Laser device calibration method, space node, calibration device and storage medium

Abstract

The embodiment of the invention provides a laser device calibration method, a space node, a calibration device and a storage medium, and the method comprises the steps: configuring the transmitting and receiving wavelengths of a plurality of laser devices on the space node, the plurality of laser devices having the same first receiving wavelength and the same second transmitting wavelength, the first receiving wavelength is not equal to the second sending wavelength; and simultaneously calibrating the plurality of laser devices on the space node by using a calibration device. By applying the scheme provided by the embodiment of the invention, the calibration efficiency of the laser device can be improved.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a laser device calibration method, a space node, a calibration device and a storage medium. Background Art

[0002] Space nodes in a space node network are connected by emitting lasers from laser devices to establish laser links. However, due to the narrow laser beam and long communication distance, as well as the influence of factors such as the space environment and debris impact, the laser pointing direction emitted by the laser device may deviate from the initial position, resulting in a long time to build the laser link, or even the failure of establishing the laser link.

[0003] In order to solve the above problems, the laser device needs to be calibrated. However, due to the huge number of space nodes in the space node network and the fact that each space node is equipped with multiple laser devices, the efficiency of calibrating the laser devices in the space node network is low. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a laser device calibration method, a spatial node, a calibration device and a storage medium to improve the efficiency of calibrating the laser device. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present invention provides a laser device calibration method, the method comprising:

[0006] Configuring the receiving and transmitting wavelengths of multiple laser devices on the space node, wherein the multiple laser devices have the same first receiving wavelength and the same second transmitting wavelength, and the first receiving wavelength is not equal to the second transmitting wavelength;

[0007] A calibration device is used to simultaneously calibrate multiple laser devices on the space node.

[0008] In one embodiment of the present invention, four laser devices are configured on the space node, wherein the four laser devices are respectively connected to the laser device of the front space node on the same orbital plane, connected to the laser device of the front space node on a different orbital plane, connected to the laser device of the rear space node on the same orbital plane, and connected to the laser device of the rear space node on a different orbital plane.

[0009] In one embodiment of the present invention, the four laser devices are respectively located at the front left position, the front right position, the rear left position and the rear right position of the spatial node.

[0010] In one embodiment of the present invention, the laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front space node on the same orbital plane;

[0011] and / or

[0012] The laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front different orbital plane space node.

[0013] In one embodiment of the present invention, the laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front space node on the same orbital plane;

[0014] and / or

[0015] The laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front different orbital plane space node.

[0016] In one embodiment of the present invention, the transmitting and receiving wavelengths of the laser devices configured at adjacent space nodes located on the same orbital plane are different.

[0017] In one embodiment of the present invention, the receiving wavelength of the laser device configured at the spatial node is equal to the transmitting wavelength of the laser device configured at the adjacent node on the same orbital plane.

[0018] In one embodiment of the present invention, the calibration device simultaneously calibrates multiple laser devices on the spatial node in the following manner:

[0019] Acquire a motor tracking control amount of each laser device obtained after scanning multiple laser devices on the first spatial node;

[0020] For each laser device, the coordinate error correction matrix of the laser device is calibrated in the following way:

[0021] Calculating the actual pointing vector of the laser device based on the motor tracking control amount of the laser device;

[0022] Calculating correction values ​​of correction angles of three coordinate axes in a coordinate error correction matrix of the laser device based on the actual pointing vector;

[0023] The coordinate error correction matrix of the laser device is adjusted based on the correction amount.

[0024] In one embodiment of the present invention, before the space node enters the link area, multiple laser devices on the space node predict the angle to be rotated of the laser device according to the space node orbit data and attitude data of the space node, and rotate based on the angle to be rotated to pre-aiming the calibration device;

[0025] The link area is the range within which the laser device and calibration device of the spatial node can establish a link.

[0026] In one embodiment of the present invention, the angle to be rotated is calculated in the following manner:

[0027] Calculating the time difference between the predicted time of the angle to be rotated and the measurement time of the posture data;

[0028] Calculating the eccentric anomaly at the predicted moment based on the mean anomaly at the first moment;

[0029] Based on the eccentric anastomosis angle, calculating the spatial node position information of the spatial node in the preset coordinate system at the prediction time;

[0030] Calculate the calibration device position information of the calibration device in the preset coordinate system at the predicted time;

[0031] Based on the spatial node position information and the calibration device position information, calculate the relative position information of the spatial node pointing to the calibration device in the preset coordinate system;

[0032] Based on the posture data and the time difference, predicting the posture of the spatial node at the prediction time;

[0033] Based on the posture, converting the relative position information in the preset coordinate system into aiming position information in the spatial node coordinate system;

[0034] The to-be-rotated angle is calculated based on the aiming position information.

[0035] In one embodiment of the present invention, when the angle to be rotated is within the rotatable range of the laser device, the laser device is rotated based on the angle to be rotated to perform pre-aiming with respect to the calibration device.

[0036] In one embodiment of the present invention, the width of the beacon light beam emitted by the calibration device is greater than a preset multiple of the orbit error, wherein the orbit error is the absolute value of the cumulative sum of at least one of the following errors: error caused by orbit calculation, error caused by orbit positioning, error in open-loop pointing of the calibration device, error caused by shaking of the beacon light beam.

[0037] In a second aspect, an embodiment of the present invention provides a space node, wherein the space node is configured with multiple laser devices, wherein the multiple laser devices have the same first receiving wavelength and the same second transmitting wavelength, and the first receiving wavelength is not equal to the second transmitting wavelength.

