Angular vibration compensation method and angular vibration compensation device for detection device

Abstract

The invention provides an angular vibration compensation method of a detection device and an angular vibration compensation device, and belongs to the field of light beam jitter control, and the angular vibration compensation method comprises the steps: reflecting an incident light beam to an imaging assembly through a reflector installed on a motion carrier; determining a first angular position of angular vibration of the load relative to the motion carrier under the external disturbance signal; and according to the first angular position, the reflector is rotated, so that the incident beam can enter the imaging assembly at a preset angle, and the preset angle is an included angle between the incident beam and the optical axis of the imaging assembly under the condition that the load and the moving carrier are kept relatively static. According to the angular vibration compensation method provided by the invention, the influence of the angular vibration of the motion carrier on the visual axis jitter of the imaging assembly is avoided, so that the imaging assembly can meet the high-precision imaging requirement.

Description

Technical Field

[0001] At least one embodiment of the present invention relates to the field of line-of-sight jitter control, and particularly to an angular vibration compensation method and an angular vibration compensation device for a detection device. Background Art

[0002] With the continuous deepening of human exploration of the universe, deep space exploration missions such as lunar exploration, Mars exploration, and solar exploration are developing in a farther and more complex direction. Compared with near-Earth orbit space missions, deep space exploration faces more severe technical challenges: the tracking and measurement distance is farther, the signal transmission delay is greater, the mission cycle is longer, and at the same time, higher requirements are put forward for the pointing accuracy of optical payloads. Among these challenges, an ultra-quiet and ultra-stable environment is a basic condition for realizing the performance of deep space exploration mission payloads.

[0003] However, the on-orbit operating environment of deep space detectors is extremely complex, and various factors will induce angular vibrations with small amplitudes, seriously threatening the performance of optical payloads. These vibrations mainly come from three aspects: one is the periodic disturbance generated by high-speed rotating components such as momentum wheels; the second is the intermittent vibration caused by stepping components such as solar cell drive mechanisms; the third is random impacts such as space debris collisions. This kind of angular vibration has the characteristics of small amplitude (usually in the order of arcseconds), wide frequency band (0.01 Hz to kHz), inherent nature (related to the structural characteristics of the spacecraft), difficult to measure, difficult to suppress, and interference selectivity (sensitive to specific frequency bands). These characteristics make micro-angular vibration a problem faced in the development of high-resolution payloads such as deep space laser communication and high-orbit remote sensing imaging. Summary of the Invention

[0004] In view of this, in order to solve the above problems, an angular vibration compensation method and an angular vibration compensation device for a detection device are proposed.

[0005] As a first aspect of the present invention, an angular vibration compensation method for a detection device is provided. The detection device includes a payload and an imaging component located on the payload. The payload is located on a moving carrier. The angular vibration compensation method includes:

[0006] Using a reflector installed on the moving carrier to reflect the incident light beam to the imaging component;

[0007] Determining a first angular position of the payload relative to the moving carrier when the payload undergoes angular vibration under an external disturbance signal;

[0008] Rotating the reflector according to the first angular position so that the incident light beam can enter the imaging component at a preset angle, where the preset angle is the included angle between the incident light beam and the optical axis of the imaging component when the payload and the moving carrier remain relatively stationary.

[0009] According to an embodiment of the present invention, rotating the reflector according to the first angular position includes:

[0010] Obtain a driving voltage according to the first angular position;

[0011] Apply the driving voltage to the driver so that the driver drives the mirror to rotate based on the driving voltage.

[0012] According to an embodiment of the present invention, obtaining the driving voltage according to the first angular position includes:

[0013] Obtain the driving voltage according to the first angular position and the gain;

[0014] Wherein, the gain is the product of a first sub-gain and a second sub-gain, the first sub-gain represents the influence of the angular vibration of the payload on the included angle, and the second sub-gain represents the influence of the rotation of the mirror on the included angle.

