0094] Step B: If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal has captured the beacon light.

[0095] Wherein, the off-target amount of the above-mentioned target spot image is less than the preset off-target amount.

[0096] For example, the preset off-target amount may be 20 μrad, 15 μrad, 10 μrad, etc.

[0097] In this case, the capture duration determined each time is: the duration from the first moment to the second moment;

[0098] The first moment is: the moment when the first frame of spot image is collected this time;

[0099] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0100] Assuming that the miss amount of the spot image collected at time t is less than the preset miss amount, the spot image is the target spot image. From this spot image, the spot image is continuously acquired. If the preset number of consecutive spot images are all target spot images since the first frame of the target spot image is acquired, it is determined that the first laser terminal captures the beacon light, and the time t is determined to be the second time when the first laser terminal captures the beacon light. The capture duration is the duration from the first time to the time t when the first frame of the spot image is acquired.

[0101] If the number of continuously acquired target spot images has not reached the preset number since the first frame of the target spot image was acquired, and a spot image with a miss amount not less than the preset miss amount appears, then the first laser terminal has not captured the beacon light. Continue to acquire spot images, and start counting the number of continuous target spot images again from the time a new target spot image is acquired.

[0102] For example, the frequency of collecting the spot image by the first laser terminal may be 50 frames / s. If 100 frames of spot images collected continuously are all target spot images, it is determined that the first laser terminal has captured the beacon light.

[0103] As can be seen from the above, in this embodiment, it is determined that the first laser terminal has captured the beacon light only when a preset number of frames of target spot images are continuously acquired. This can ensure that the measured capture duration can represent the duration required for the first laser terminal to stably capture the beacon light, making the measurement result of the capture duration more accurate.

[0104] In another embodiment of the present application, as long as one frame of the target light spot image is collected, it is determined that the first laser terminal captures the beacon light, and the moment when the target light spot image is captured is the moment when the first laser terminal captures the beacon light.

[0105] In another embodiment of the present application, when a spot image of a frame of light spots is collected in which the centroid position completely coincides with the preset position, it can be determined that the first laser terminal has captured the beacon light, and the moment when the frame of light spot image is collected is determined as the moment when the first laser terminal captures the beacon light.

[0106] S103: Calculating the target capture duration of the first laser terminal based on each capture duration.

[0107] In the embodiment of the present application, the average or median of each capture time can be calculated as the target capture time.

[0108] When calculating the average of each capture time as the target capture time, the target capture time can be calculated based on the following formula.

[0109]

[0110] in, is the target capture time, n is the total number of times the capture time is measured, i is the number of the measured capture time, and the number of the capture time measured each time is different, namely 1, 2...n. The capture duration of the capture number i.

[0111] As can be seen from the above, the solution provided by the embodiment of the present application can not only automatically complete the measurement of the capture time of the laser terminal beacon light, but also save labor costs. Moreover, the method of measuring the capture time multiple times in the present application can improve the accuracy of the measured target capture time. In addition, the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during the transmission process. The collimator can simulate the far-field light beam, the optical attenuator can simulate the attenuation of the optical signal in the link in the space environment, and the optical fiber delay device can simulate the propagation delay of the optical signal in the space environment. Therefore, the solution provided by the embodiment of the present application can simulate the transmission environment of the beacon light in space, so that the target capture time measured by the embodiment of the present application is closer to the actual capture time of the laser terminal in the space environment, so that the measurement result is more accurate.

[0112] In another example of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0113] For example, eight capture duration measurements may be performed, and before the eight measurements, the visual axis of the first laser terminal points to the left, right, top, bottom, top left, bottom left, top right, and bottom right of the beacon light, respectively. The positional relationship between the visual axis of the first laser terminal and the beacon light at the start of the measurement can be expressed as offset angles in the horizontal and elevation directions. For example, with the right side as the horizontal positive direction and the top side as the elevation positive direction, the positional relationship at the start of the measurement can be expressed as (-0.35, -0.35) in mrad, indicating that the visual axis of the first laser terminal is 0.35 mrad to the left of the beacon light and 0.35 mrad below it. (0, -0.5) in mrad indicates that the visual axis of the first laser terminal is 0.5 mrad below the beacon light.

[0114] At the start of each capture duration measurement, the position of the sight axis of the first laser terminal relative to the beacon light can be manually set, or can be extracted from the actual position of the sight axis of the laser terminal relative to the beacon light during actual space communication. At the start of each capture duration measurement, the sight axis of the first laser terminal points to the preset area.