[0038] In one embodiment of the present invention, four laser devices are configured on the space node, wherein the four laser devices are respectively connected to the laser device of the front space node on the same orbital plane, connected to the laser device of the front space node on a different orbital plane, connected to the laser device of the rear space node on the same orbital plane, and connected to the laser device of the rear space node on a different orbital plane.

[0039] In one embodiment of the present invention, the four laser devices are respectively located at the front left position, the front right position, the rear left position and the rear right position of the spatial node.

[0040] In one embodiment of the present invention, the laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front space node on the same orbital plane;

[0041] and / or

[0042] The laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front different orbital plane space node.

[0043] In one embodiment of the present invention, the laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front space node on the same orbital plane;

[0044] and / or

[0045] The laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front different orbital plane space node.

[0046] In one embodiment of the present invention, the laser device configured at the space node has a different transmitting and receiving wavelength from the laser device configured at an adjacent space node located on the same orbital plane.

[0047] In one embodiment of the present invention, the receiving wavelength of the laser device configured at the spatial node is equal to the transmitting wavelength of the laser device configured at the adjacent node on the same orbital plane.

[0048] In a third aspect, an embodiment of the present invention provides a space network system, the space network system includes multiple tracks, the tracks include multiple space nodes, and the space nodes are any space nodes described in the second aspect.

[0049] In a fourth aspect, an embodiment of the present invention provides a calibration device, the calibration device comprising a processor, a communication interface, a memory, a communication bus, and a beacon light transmitter for emitting a beacon light beam, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus;

[0050] Memory, used to store computer programs;

[0051] The processor is used to implement the method steps performed by the calibration device when executing the program stored in the memory.

[0052] In one embodiment of the present invention, the width of the beacon light beam emitted by the calibration device is greater than a preset multiple of the orbit error, wherein the orbit error is the absolute value of the cumulative sum of at least one of the following errors: error caused by orbit calculation, error caused by orbit positioning, error in open-loop pointing of the calibration device, error caused by shaking of the beacon light beam.

[0053] In a fifth aspect, an embodiment of the present invention 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, any method step described in the first aspect is implemented.

[0054] In a sixth aspect, an embodiment of the present invention 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.

[0055] Beneficial effects of the embodiments of the present invention:

[0056] The embodiment of the present invention provides a laser device calibration method, which configures the receiving and transmitting wavelengths of multiple laser devices on a space node to have the same first receiving wavelength and the same second transmitting wavelength. Since the receiving and transmitting wavelengths of multiple laser devices on the same space node are the same, the calibration device can scan all laser devices on the same space node at one time, so that all laser devices on a space node can be calibrated at the same time. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a space node at the same time with one scan, thereby improving the efficiency of calibrating laser devices in a space node network.

[0057] Of course, it is not necessary to achieve all of the advantages described above at the same time to implement any product or method of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention 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 invention, and a person skilled in the art can also obtain other drawings based on these drawings.

[0059] Figure 1 A schematic diagram of a flow chart of a laser device calibration method provided by an embodiment of the present invention;

[0060] Figure 2 A schematic diagram of a spatial node structure provided by an embodiment of the present invention;

[0061] Figure 3 A schematic diagram of a spatial node connection relationship in a spatial node network provided by an embodiment of the present invention;

[0062] Figure 4 A schematic diagram of a flow chart of a calibration method of a calibration device provided in an embodiment of the present invention;

[0063] Figure 5 A schematic diagram of the relationship between an effective calibration elevation angle range and a rotation limit angle provided by an embodiment of the present invention;

[0064] Figure 6 A schematic diagram of a flow chart of a method for calculating an angle to be rotated provided by an embodiment of the present invention;

[0065] Figure 7 A schematic diagram of the structure of a calibration device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field based on this application belong to the scope of protection of the present invention.

[0067] Since there is a problem of low efficiency in calibrating laser devices in a space node network in the related art, in order to solve the above problem, an embodiment of the present invention provides a laser device calibration method, a space node, a calibration device and a storage medium.

[0068] See also Figure 1 , is a flow chart of a laser device calibration method provided in an embodiment of the present invention, comprising the following steps S101-S102.

[0069] S101: Configure the transmit and receive wavelengths of multiple laser devices on the space node.

[0070] The plurality of laser devices have a same first receiving wavelength and a same second transmitting wavelength, and the first receiving wavelength is not equal to the second transmitting wavelength.

[0071] For example, laser devices can be divided into two types, type A laser devices and type B laser devices. The difference between laser devices is that the receiving and transmitting wavelengths are different. The receiving wavelength of type A laser devices is λ1 and the transmitting wavelength is λ2, while the receiving wavelength of type B terminals is λ2 and the transmitting wavelength is λ1. The same type of laser devices can be configured on the same spatial node to ensure that the signal transmitting wavelengths and signal receiving wavelengths of the laser devices on the same spatial node are the same.

[0072] Furthermore, the space node network includes different space nodes, and the space nodes can be distributed on multiple different orbital planes, and the above orbital planes can include polar orbital planes, near-polar orbital planes, and inclined orbits with larger inclination angles. For example, the above space node network can be composed of N×M space nodes, and the space nodes are distributed on N orbital planes, and there are M space nodes on each orbital plane.

[0073] The above-mentioned space node network may be a space node constellation, and the above-mentioned space nodes may be satellites, space stations, aircraft, etc.

[0074] In one embodiment of the present invention, four laser devices are configured on the above-mentioned space node, wherein the four laser devices are respectively connected to the laser device of the front space node on the same orbital plane, connected to the laser device of the front space node on a different orbital plane, connected to the laser device of the rear space node on the same orbital plane, and connected to the laser device of the rear space node on a different orbital plane.