[0015] According to an embodiment of the present invention, the method for determining the first sub-gain includes:

[0016] Apply at least one reference perturbation signal to the payload so that the payload undergoes at least one angular vibration relative to the moving vehicle;

[0017] For the i-th reference perturbation signal among the at least one reference perturbation signal, determine the second angular position of the payload when the i-th reference perturbation signal is applied; wherein, i≥1;

[0018] For the i-th reference perturbation signal among the at least one reference perturbation signal, determine the first incident angle position of the light spot of the incident light beam in the imaging assembly according to the image formed by the incident light beam in the imaging assembly when the i-th reference perturbation signal is applied;

[0019] Determine the first sub-gain according to the second angular position and the first incident angle position corresponding to each of the at least one reference perturbation signal.

[0020] According to an embodiment of the present invention, determining the first sub-gain according to the second angular position and the first incident angle position corresponding to each of the at least one reference perturbation signal includes:

[0021] Obtain the amplitude of the second angular position according to the second angular position of the payload when the i-th reference perturbation signal is applied;

[0022] Obtain the amplitude of the first incident angle position according to the first incident angle position of the light spot of the incident light beam in the imaging assembly when the i-th reference perturbation signal is applied;

[0023] Obtain a first ratio according to the ratio of the amplitude of the second angular position to the amplitude of the first incident angle position;

[0024] Average at least one first ratio corresponding to the at least one reference perturbation signal to obtain the first sub-gain.

[0025] According to an embodiment of the present invention, the method for determining the second sub-gain includes:

[0026] Applying a reference voltage to the driver at least once to cause the driver to drive the mirror to rotate relative to the moving carrier at least once;

[0027] For the j-th reference voltage among the at least once reference voltages, determining the reference angular position of the mirror when the j-th reference voltage is applied;

[0028] For the j-th reference voltage among the at least once reference voltages, determining the second incident angle position of the light spot of the incident light beam in the imaging component according to the image formed by the incident light beam in the imaging component when the j-th reference voltage is applied;

[0029] Determining the second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least once reference voltages.

[0030] According to an embodiment of the present invention, determining the second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least once reference voltages includes:

[0031] Obtaining the amplitude of the reference angular position according to the reference angular position of the mirror when the j-th reference voltage is applied; where j≥1.

[0032] Obtaining the amplitude of the second incident angle position according to the position of the light spot of the incident light beam in the second incident angle of the imaging component when the j-th reference voltage is applied.

[0033] Obtaining a second ratio according to the ratio of the amplitude of the second incident angle position to the amplitude of the reference angular position.

[0034] Averaging at least one second ratio corresponding to the at least once reference voltages to obtain the second sub-gain.

[0035] As a second aspect of the present invention, there is also provided an angular vibration compensation device for a detection device, which is used to implement the above angular vibration compensation method. The detection device includes a payload and an imaging component located on the payload. The payload is located on a moving carrier. The angular vibration compensation device includes:

[0036] A mirror, installed on the moving carrier, suitable for reflecting an incident light beam to the imaging component;

[0037] A compensation module, suitable for determining the first angular position of the payload relative to the moving carrier due to an external disturbance signal and rotating the mirror according to the first angular position, so that the incident light beam enters the imaging component at a preset angle. The preset angle is the included angle between the incident light beam and the optical axis of the imaging component when the payload and the moving carrier remain relatively stationary.

[0038] According to an embodiment of the present invention, the compensation module includes:

[0039] An inertial device, disposed on a payload, adapted to detect a first angular velocity of the payload relative to a moving vehicle undergoing angular vibration under an external disturbance signal;

[0040] A control unit, adapted to obtain a first angular position based on the first angular velocity and obtain a drive voltage based on the first angular position;

[0041] A driver, adapted to drive a mirror to rotate based on the drive voltage so that an incident light beam can enter an imaging assembly at a preset angle.