[0115] From the above, it can be seen that in the embodiment of the present application, multiple different capture time measurements can be performed for different starting directions of the line of sight of the first laser terminal, so that the target capture time finally obtained can reflect the comprehensive beacon light capture capability of the line of sight of the first laser terminal under different starting directions.

[0116] In another embodiment of the present application, during each capture duration measurement process, the wavelength and / or polarization state of the beacon light is different.

[0117] Specifically, according to the actual beacon light emitting capability of the second laser terminal, the wavelength and polarization state that can be used by the second laser terminal can be selected to emit the beacon light, and the capture capability of the first laser terminal for different beacon lights can be measured.

[0118] As can be seen from the above, in the embodiment of the present application, the wavelength and / or polarization state of the beacon light emitted by the second laser terminal can be adjusted to measure the capture capability of the first laser terminal for different beacon lights.

[0119] See Table 1, which is a schematic diagram of measurement results provided in an embodiment of the present application.

[0120] Table 1

[0121] The wavelength and polarization state of the beacon light when the capture durations numbered 1-8 are obtained are different from the wavelength and polarization state of the beacon light when the capture durations numbered 9-16 are obtained.

[0122] The line of sight pointing offset refers to the angular difference between the line of sight of the first laser terminal and the beacon light at the start of measurement. The meaning of the specific value can be found in the above example and will not be repeated here.

[0123] The target capture duration is the average of the capture durations of 16 measurements.

[0124] In yet another embodiment of the present application, if the beacon light passes through a collimator during transmission, a vibration of a preset waveform is loaded on a fast-reflecting mirror motor of the collimator.

[0125] Specifically, the vibration of the preset waveform can be a vibration that conforms to the NASDA spectrum, etc., and the specific waveform can be loaded according to actual needs. Loading vibration can cause the beacon light to shake due to the vibration, thereby simulating the influence of vibration on the beacon light caused by motor operation or other reasons when other devices on the space node are working when the laser terminal is installed on the space node in the space environment. This makes the measured results more reflective of the actual operation of the laser terminal in the space environment.

[0126] Corresponding to the aforementioned beacon light capture duration measurement method, an embodiment of the present application also provides a beacon light capture duration measurement system.

[0127] The system includes a beam quality analyzer, a main control device, and a docking sub-platform, wherein the docking sub-platform includes at least one of a collimator, an optical attenuator, and an optical fiber delay device;

[0128] The main control device is communicatively connected to the first laser terminal and the first steering device on which the first laser terminal is installed;

[0129] The beacon light emitted by the second laser terminal is transmitted to the first laser terminal through the docking sub-platform;

[0130] The above-mentioned beam quality analyzer is used to: continuously obtain multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light; respectively determine the capture time of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time; based on each capture time, calculate the target capture time of the first laser terminal; wherein the above-mentioned spot image includes the spot formed by the above-mentioned beacon light;

[0131] The main control device is used to control the rotation of the first steering device so that the first laser terminal captures the beacon light.

[0132] See also Figure 2 , is a structural schematic diagram of a beacon light capture duration measurement system provided in an embodiment of the present application.

[0133] The figure includes a beam quality analyzer, a main control device, and a docking sub-platform. The line between the beam quality analyzer and the main control device in the figure is a solid line, indicating a communication connection between the two. The line between the docking sub-platform and the beam quality analyzer is a dotted line, indicating a mechanical connection between the two.

[0134] See also Figure 3 , which is a structural diagram of the first beacon light capture duration measurement system equipped with a laser terminal provided in an embodiment of the present application.

[0135] exist Figure 2 On the basis of the embodiment shown, this embodiment also includes a first laser terminal to be tested and a steering device on which the first laser terminal is installed. The line between the first laser terminal and the steering device is a dotted line, indicating a mechanical connection between the two. The line between the main control device and the first laser terminal is a solid line, indicating a communication connection between the two. The line between the main control device and the steering device is a solid line, indicating a communication connection between the two. The double arrows between the first laser terminal and the docking sub-platform indicate that optical signals can be transmitted between the two.

[0136] See also Figure 4 , which is a structural schematic diagram of a second beacon light capture duration measurement system equipped with a laser terminal provided in an embodiment of the present application.

[0137] and Figure 3 Compared to the embodiment shown, Figure 4 Use a dotted frame to enclose Figure 3 The equipment included is shown in Figure 4 Left side. Figure 4 The dotted box on the right includes the second laser terminal and other devices. The connection relationship between the devices is the same as that in the dotted box on the left, and will not be repeated here. The figure also includes a time system device connected to the main control devices on the left and right sides, respectively, to synchronize the clocks of the two main control devices. The double arrows between the left and right docking sub-platforms indicate that the two can transmit optical signals to each other.