[0075] It should be noted that installing four laser devices on each space node is only an example. Each space node may also be installed with 1, 2, 3, 5 or 6 laser devices, etc. This embodiment does not limit the number of laser devices on the space node.

[0076] When four laser devices are installed on each space node, the four laser devices are respectively located at the front left position, the front right position, the rear left position and the rear right position of the space node.

[0077] The four laser devices can respectively establish links with the four co-orbital space nodes in front, behind, left and right of the space node. For different-orbit links, the "lower left and upper right" rule can be followed in the ascending orbit area. Each star establishes laser links with the different-orbital plane space nodes on its lower left and upper right, that is, a laser link is established with the low-orbital plane space node on the left, and a laser link is established with the high-orbital plane space node on the right. In the descending orbit area, the "upper left and lower right" rule is followed, that is, a laser link is established with the high-orbital plane space node on the left, and a laser link is established with the low-orbital plane space node on the right. The different-orbital plane space node that establishes a laser link can be the space node closest to the space node, or it can be another different-orbital plane space node.

[0078] See also Figure 2 , is a schematic diagram of a spatial node structure provided in an embodiment of the present invention.

[0079] There are 4 different laser devices represented by circles on the spatial nodes in the figure, numbered a, b, c, and d respectively, and the straight lines connected to the laser devices represent the laser links established by the laser devices. Among them, laser device a establishes a laser link with the spatial node in the same orbital plane in front, laser device b establishes a laser link with the spatial node in the opposite orbital plane in front, laser device c establishes a laser link with the spatial node in the opposite orbital plane in the back, and laser device d establishes a laser link with the spatial node in the same orbital plane in the back.

[0080] In one embodiment of the present invention, Figure 2 The embodiment shown is the same, the laser device located at the front left position on the above-mentioned space node is connected to the laser device located at the rear right position on the space node on the same orbital plane in front;

[0081] and / or

[0082] The laser device located at the front right position on the above-mentioned space node is connected to the laser device located at the rear left position on the front different-orbital plane space node.

[0083] In addition, contrary to the aforementioned embodiment, the "upper left and lower right" rule may be followed in the ascending orbit area, and the "lower left and upper right" rule may be followed in the descending orbit area. The embodiment of the present invention does not limit the specific connection rules and methods between the space nodes in the space node network.

[0084] In another embodiment of the present invention, the laser device located at the front right position on the above-mentioned space node is connected to the laser device located at the rear left position on the front space node on the same orbital plane;

[0085] and / or

[0086] The laser device located at the front left position on the above-mentioned space node is connected to the laser device located at the rear right position on the front different-orbital plane space node.

[0087] In yet another embodiment of the present invention, the transmitting and receiving wavelengths of the laser devices configured at adjacent space nodes located on the same orbital plane are different.

[0088] Specifically, the receiving wavelength of the laser device configured at the above-mentioned space node is equal to the transmitting wavelength of the laser device configured at the adjacent node on the same orbital plane. The transmitting wavelength of the laser device configured at the above-mentioned space node is equal to the receiving wavelength of the laser device configured at the adjacent node on the same orbital plane.

[0089] It should be noted that the solution provided in the embodiment of the present invention does not limit the specific transmitting and receiving wavelengths of the laser devices configured in adjacent spatial nodes.

[0090] Specifically, the space nodes that are directly connected to each other in the space node network are called adjacent space nodes. Since the distance between adjacent space nodes is short, there may be mutual interference between the signals transmitted by the two. Therefore, the transmitting and receiving wavelengths of the laser devices on the adjacent space nodes can be set to be different, that is, the signal sending wavelengths are different and the signal receiving wavelengths are different, that is, different types of laser devices are installed on adjacent space nodes, so as to reduce the mutual influence between the signals of adjacent space nodes.

[0091] See also Figure 3 , is a schematic diagram of a spatial node connection relationship in a spatial node network provided by an embodiment of the present invention, in which the squares in the figure represent spatial nodes, the circles represent laser devices, the dotted arrows between the laser devices represent the existence of links between the laser devices, and the dotted lines without arrows represent track planes, which include four track planes, namely Track 1 to Track 4. In the figure, circles of the same color represent laser devices of the same type, and circles of different colors represent laser devices of different types.

[0092] visible, Figure 3 The types of laser devices on the same spatial node in the spatial node network shown are the same, that is, the signal sending wavelengths and signal receiving wavelengths of the laser devices on the same spatial node are the same, and the types of laser devices on adjacent spatial nodes are different, that is, the signal sending wavelengths and signal receiving wavelengths of the laser devices on adjacent spatial nodes are different.

[0093] The space node in the embodiment of the present invention may be a satellite.

[0094] S102: Use a calibration device to simultaneously calibrate multiple laser devices on the above-mentioned spatial nodes.

[0095] The calibration device is located on the ground and calibrates the laser device by emitting a beacon light beam to scan the laser device on the space node in space.

[0096] In one embodiment of the present invention, the calibration device can calibrate the laser device based on any method in the relevant technology.

[0097] In another embodiment of the present invention, the following Figure 4 The steps S401-S404 shown are used for calibration and will not be described in detail here.

[0098] As can be seen from the above, the receiving and transmitting wavelengths of multiple laser devices on the space node are configured to have the same first receiving wavelength and the same second transmitting wavelength. Since the receiving and transmitting wavelengths of multiple laser devices on the same space node are the same, the calibration device can scan all laser devices on the same space node at one time, so that all laser devices on a space node can be calibrated at the same time. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a space node at the same time with one scan, thereby improving the efficiency of calibrating laser devices in the space node network.