[0042] According to an embodiment of the present invention, the angular vibration compensation device further includes:

[0043] A processing module, including:

[0044] A signal sending unit, adapted to apply at least one reference disturbance signal to the payload to cause the payload to undergo at least one angular vibration, and adapted to cause the control unit to apply at least one reference voltage to the driver to cause the driver to drive the mirror to undergo at least one rotation;

[0045] The compensation module further includes:

[0046] A measuring unit, adapted to measure a reference angular position of the mirror when applying the j-th reference voltage; where j≥1;

[0047] The inertial device is further adapted to detect a second angular velocity of the payload undergoing angular vibration under the action of the reference disturbance signal, and the control unit is further adapted to obtain a second angular position of the payload based on the second angular velocity;

[0048] The processing module further includes:

[0049] A determining unit, adapted to determine a first incident angle position of the incident light beam in the imaging assembly according to an image formed by the incident light beam in the imaging assembly when applying the i-th reference disturbance signal, and determine a second incident angle position of the incident light beam in the imaging assembly according to an image formed by the incident light beam in the imaging assembly when applying the j-th reference voltage; where i≥1;

[0050] A calculating unit, determining a first sub-gain according to the second angular position and the first incident angle position corresponding to each of the at least one reference disturbance signal; and determining a second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least one reference voltage.

[0051] According to an embodiment of the present invention, by determining the first angular position of the payload angular vibration and controlling the rotation of the mirror to ensure that the incident light beam enters the imaging assembly at a preset angle, the deviation of the incident angle of the incident light beam caused by the payload angular vibration (i.e., the angle between the incident light beam and the optical axis of the imaging assembly) can be effectively reduced, so that the imaging assembly can receive a stable incident light beam, avoiding the influence of the angular vibration of the moving carrier on the line of sight of the imaging assembly, enabling the imaging assembly to meet the high-precision imaging requirements, which is of great significance for application scenarios with high requirements for imaging accuracy such as deep space exploration and high-orbit remote sensing imaging. Description of the Drawings

[0052] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the accompanying drawings in the following description only relate to some embodiments of the present invention and do not limit the present invention.

[0053] Figure 1 Shows a flowchart of the angular vibration compensation method for the detection device provided according to an embodiment of the present invention;

[0054] Figure 2 Shows a schematic diagram of the angular vibration compensation device provided according to an embodiment of the present invention;

[0055] Figure 3 Shows a schematic diagram of the simulation device provided according to an embodiment of the present invention;

[0056] Figure 4 Shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector of the fast mirror before and after compensation when the disturbance test signal is 25 Hz according to an embodiment of the present invention;

[0057] Figure 5 Shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector of the fast mirror before and after compensation when the disturbance test signal is 75 Hz according to an embodiment of the present invention;

[0058] Figure 6 Shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector of the fast mirror before and after compensation when the disturbance test signal is 150 Hz according to an embodiment of the present invention.

[0059] Description of the Reference Numerals

[0060] 1 - Payload; 2 - Imaging Assembly; 3 - Moving Carrier; 4 - Mirror; 5 - Compensation Module; 51 - Inertial Device; 52 - Control Unit; 53 - Driver; 6 - Processing Module; 7 - Angular Vibration Table; 8 - Laser; 9 - Air-Floating Platform; 10 - Position-Sensitive Detector. Detailed Embodiments

[0061] In order to make the objectives, technical solutions and advantages of the present invention more clear and understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings. However, the present invention can be implemented in different forms and should not be construed as being limited to the embodiments presented herein. On the contrary, providing these embodiments will make the invention complete and thorough, and will fully convey the scope of the present invention to those skilled in the art. In the drawings, for clarity, the dimensions and relative dimensions of layers and regions may be exaggerated, and the same reference numerals denote the same elements throughout.

[0062] The terms used herein are merely for describing specific embodiments and are not intended to limit the present invention. The terms "including", "comprising", etc. used herein indicate the presence of the described features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0063] Figure 1 The flowchart of the angular vibration compensation method for a detection device according to an embodiment of the present invention is shown. The detection device includes a payload and an imaging component located on the payload.

[0064] As Figure 1 shown, the angular vibration compensation method includes operations S1 to S3.

[0065] In operation S1, a reflecting mirror installed on a moving vehicle is used to reflect an incident light beam to the imaging component.

[0066] In operation S2, a first angular position of the payload relative to the moving vehicle due to an external disturbance signal is determined. The first angular position refers to the angular offset of the payload relative to the moving vehicle under the external disturbance signal.

[0067] In operation S3, the reflecting mirror is rotated according to the first angular position so that the incident light beam can enter the imaging component at a preset angle. The preset angle is the included angle between the incident light beam and the optical axis of the imaging component when the payload and the moving vehicle are relatively stationary.