[0138] As can be seen from the above, the solution provided by the embodiment of the present application can not only automatically complete the measurement of the capture time of the laser terminal beacon light, but also save labor costs. Moreover, the method of measuring the capture time multiple times in the present application can improve the accuracy of the measured target capture time. In addition, the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during the transmission process. The collimator can simulate the far-field light beam, the optical attenuator can simulate the attenuation of the optical signal in the link in the space environment, and the optical fiber delay device can simulate the propagation delay of the optical signal in the space environment. Therefore, the solution provided by the embodiment of the present application can simulate the transmission environment of the beacon light in space, so that the target capture time measured by the embodiment of the present application is closer to the actual capture time of the laser terminal in the space environment, so that the measurement result is more accurate.

[0139] In one embodiment of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0140] From the above, it can be seen that in the embodiment of the present application, multiple different capture time measurements can be performed for different starting directions of the line of sight of the first laser terminal, so that the target capture time finally obtained can reflect the comprehensive beacon light capture capability of the line of sight of the first laser terminal under different starting directions.

[0141] In one embodiment of the present application, during each capture duration measurement process, the wavelength and / or polarization state of the beacon light is different.

[0142] As can be seen from the above, in the embodiment of the present application, the wavelength and / or polarization state of the beacon light emitted by the second laser terminal can be adjusted to measure the capture capability of the first laser terminal for different beacon lights.

[0143] In one embodiment of the present application, if the docking sub-platform includes a collimator, a vibration with a preset waveform is loaded on a fast mirror motor of the collimator.

[0144] As can be seen from the above, loading vibration can cause the beacon light to vibrate due to the vibration, thereby simulating the influence of vibration on the beacon light caused by motor operation or other reasons when other devices on the space node are working when the laser terminal is installed on the space node in the space environment. This makes the measured results more reflective of the actual operation of the laser terminal in the space environment.

[0145] In one embodiment of the present application, the beam quality analyzer determines that the first laser terminal captures the beacon light in the following manner:

[0146] Each time a frame of spot image is obtained, a miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and a preset position, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light;

[0147] If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal captures the beacon light, and the miss amount of the target light spot image is less than the preset miss amount.

[0148] In one embodiment of the present application, the capture duration determined each time is: the duration from the first moment to the second moment;

[0149] The first moment is: the moment when the first frame of spot image is collected this time;

[0150] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0151] As can be seen from the above, in this embodiment, it is determined that the first laser terminal has captured the beacon light only when a preset number of frames of target spot images are continuously acquired. This can ensure that the measured capture duration can represent the duration required for the first laser terminal to stably capture the beacon light, making the measurement result of the capture duration more accurate.

[0152] In one embodiment of the present application, the visual axis of the first laser terminal points to a preset area at the start of measurement, and when the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

[0153] In one embodiment of the present application, the preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during one scanning cycle.

[0154] In one embodiment of the present application, the target capture duration is the average or median of each capture duration.

[0155] Corresponding to the aforementioned beacon light capture duration measurement method, an embodiment of the present application further provides a beacon light capture duration measurement device.

[0156] See also Figure 5 , is a schematic diagram of the structure of a beacon light capture duration measurement device provided in an embodiment of the present application, the device comprising:

[0157] The image acquisition module 501 is used to continuously obtain multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light;

[0158] The light spot image includes a light spot formed by the beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during transmission;

[0159] The duration determination module 502 is used to respectively determine the capture duration of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time;

[0160] The target duration calculation module 503 is used to calculate the target capture duration of the first laser terminal based on each capture duration.

[0161] As can be seen from the above, the solution provided by the embodiment of the present application can not only automatically complete the measurement of the capture time of the laser terminal beacon light, but also save labor costs. Moreover, the method of measuring the capture time multiple times in the present application can improve the accuracy of the measured target capture time. In addition, the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during the transmission process. The collimator can simulate the far-field light beam, the optical attenuator can simulate the attenuation of the optical signal in the link in the space environment, and the optical fiber delay device can simulate the propagation delay of the optical signal in the space environment. Therefore, the solution provided by the embodiment of the present application can simulate the transmission environment of the beacon light in space, so that the target capture time measured by the embodiment of the present application is closer to the actual capture time of the laser terminal in the space environment, so that the measurement result is more accurate.