[0099] See also Figure 4 , which is a flow chart of a calibration method for a calibration device provided in an embodiment of the present invention.

[0100] S401: Acquire the motor tracking control amount of each laser device obtained after scanning the multiple laser devices on the first spatial node.

[0101] It should be noted that when the laser device is located in the link area of ​​the calibration device, the beacon light beam continuously scans the laser device, so that the motor tracking control quantity at different times within a certain time period can be continuously obtained.

[0102] The motor tracking control quantity includes the actual azimuth angle value and pitch angle value (θ AZ ,θ EL ), where θ AZ is the azimuth angle value, θ EL is the pitch angle value.

[0103] Furthermore, in the process of scanning the laser device by the calibration device, the laser device needs to be aligned with the calibration device. In the embodiment of the present invention, the laser device is equipped with a turntable, which can drive the laser device to rotate. The turntable can be connected to the optical load of the laser device through the shaft heads on the left and right sides of the pitch axis system. The turntable is connected to the mounting of the space node through the bottom surface of the azimuth base. The turntable can be a two-dimensional turntable or a three-dimensional turntable. It should be noted that as long as the device configured on the space node can drive the laser device to rotate, it can be used in the embodiment of the present invention to realize the rotation of the laser device. The embodiment of the present invention does not limit the way the laser device rotates.

[0104] For each laser device, the coordinate error correction matrix of the laser device is calibrated through the following steps S202 - S204 .

[0105] S402: Calculate the actual pointing vector of the laser device based on the motor tracking control amount of the laser device.

[0106] Specifically, according to t f The time obtained (θAZ ,θ EL ) Reverse deduction of t f The actual pointing vector R at the moment SHTf Calculate R SHTf The method of calculating R can be referred to in the related art. SHTf The method is not limited.

[0107] S403: Calculate the correction values ​​of the correction angles of the three coordinate axes in the coordinate error correction matrix of the laser device based on the actual pointing vector.

[0108] According to R SHTf , R SHT , B(α, β, γ), the least squares method can be used to calculate the correction amounts of the correction angles of the three coordinate axes in the coordinate error correction matrix B(α, β, γ) of the laser device, which are Δα, Δβ, and Δγ respectively.

[0109] Specifically, R SHTf , R SHT , B(α, β, γ) is:

[0110] R SHTf =B(α, β, γ)R SHT

[0111] Among them, R SHT is the theoretical pointing vector of the laser device, R SHTf Yes f The actual pointing vector at the moment.

[0112] According to R SHTf , R SHT , B(α, β, γ), the correction calculation formula derived based on the least squares method is:

[0113]

[0114]

[0115]

[0116] Among them, Δα, Δβ, and Δγ are the correction amounts of the correction angles of the three coordinate axes respectively, n is the value at different angles, and N represents the total number of angles.

[0117] S404: Adjusting the coordinate error correction matrix of the laser device based on the correction amount.

[0118] After calculating the correction amounts of the three correction angles, adjust α, β, and γ in the coordinate error correction matrix based on the above correction amounts. Specifically, add Δα to α in the coordinate error correction matrix, add Δβ to β, and add Δγ to γ ​​to obtain the adjusted coordinate error correction matrix, thereby completing the calibration of the laser device.

[0119] As can be seen from the above, after obtaining the motor tracking control amount obtained by the calibration device after scanning all laser devices on the same spatial node in the embodiment of the present invention, the coordinate error correction matrix of the laser device is calibrated for each laser device. Since the types of laser devices on the same spatial node in the embodiment of the present invention are the same, that is, the signal transmission wavelengths of the laser devices on the same spatial node are the same, and the signal receiving wavelengths are also the same, the calibration device can scan all laser devices on the same spatial node at one time, obtain the motor tracking control amount of all laser devices on the same spatial node, and thus can directly calibrate all laser devices on a spatial node. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a spatial node with one scan, so that the efficiency of calibrating the laser devices in the spatial node network can be improved.

[0120] In order to further improve the efficiency of laser device calibration, the efficiency of the calibration device in scanning the laser device can be improved. Specifically, the width of the beacon light beam emitted by the calibration device can be expanded so that the beacon light beam emitted by the calibration device can cover all laser devices on the same spatial node at one time, thereby being able to directly scan all laser devices on the same spatial node.

[0121] In one embodiment of the present invention, the width of the beacon light beam emitted by the calibration device is greater than a preset multiple of the track error.

[0122] Among them, the above-mentioned orbit error is the absolute value of the cumulative sum of at least one of the following errors: the error caused by orbit calculation, the error caused by orbit positioning, the error of open-loop pointing of the above-mentioned calibration device, and the error caused by the shaking of the above-mentioned beacon light beam.

[0123] Specifically, the error caused by the shaking of the beacon light beam is caused by the medium and weak turbulent disturbance of the atmosphere.

[0124] See Table 1, which is a table of pointing error sources of a calibration device provided in an embodiment of the present invention.

[0125] Table 1

[0126] Serial number project scope 1 Errors caused by orbit calculations ±a urad 2 Errors caused by track positioning ± b urad 3 Open loop pointing error of the calibration device ±c urad 4 Errors caused by beacon light beam fluctuations ±d urad

[0127] In the example shown in Table 1, the sum of the errors is ±(a+b+c+d)urad, and the orbit error is the absolute value of the sum of the errors, that is, (a+b+c+d)urad. In order to cover the range of the sum of the errors, the width of the beacon light beam needs to be greater than 2(a+b+c+d)urad. In order to ensure that the width of the beacon light beam can cover all laser devices on the space node in most cases and does not waste beam emission resources due to excessive width, the beacon light beam can be set to be slightly larger than 2(a+b+c+d)urad. In this example, the preset multiple is 2.