[0068] According to an embodiment of the present invention, the moving vehicle may be, for example, a satellite or an automobile, etc. The payload may be an instrument, device, or system for achieving specific detection task objectives. By determining the first angular position of the payload angular vibration and controlling the rotation of the reflecting mirror, it is ensured that the incident light beam enters the imaging component at a preset angle, which effectively reduces the incident angle deviation of the incident light beam caused by the payload angular vibration, enables the imaging component to receive a stable incident light beam, avoids the visual axis jitter of the imaging component caused by the angular vibration of the moving vehicle (the incident light beam jitters relative to the optical axis of the imaging component), enables the imaging component to meet the high-precision imaging requirements, and is of great significance for application scenarios with high imaging accuracy requirements such as deep space exploration and high-orbit remote sensing imaging.

[0069] According to an embodiment of the present invention, the payload of the detection device is located on a moving carrier, and it is vulnerable to various external interferences during movement, generating angular vibrations. This angular vibration compensation method can monitor and respond to the angular vibrations of the payload in real time, quickly adjust the mirror, enabling the imaging assembly to maintain a good working state in a complex moving environment, and improving the adaptability and reliability of the detection device in an unstable environment.

[0070] According to an embodiment of the present invention, the real-time adjustment mechanism of the mirror can effectively offset the influence of the payload angular vibration on the incident light beam, maintaining the stability of the attitude of the light beam received by the imaging assembly. This helps to enhance the stability of the entire detection device system, suppress the line-of-sight jitter caused by angular vibrations, and reduce uncertainty.

[0071] According to an embodiment of the present invention, in operation S3, rotating the mirror according to the first angular position includes operations S31 to S32.

[0072] In operation S31, obtaining a driving voltage according to the first angular position.

[0073] In operation S32, applying the driving voltage to the driver so that the driver drives the mirror to rotate based on the driving voltage.

[0074] According to an embodiment of the present invention, obtaining the driving voltage according to the first angular position realizes the conversion from the angular position to an electrical signal. The angular position is a key parameter reflecting the angular vibration of the payload. Converting it into a driving voltage provides a quantitative basis for subsequent precise control of the mirror rotation. This conversion method enables more precise control of the mirror rotation, can make fine adjustments according to the actual angular vibration situation of the payload, ensure that the rotation angle of the mirror matches the payload angular vibration, thereby accurately correcting the angular deviation of the incident light beam and ensuring that the incident light beam enters the imaging assembly at a preset angle.

[0075] According to an embodiment of the present invention, applying the driving voltage to the driver, and the driver drives the mirror to rotate based on this voltage. As a bridge connecting the control signal and the mirror, the driver can convert the electrical signal into mechanical power and drive the mirror to respond quickly. This voltage-driven method has the characteristics of fast response speed and high control precision, can realize the rapid adjustment of the mirror, timely compensate for the influence brought by the angular vibration of the payload, and can quickly respond when facing the frequent angular vibrations of the payload caused by external interferences, maintain the stability of the incident light beam attitude, and ensure the normal operation of the imaging assembly.

[0076] According to an embodiment of the present invention, obtaining a driving voltage based on a first angular position includes: obtaining the driving voltage based on the first angular position and a gain. Wherein, the gain is the product of a first sub-gain and a second sub-gain. The first sub-gain represents the influence of the angular vibration of the payload on the included angle between the incident light beam and the optical axis of the imaging assembly, and the second sub-gain represents the influence of the rotation of the mirror on the included angle between the incident light beam and the optical axis of the imaging assembly. The relationship between the driving voltage and the first angular position is expressed by Equations (1) to (2).

[0077] (1);

[0078] (2).

[0079] Wherein, U represents the driving voltage, K represents the gain, represents the first angular position. K 1 represents the first sub-gain, K 2 represents the second sub-gain, and the negative sign represents the reverse direction.