[0162] In one embodiment of the present application, at the start of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

[0163] From the above, it can be seen that in the embodiment of the present application, multiple different capture time measurements can be performed for different starting directions of the line of sight of the first laser terminal, so that the target capture time finally obtained can reflect the comprehensive beacon light capture capability of the line of sight of the first laser terminal under different starting directions.

[0164] In one embodiment of the present application, during each capture duration measurement, the wavelength and / or polarization state of the beacon light is different.

[0165] As can be seen from the above, in the embodiment of the present application, the wavelength and / or polarization state of the beacon light emitted by the second laser terminal can be adjusted, so as to measure the capture capability of the first laser terminal for different beacon lights.

[0166] In one embodiment of the present application, if the beacon light passes through a collimator during transmission, a vibration of a preset waveform is loaded on a fast mirror motor of the collimator.

[0167] As can be seen from the above, loading vibration can cause the beacon light to vibrate due to the vibration, thereby simulating the influence of vibration on the beacon light caused by motor operation or other reasons when other devices on the space node are working when the laser terminal is installed on the space node in the space environment. This makes the measured results more reflective of the actual operation of the laser terminal in the space environment.

[0168] In one embodiment of the present application, it is determined that the first laser terminal captures the beacon light through the following modules:

[0169] A miss amount calculation module is used to calculate the miss amount based on the relative position between the centroid position of the light spot in the light spot image and a preset position each time a frame of the light spot image is obtained, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light;

[0170] The capture determination module is used to determine that the first laser terminal captures the beacon light if there are a continuous preset number of frames of target light spot images, and the miss amount of the target light spot image is less than a preset miss amount.

[0171] As can be seen from the above, in this embodiment, it is determined that the first laser terminal has captured the beacon light only when a preset number of frames of target spot images are continuously acquired. This can ensure that the measured capture duration can represent the duration required for the first laser terminal to stably capture the beacon light, making the measurement result of the capture duration more accurate.

[0172] In one embodiment of the present application, the capture duration determined each time is: the duration from the first moment to the second moment;

[0173] The first moment is: the moment when the first frame of spot image is collected this time;

[0174] The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

[0175] In one embodiment of the present application, the visual axis of the first laser terminal points to a preset area at the start of measurement, and when the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

[0176] In one embodiment of the present application, the preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during one scanning cycle.

[0177] In one embodiment of the present application, the target capture duration is the average or median of each capture duration.

[0178] The present application also provides an electronic device, such as Figure 6As shown, it includes a processor 601 , a communication interface 602 , a memory 603 and a communication bus 604 , wherein the processor 601 , the communication interface 602 , and the memory 603 communicate with each other via the communication bus 604 .

[0179] Memory 603, used for storing computer programs;

[0180] The processor 601 is used to implement the aforementioned beacon light capture duration measurement method when executing the program stored in the memory 603 .

[0181] As can be seen from the above, the solution provided by the embodiment of the present application can not only automatically complete the measurement of the capture time of the laser terminal beacon light, but also save labor costs. Moreover, the method of measuring the capture time multiple times in the present application can improve the accuracy of the measured target capture time. In addition, the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during the transmission process. The collimator can simulate the far-field light beam, the optical attenuator can simulate the attenuation of the optical signal in the link in the space environment, and the optical fiber delay device can simulate the propagation delay of the optical signal in the space environment. Therefore, the solution provided by the embodiment of the present application can simulate the transmission environment of the beacon light in space, so that the target capture time measured by the embodiment of the present application is closer to the actual capture time of the laser terminal in the space environment, so that the measurement result is more accurate.

[0182] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0183] The communication interface is used for communication between the above electronic device and other devices.

[0184] The memory may include a random access memory (RAM) or a non-volatile memory (NVM), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0185] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0186] In another embodiment provided in the present application, a computer-readable storage medium is provided, in which a computer program is stored. When the computer program is executed by a processor, the steps of any of the above-mentioned beacon light capture duration measurement methods are implemented.

[0187] In another embodiment provided by the present application, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the beacon light capture duration measurement methods in the above embodiments.

[0188] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD) or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0189] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0190] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system, device, electronic device, computer-readable storage medium, and computer program product embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0191] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A beacon light capture duration measurement method, characterized in that: The method comprises: Each time the capture duration is measured, a plurality of frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal are continuously obtained until the first laser terminal captures the beacon light; The light spot image includes a light spot formed by the beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during transmission; respectively determining the capture time of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time; Based on each capture duration, the target capture duration of the first laser terminal is calculated.