[0128] From the above, it can be seen that the width of the beacon light beam of the calibration device in the embodiment of the present invention is greater than the preset multiple of the orbit error, so that the beacon light beam emitted by the calibration device can cover all laser devices on the same spatial node at one time, thereby further shortening the time required for laser device calibration.

[0129] Since the space node moves in space and the calibration device is fixed on the ground, the laser device on the space node will not be constantly within the link area of ​​the calibration device. The link area is the range within which the laser device of the space node and the calibration device can establish a link. Only the laser device that is within the link area and aimed at the laser beacon station can be scanned by the laser beacon station.

[0130] Therefore, in order to ensure that the laser device can be fully scanned while being located in the link area, in another embodiment of the present invention, before the above-mentioned space node enters the link area, the laser device on the above-mentioned space node predicts the angle to be rotated of the above-mentioned laser device based on the space node orbit data and attitude data of the above-mentioned space node, and rotates based on the above-mentioned angle to be rotated, and pre-aims the above-mentioned calibration device.

[0131] The link area is determined based on the effective calibration elevation angle range of the calibration device and the rotation limit angle of the laser device.

[0132] See also Figure 5 , which is a schematic diagram of the relationship between an effective calibration elevation angle range and a rotation limit angle provided in an embodiment of the present invention.

[0133] The solid circle in the figure represents the earth, the dotted circle represents the space node orbit, the dot on the space node orbit represents the space node, and h in the figure represents the height of the space node orbit. e is the radius of the earth, θ is the elevation angle of the calibration device, and El is the pitch angle of the space node.

[0134] based on Figure 5 As shown, combined with the trigonometric function relationship, it can be determined that when the spatial node belongs to the link area, θ and El satisfy the following formula:

[0135]

[0136] Therefore, when θ is within the effective calibration elevation angle range and El is within the range of the laser device rotation limit angle, it can be determined that the area where the position of the spatial node satisfies the above formula is the link area.

[0137] In one embodiment of the present invention, the angle to be rotated may be calculated by the execution subject of the embodiment of the present invention, or may be calculated by the laser device itself, or may be calculated by any other device with computing capability.

[0138] Before performing calculation, the device for calculating the angle to be rotated obtains the above-mentioned space node orbit data and attitude data.

[0139] The above-mentioned space node orbit data may include at least one of the following data: orbit semi-major axis a, eccentricity e, ascending node right ascension Ω, perigee argument ω, and mean anomaly M0 at time t.

[0140] The attitude data may include at least one of the following data: the roll angle of the spatial node attitude at time t, the pitch angle of the spatial node attitude at time t, the yaw angle of the spatial node attitude at time t, the angular velocity of the roll angle of the spatial node attitude at time t, the angular velocity of the pitch angle of the spatial node attitude at time t, the angular velocity of the yaw angle of the spatial node attitude at time t, the current angle of the azimuth axis of the laser device, and the current angle of the pitch axis of the turntable at time t.

[0141] In addition to the above-mentioned spatial node orbit data and attitude data, the time point that needs to be predicted, the measurement time of the six orbital elements, and the measurement time of the attitude Euler angle can also be obtained.

[0142] The above-mentioned spatial node orbit data can represent the motion trajectory of the spatial node, and the spatial node attitude data can represent the orientation of the spatial node at different times. By combining the motion trajectory of the spatial node and the orientation of the spatial node at different times, it is possible to calculate that when the spatial node moves to different positions of the spatial node orbit, the laser device on the spatial node needs to rotate to the aiming calibration device based on the current orientation of the spatial node, which is the angle to be rotated. It should be noted that since the position of the spatial node and the attitude of the spatial node are different at different times, the laser device on the spatial node needs to rotate to different angles at different times to aim at the calibration device, that is, the angle to be rotated calculated at different times is different.

[0143] In the embodiment of the present invention, the above-mentioned angle to be rotated can be calculated based on any method in the relevant technology, or by the following method: Figure 6 Steps S601-S608 shown calculate the above-mentioned angle to be rotated.

[0144] See also Figure 6 , which is a flow chart of a method for calculating an angle to be rotated provided in an embodiment of the present invention.

[0145] S601: Calculate the time difference between the predicted time of the above-mentioned rotation angle and the measurement time of the above-mentioned posture data.

[0146] The above time difference can be expressed as dt sat_p express:

[0147] dt sat_p =t f -t p

[0148] Among them, the above t f is the prediction time, t p is the measurement time of the posture data.

[0149] S602: Calculate the eccentric anomaly angle at the predicted moment based on the mean anomaly angle at the first moment.

[0150] As we know from the previous text, the mean anomaly at time t is M0. According to the Kepler equation E-esinE=M0, the predicted time t can be obtained by iterative calculation. f The approach angle.

[0151] Among them, E in the formula is the near corner point at the prediction time, and e is a natural constant.

[0152] S603: Based on the anomaly angle, calculate the spatial node position information of the spatial node in the preset coordinate system at the prediction time.

[0153] Specifically, the preset coordinate system may be a geocentric equatorial coordinate system, such as a J2000 coordinate system, and the spatial node position information may be represented in the form of position coordinates or position vectors in the preset coordinate system.