[0080] According to an embodiment of the present invention, obtaining the driving voltage based on the first angular position and the gain fully considers the dual influence of the angular vibration of the payload and the rotation of the mirror on the included angle between the incident light beam and the optical axis. Among them, the first sub-gain reflects how the angular vibration of the payload changes the included angle between the incident light beam and the optical axis of the imaging assembly, and the second sub-gain reflects the adjustment effect of the rotation of the mirror on this included angle. The gain obtained by multiplying the two can accurately quantify the relationship between the angular position and the driving voltage, so that the rotation angle of the mirror can more accurately compensate for the angular deviation of the incident light beam caused by the angular vibration of the payload, effectively suppressing the jitter of the incident light beam relative to the optical axis of the imaging assembly.

[0081] According to an embodiment of the present invention, the method for determining the first sub-gain includes Operations S321 to S324.

[0082] In Operation S321, at least one reference perturbation signal is applied to the payload to cause the payload to have at least one angular vibration relative to the moving vehicle.

[0083] In Operation S322, for the i-th reference perturbation signal among at least one reference perturbation signal, determine the second angular position of the payload when the i-th reference perturbation signal is applied ; wherein, i ≥ 1.

[0084] In Operation S323, for the i-th reference perturbation signal among at least one reference perturbation signal, determine the first incident angle position of the light spot of the incident light beam on the imaging assembly according to the image formed by the incident light beam in the imaging assembly when the i-th reference perturbation signal is applied .

[0085] In operation S324, a first sub-gain is determined based on the second angular position and the first incident angle position respectively corresponding to at least one reference perturbation signal. 。

[0086] According to an embodiment of the present invention, the first incident angle position in operation S323 is the angular position of the light spot of the incident light beam on the imaging assembly when the i-th reference perturbation signal is applied.

[0087] According to an embodiment of the present invention, determining the first sub-gain based only on a single measurement is vulnerable to various random factors, resulting in deviations in the measurement results. By applying the reference perturbation signal multiple times and obtaining multiple second angular position and multiple first incident angle position data, the error caused by a single measurement can be avoided.

[0088] According to an embodiment of the present invention, determining the first sub-gain based on the second angular position and the first incident angle position respectively corresponding to at least one reference perturbation signal includes operations S3241 to S3244.

[0089] In operation S3241, based on the second angular position of the load when the i-th reference perturbation signal is applied the amplitude of the second angular position of the load is obtained 。

[0090] In operation S3242, based on the first incident angle position of the light spot of the incident light beam on the imaging assembly when the i-th reference perturbation signal is applied the amplitude of the first incident angle position is determined 。

[0091] In operation S3243, based on the amplitude of the first incident angle position and the amplitude of the second angular position a first ratio is obtained from the ratio 。

[0092] (3). In operation S3244, the at least one first ratio corresponding to at least one (for example, M times) reference perturbation signal is averaged to obtain the first sub-gain 。The first sub-gain is expressed as follows.

[0093] (4).

[0094] According to an embodiment of the present invention, the amplitude is one of the main characteristic parameters of angular vibration, which can intuitively reflect the intensity of angular vibration. By taking the amplitude, the complex reference disturbance signal can be simplified into a single value, facilitating subsequent calculations and analyses. The amplitude can intuitively and accurately reflect the angular vibration of the load and the degree of change in the incident angle position of the incident light beam. The angular vibration of the load and the first incident angle position of the incident light beam will continuously change with external disturbances and system operation. By obtaining the amplitude of the second angular position, it is possible to clearly understand the magnitude of the angular vibration amplitude of the load under the action of the reference disturbance signal; similarly, the amplitude of the first incident angle position can reflect the maximum degree of change in the included angle between the incident light beam and the optical axis of the imaging component after being affected by the angular vibration of the load. These amplitude information provide a quantitative basis for subsequent analysis of the influence of the angular vibration of the load on the included angle between the incident light beam and the optical axis, which helps to accurately determine the first sub-gain, and further achieve precise control of the mirror, improving the visual axis stability accuracy.

[0095] According to an embodiment of the present invention, the method for determining the second sub-gain includes operations S325 to S328.

[0096] In operation S325, at least one reference voltage is applied to the driver to cause the driver to drive the mirror to rotate relative to the moving carrier at least once.

[0097] In operation S326, for the j-th reference voltage among the at least one reference voltage, determine the reference angular position of the mirror when the j-th voltage is applied .