2. The method according to claim 1, characterized in that At the beginning of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

3. The method according to claim 1, characterized in that During each capture time measurement, the wavelength and / or polarization state of the beacon light is different.

4. The method according to any one of claims 1 to 3, characterized in that If the beacon light passes through a collimator during transmission, a vibration of a preset waveform is loaded on the fast-reflecting mirror motor of the collimator.

5. The method according to any one of claims 1 to 3, characterized in that: It is determined that the first laser terminal captures the beacon light by: Each time a frame of spot image is obtained, a miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and a preset position, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light; If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal captures the beacon light, and the miss amount of the target light spot image is less than the preset miss amount.

6. The method according to claim 5, characterized in that The capture duration determined each time is: the duration from the first moment to the second moment; The first moment is: the moment when the first frame of spot image is collected this time; The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

7. The method according to any one of claims 1 to 3, characterized in that The visual axis of the first laser terminal points to a preset area at the start of measurement. When the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

8. The method according to claim 7, characterized in that The preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during a scanning cycle.

9. The method according to any one of claims 1 to 3, characterized in that: The target capture duration is the average or median of each capture duration.

10. A beacon light capture duration measurement system, characterized in that: The system includes a beam quality analyzer, a main control device, and a docking sub-platform, wherein the docking sub-platform includes at least one of a collimator, an optical attenuator, and an optical fiber delay device; The main control device is communicatively connected to the first laser terminal and the first steering device on which the first laser terminal is installed; The beacon light emitted by the second laser terminal is transmitted to the first laser terminal through the docking sub-platform; The beam quality analyzer is used to: continuously obtain multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light; respectively determine the capture time of the first laser terminal from the start of collecting the spot image to the capture of the beacon light each time; based on each capture time, calculate the target capture time of the first laser terminal; wherein the spot image includes the spot formed by the beacon light; The main control device is used to control the first steering device to rotate so that the first laser terminal captures the beacon light.

11. The system according to claim 10, characterized in that At the beginning of each capture duration measurement, the visual axis of the first laser terminal points to different directions of the beacon light.

12. The system according to claim 10, characterized in that During each capture time measurement, the wavelength and / or polarization state of the beacon light is different.

13. The system according to any one of claims 10 to 12, characterized in that: If the docking sub-platform includes a collimator, a vibration of a preset waveform is loaded on the fast-reflecting mirror motor of the collimator.

14. The system according to any one of claims 10 to 12, characterized in that: The beam quality analyzer determines that the first laser terminal captures the beacon light in the following manner: Each time a frame of spot image is obtained, a miss amount is calculated based on the relative position between the centroid position of the spot in the spot image and a preset position, wherein the miss amount is the angle between the visual axis of the first laser terminal and the beacon light; If there are a preset number of consecutive frames of target light spot images, it is determined that the first laser terminal captures the beacon light, and the miss amount of the target light spot image is less than the preset miss amount.

15. The system according to claim 14, characterized in that The capture duration determined each time is: the duration from the first moment to the second moment; The first moment is: the moment when the first frame of spot image is collected this time; The second moment is: the moment of collecting the first frame of a preset number of consecutive frames of target spot images.

16. The system according to any one of claims 10 to 12, characterized in that: The visual axis of the first laser terminal points to a preset area at the start of measurement. When the visual axis points to the preset area, the angle between the visual axis and the beacon light is smaller than a preset angle.

17. The system according to claim 16, characterized in that The preset angle is calculated based on the maximum horizontal angle and the maximum elevation angle of the laser terminal during a scanning cycle.

18. The system according to any one of claims 10 to 12, characterized in that: The target capture duration is the average or median of each capture duration.

19. A beacon light capture duration measurement device, characterized in that: The device comprises: An image acquisition module, used for continuously acquiring multiple frames of spot images collected by the first laser terminal in the process of capturing the beacon light emitted by the second laser terminal each time the capture time is measured, until the first laser terminal captures the beacon light; The light spot image includes a light spot formed by the beacon light, and the beacon light passes through at least one of a collimator, an optical attenuator, and an optical fiber delay device during transmission; A duration determination module, used to respectively determine the capture duration of each time from the start of collecting the spot image to the capture of the beacon light by the first laser terminal; The target duration calculation module is used to calculate the target capture duration of the first laser terminal based on each capture duration.

20. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; Memory, used to store computer programs; A processor, for implementing the method steps of any one of claims 1-9 when executing a program stored in a memory.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method steps of any one of claims 1 to 9 are implemented.

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