[0154] t can be calculated based on the following formula f The position vector of the spatial node at the moment:

[0155]

[0156] Where a is the semi-major axis of the orbit, r S_j2000 is the spatial node at t f The position vector in the geocentric equatorial coordinate system at this moment; is a unit vector, E is the above-mentioned anomaly angle, e is a natural constant, is a unit vector.

[0157] and The representations in the geocentric equatorial coordinate system are:

[0158]

[0159]

[0160] Among them, R is the position vector in the near focus coordinate system, R Z , R X They represent rotation along the X-axis and Z-axis by a certain angle, respectively, and conversion to the geocentric equatorial coordinate system. i represents the orbital inclination, Ω is the right ascension of the ascending node, and ω is the argument of perigee.

[0161] S604: Calculate the calibration device position information of the calibration device in the preset coordinate system at the predicted time.

[0162] Specifically, the preset coordinate system is the same as the preset coordinate system in step S503, for example, both may be J2000 coordinate systems. The calibration device position information may be represented in the form of coordinates or position vectors of the calibration device in the preset coordinate system.

[0163] t can be calculated by the following formula f Position vector of the time calibration device:

[0164] r D_J2000 =A·B

[0165] Among them, r D_J2000 t f Position vector of the time calibration device;

[0166]

[0167] Where A is the precession correction matrix,

[0168]

[0169] Among them, ξ A ,θ A 、z A are three precession angles, B represents the position vector of the calibration device in the WGS-84 coordinate system rotating around the K axis in the J2000 coordinate system is the angle between the vernal equinox and Greenwich 0°, w is the rotation angle of the earth, H is the altitude of the calibration device, N is the radius of the circle, a e is the major radius of the ellipsoid, which is 6378.137 km; e 2 represents the square of the eccentricity of the first ellipsoid, and its value is 0.0066943799013; L is the geodetic latitude, λ B The longitude of the earth.

[0170] S605: Based on the above-mentioned spatial node position information and the above-mentioned calibration device position information, calculate the relative position information of the above-mentioned spatial node pointing to the above-mentioned calibration device in the above-mentioned preset coordinate system.

[0171] Specifically, since the above-mentioned spatial node position information and the calibration device position information are both position information in a preset coordinate system, the above-mentioned relative position information can be obtained by subtracting the spatial node position information from the calibration device position information.

[0172] When the above-mentioned spatial node position information and calibration device position information are both expressed in the form of position vectors in the J2000 coordinate system, the above-mentioned relative position information can be calculated based on the following formula:

[0173] r SD_Orbit =r D_J2000 -r S_J2000

[0174] Among them, r SD_Orbit The relative position information is expressed in the form of a vector in the J2000 coordinate system.

[0175] Specifically, when the above preset coordinate system is the J2000 coordinate system, the coordinate system conversion can be performed based on the following formula:

[0176] r SD_Orbit =R I-O r SD_J2000

[0177] Among them, r SD_Orbit is the relative position information in the spatial node orbital coordinate system, R J-O is the transformation matrix.

[0178]

[0179] Among them, Ω is the right ascension of the ascending node, ω is the argument of perigee, g is the true anomaly, and i is the orbital inclination.

[0180] S606: Based on the above posture data and the above time difference, predict the posture of the above spatial node at the above prediction time.

[0181] Specifically, the posture of the above-mentioned spatial node can be expressed as the rolling angle θ of the spatial node. G , pitch angle θ F , yaw angle θ P express.

[0182] θ can be calculated by the following formula G ,θ F With θ P :

[0183]

[0184] Among them, θ G0 is the rolling angle at time t in the above posture data, is the rolling angular velocity, θ F0 is the pitch angle at time t in the above attitude data, is the pitch angular velocity, θ P0 is the yaw angle at time t in the above attitude data, is the yaw angular velocity, dt sat_p is the time difference mentioned above.

[0185] S607: Based on the above posture, the relative position information in the above preset coordinate system is converted into aiming position information in the space node coordinate system.

[0186] In one embodiment of the present invention, a transformation matrix is ​​generated based on the above-mentioned posture, and then the relative position information is converted into aiming position information based on the above-mentioned transformation matrix.

[0187] The above relative position information is r in the spatial node orbit coordinate system. SD_Orbit In the case of , the aiming position information in the spatial node coordinate system can be calculated by the following formula:

[0188] r SD_Sat =R O-S r SD_Orbit

[0189] Among them, r SD_Sat is the aiming position information in the spatial node coordinate system, r SD_Orbit is the relative position information in the spatial node orbital coordinate system, R O-S is the transformation matrix for asymmetric coordinate transformation.

[0190] Specifically, the embodiment of the present invention adopts the attitude correction transformation angle data provided by the space node, that is, the asymmetric coordinate transformation order of 312 (referring to the coordinate axis). That is, when the coordinate is transformed, it is first rotated around the yaw axis, then around the rotated roll axis, and finally around the rotated pitch axis. The transformation matrix R of the asymmetric coordinate transformation 312 is O-S for:

[0191]

[0192] Among them, θ G ,θ F ,θ P The roll angle, pitch angle, and yaw angle are calculated in the above steps respectively.

[0193] The above-mentioned space node coordinate system is a coordinate system with the space node body as the origin. The relative position information converted into the space node coordinate system represents the aiming vector of the space node calibration device in the space node body coordinate system.

[0194] However, since the laser device is actually required to be aimed at and calibrated in the embodiment of the present invention, in order to more accurately obtain the relative position between the laser device and the calibration device, after calculating the aiming position information in the space node coordinate system, the aiming position information can be further converted from the space node coordinate system to the laser device coordinate system in the embodiment of the present invention, so that the above-mentioned aiming position information is more accurate.

[0195] Specifically, the following formula can be used for coordinate system conversion:

[0196] r SD_Ter =R S-T r SD_Sat

[0197] Among them, r SD_Sat is the aiming position information in the spatial node coordinate system, r SD_Ter is the relative position information in the laser device coordinate system, R S-T is the installation matrix of the laser device, which represents the transformation relationship between the spatial node coordinate system and the laser device coordinate system.

[0198] S608: Calculate the angle to be rotated based on the aiming position information.

[0199] Based on the aiming position information, the relative position relationship between the laser device and the calibration device can be determined, and then the rotation angle of the laser device when aiming at the calibration device can be calculated. The rotation angle can include the elevation angle and azimuth angle that the laser device needs to rotate in two different dimensions.

[0200]

[0201] Among them, θ0 is the pitch angle in the rotation angle to be rotated, is the azimuth angle to be rotated.

[0202] After obtaining the angle to be rotated, when the angle to be rotated is within the rotatable range of the laser device, the laser device may start a pre-aiming procedure, rotate based on the angle to be rotated, and pre-aim the calibration device.

[0203] From the above, it can be seen that the angle to be rotated of the laser device can be calculated based on the above calculation method. The laser device can be rotated based on the above angle to be rotated and point to the calibration device before entering the link area, so that the calibration device can directly scan the laser device after entering the link area.

[0204] It should be noted that the angle to be rotated calculated in the above manner is different at different prediction times.

[0205] In addition, the embodiment of the present invention can calibrate the laser device in batches. According to the position of the existing calibration device and the orbital information of the space node, the number of times the calibration device is visible to a single space node per day can be calculated. For example, if the calibration device is visible to a single space node 4-6 times per day, the average single visibility duration is about 8 minutes. Taking into account the calibration accuracy, multiple arcs can be set to calibrate the laser device of a single space node, so as to achieve comprehensive adjustment processing, which means that the laser device on a single space node requires 4-6 arcs to complete the calibration. According to the configuration of 4 laser devices on 1 space node, a total of 30 minutes is required for calibration calculation. The calibration efficiency of one calibration device is 48 space nodes per day, with a total of 192 sets of laser devices. For a space node network with hundreds of space nodes, rapid batch calibration can be achieved in a short time.

[0206] An embodiment of the present invention further provides a space node, wherein the space node is configured with multiple laser devices, wherein the multiple laser devices have the same first receiving wavelength and the same second sending wavelength, and the first receiving wavelength is not equal to the second sending wavelength.

[0207] Specifically, when four laser devices are configured on the above-mentioned space node, the structure of the above-mentioned space node can be referred to in the previous text. Figure 2 The structure shown.

[0208] In the space node provided by the embodiment of the present invention, the transceiver wavelengths of multiple laser devices on the space node are configured to have the same first receiving wavelength and the same second transmitting wavelength. Since the transceiver wavelengths of multiple laser devices on the same space node are the same, the calibration device can scan all laser devices on the same space node at one time, so that all laser devices on a space node can be calibrated at the same time. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a space node at the same time with one scan, so the efficiency of calibrating the laser devices in the space node network can be improved.

[0209] In one embodiment of the present invention, four laser devices are configured on the space node, wherein the four laser devices are respectively connected to the laser device of the front space node on the same orbital plane, connected to the laser device of the front space node on a different orbital plane, connected to the laser device of the rear space node on the same orbital plane, and connected to the laser device of the rear space node on a different orbital plane.

[0210] In one embodiment of the present invention, the four laser devices are respectively located at the front left position, the front right position, the rear left position and the rear right position of the spatial node.

[0211] In one embodiment of the present invention, the laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front space node on the same orbital plane;

[0212] and / or

[0213] The laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front different orbital plane space node.

[0214] In one embodiment of the present invention, the laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front space node on the same orbital plane;

[0215] and / or

[0216] The laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front different orbital plane space node.

[0217] In one embodiment of the present invention, the laser device configured at the space node has a different transmitting and receiving wavelength from the laser device configured at an adjacent space node located on the same orbital plane.

[0218] In one embodiment of the present invention, the receiving wavelength of the laser device configured at the spatial node is equal to the transmitting wavelength of the laser device configured at the adjacent node on the same orbital plane.

[0219] From the above, it can be seen that since the distance between adjacent spatial nodes is relatively close, there may be mutual interference between the signals emitted by the two. Therefore, the transmitting and receiving wavelengths of the laser devices on the adjacent spatial nodes can be set to be different, that is, the signal sending wavelengths are different and the signal receiving wavelengths are different, that is, different types of laser devices are installed on adjacent spatial nodes, so as to reduce the mutual influence between the signals of adjacent spatial nodes.

[0220] See also Figure 7 , is a schematic diagram of the structure of a calibration device provided by an embodiment of the present invention, such as Figure 7 As shown, the calibration device includes a processor 701, a communication interface 702, a memory 703, a communication bus 704, and a beacon light transmitter 705 for transmitting a beacon light beam, wherein the processor 701, the communication interface 702, the memory 703, and the beacon light transmitter 705 communicate with each other through the communication bus 704.

[0221] Memory 703, used for storing computer programs;

[0222] The processor 701 is used to implement any method step shown in the above-mentioned laser device calibration method when executing the program stored in the memory 703.

[0223] When the electronic device provided by the embodiment of the present invention is used to calibrate the laser device, the transceiver wavelengths of multiple laser devices on the space node are configured to have the same first receiving wavelength and the same second transmitting wavelength. Since the transceiver wavelengths of multiple laser devices on the same space node are the same, the calibration device can scan all laser devices on the same space node at one time, so that all laser devices on a space node can be calibrated at the same time. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a space node at the same time with one scan, so the efficiency of calibrating the laser devices in the space node network can be improved.

[0224] In one embodiment of the present invention, the width of the beacon light beam emitted by the calibration device is greater than a preset multiple of the orbit error, wherein the orbit error is the absolute value of the cumulative sum of at least one of the following errors: error caused by orbit calculation, error caused by orbit positioning, error in open-loop pointing of the calibration device, error caused by shaking of the beacon light beam.

[0225] From the above, it can be seen that the width of the beacon light beam of the calibration device in the embodiment of the present invention is greater than the preset multiple of the orbit error, so that the beacon light beam emitted by the calibration device can cover all laser devices on the same spatial node at one time, thereby further shortening the time required for laser device calibration.

[0226] 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.

[0227] The communication interface is used for communication between the above electronic device and other devices.

[0228] 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.

[0229] 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.

[0230] In another embodiment of the present invention, 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 laser device calibration methods are implemented.

[0231] When the computer program stored in the computer-readable storage medium provided by the embodiment of the present invention is applied to calibrate the laser device, the transceiver wavelengths of multiple laser devices on the space node are configured to have the same first receiving wavelength and the same second transmitting wavelength. Since the transceiver wavelengths of multiple laser devices on the same space node are the same, the calibration device can scan all laser devices on the same space node at one time, so that all laser devices on a space node can be calibrated at the same time. Through the scheme provided by the embodiment of the present invention, the calibration device can complete the calibration of all laser devices on a space node at the same time with one scan, so the efficiency of calibrating the laser devices in the space node network can be improved.

[0232] In another embodiment provided by the present invention, a computer program product including instructions is also provided, which, when executed on a computer, enables the computer to execute any of the laser device calibration methods in the above embodiments.

[0233] When the computer program product provided by the embodiment of the present invention is used to calibrate the laser device, after the motor tracking control amount obtained by the calibration device after scanning all the laser devices on the same spatial node in the embodiment of the present invention is obtained, the coordinate error correction matrix of the laser device is calibrated for each laser device. Since the types of the laser devices on the same spatial node in the embodiment of the present invention are the same, that is, the signal transmission wavelengths of the laser devices on the same spatial node are the same, and the signal receiving wavelengths are also the same, the calibration device can scan all the laser devices on the same spatial node at one time, obtain the motor tracking control amount of all the laser devices on the same spatial node, and thus can directly calibrate all the laser devices on a spatial node. Through the solution provided by the embodiment of the present invention, the calibration device can complete the calibration of all the laser devices on a spatial node by performing one scan, so the efficiency of calibrating the laser devices in the spatial node network can be improved.

[0234] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by 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 invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can 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 can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can 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 hard disk Solid State Disk (SSD)), etc.

[0235] 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.

[0236] 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 spatial node, calibration 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.

[0237] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A laser device calibration method, characterized in that: The method comprises: Configuring the receiving and transmitting wavelengths of multiple laser devices on the space node, wherein the multiple laser devices have the same first receiving wavelength and the same second transmitting wavelength, and the first receiving wavelength is not equal to the second transmitting wavelength; A calibration device is used to simultaneously calibrate multiple laser devices on the space node.

2. The method according to claim 1, characterized in that Four laser devices are configured on the space node, wherein the four laser devices are respectively connected to the laser device of the front space node on the same orbital plane, the laser device of the front space node on a different orbital plane, the laser device of the rear space node on the same orbital plane, and the laser device of the rear space node on a different orbital plane.

3. The method according to claim 2, characterized in that The four laser devices are respectively located at the front left position, the front right position, the rear left position and the rear right position of the space node.

4. The method according to claim 3, characterized in that The laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the space node on the same track plane in front; and / or The laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the front different orbital plane space node.

5. The method according to claim 3, characterized in that: The laser device located at the front right position on the space node is connected to the laser device located at the rear left position on the space node on the same track plane in front; and / or The laser device located at the front left position on the space node is connected to the laser device located at the rear right position on the front different orbital plane space node.

6. The method according to claim 1, characterized in that The calibration device simultaneously calibrates multiple laser devices on the spatial node in the following manner: Acquire a motor tracking control amount of each laser device obtained after scanning multiple laser devices on the first spatial node; For each laser device, the coordinate error correction matrix of the laser device is calibrated in the following way: Calculating the actual pointing vector of the laser device based on the motor tracking control amount of the laser device; Calculating correction values ​​of correction angles of three coordinate axes in a coordinate error correction matrix of the laser device based on the actual pointing vector; The coordinate error correction matrix of the laser device is adjusted based on the correction amount.

7. A spatial node, characterized in that: The spatial node is configured with a plurality of laser devices, and the plurality of laser devices have a same first receiving wavelength and a same second transmitting wavelength, and the first receiving wavelength is not equal to the second transmitting wavelength.

8. A space network system, characterized in that: The space network system includes multiple tracks, each of which contains multiple space nodes, and the space nodes are the space nodes described in claim 7.

9. A calibration device, characterized in that: The calibration device includes a processor, a communication interface, a memory, a communication bus, and a beacon light transmitter for emitting a beacon light beam, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; Memory, used to store computer programs; The processor is used to implement the method steps described in claim 6 when executing the program stored in the memory.

10. 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 6 are implemented.

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