[0098] In operation S327, for the j-th reference voltage among the at least one reference voltage, determine the second incident angle position of the light spot of the incident light beam on the imaging component according to the image formed by the incident light beam in the imaging component when the j-th reference voltage is applied .

[0099] In operation S328, determine the second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least one reference voltage .

[0100] According to an embodiment of the present invention, by applying the reference voltage multiple times and measuring the response of the mirror, the method can adapt to different working conditions and external disturbances (such as vibration, temperature change, etc.), ensuring that the system can maintain high precision in various environments. By measuring multiple times, the influence of measurement errors and random factors on the second sub-gain can be reduced, thereby improving the reliability and long-term stability of the system.

[0101] According to an embodiment of the present invention, determining the second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least one reference voltage includes operations S3281 to S3284.

[0102] In operation S3281, the amplitude of the reference angular position is obtained based on the reference angular position of the mirror when the j-th reference voltage is applied, where j≥1. , where j≥1.

[0103] In operation S3282, the amplitude of the second incident angle position of the incident light beam is obtained based on the second incident angle position of the incident light beam on the imaging component when the j-th reference voltage is applied. .

[0104] In operation S3283, based on the ratio of the amplitude of the second incident angle position and the amplitude of the reference angular position , the second ratio is obtained . The second ratio is expressed as follows.

[0105] (5). In operation S3284, the at least one second ratio corresponding to at least one reference voltage (for example, N times) is averaged to obtain the second sub-gain . The obtained second sub-gain is expressed as follows.

[0106] (6).

[0107] As the second aspect of the present invention, an angular vibration compensation device for a detection device is further provided to implement the above-mentioned angular vibration compensation method.

[0108] Figure 2 The schematic diagram of the angular vibration compensation device provided according to an embodiment of the present invention is shown. As Figure 2 shown, the angular vibration compensation device includes a mirror 4 and a compensation module 5. The mirror 4 is mounted on the moving carrier 3 and is adapted to reflect the incident light beam to the imaging component 2. The compensation module 5 is adapted to determine the first angular position of the payload 1 relative to the moving carrier 3 when angular vibration occurs under an external disturbance signal, and rotate the mirror 4 according to the first angular position so that the incident light beam enters the imaging component 2 at a preset angle. The preset angle is the included angle between the incident light beam and the optical axis of the imaging component 2 when the payload 1 and the moving carrier 3 are relatively stationary.

[0109] According to the embodiment of the present invention, the payload 1 is susceptible to external disturbances and generates angular vibrations, which will seriously affect the angle at which the imaging component 2 receives the incident light beam, thereby causing imaging blur or distortion. The compensation module 5 can determine the first angular position of the payload 1 when angular vibration occurs under an external disturbance signal, and the mirror 4 rotates according to the first angular position, so that the incident light beam always enters the imaging component 2 at a preset angle. This process effectively compensates for the influence of the angular vibration of the payload 1, ensures that the imaging component 2 receives a stable and accurate incident light beam, and thus ensures the clarity and accuracy of imaging.

[0110] According to an embodiment of the present invention, the compensation module 5 includes an inertial device 51, a control unit 52, and a driver 53. The inertial device 51 is disposed on the payload 1 and is adapted to detect a first angular velocity of the payload 1 with respect to the moving carrier under an external disturbance signal for angular vibration. The control unit 52 is adapted to obtain a first angular position based on the first angular velocity and obtain a driving voltage based on the first angular position. The driver 53 is adapted to drive the mirror 4 to rotate based on the driving voltage so that the incident light beam can enter the imaging assembly 2 at a preset angle.

[0111] According to an embodiment of the present invention, the inertial device 51 is directly disposed on the payload 1 and can sense in real time the first angular velocity of the payload 1 with respect to the moving carrier when angular vibration occurs under an external disturbance signal. In the complex operating environment of a moving carrier 3 such as a satellite, the payload 1 may be subject to external interference at any time to generate angular vibration. This real-time detection ability of the inertial device 51 is crucial. Once a change in angular velocity is detected, information can be quickly transmitted to the control unit 52, and the time from the occurrence of angular vibration to the system response is short. When the satellite encounters an impact caused by a space debris collision and instantaneously generates angular vibration, the inertial device 51 can detect the change in angular velocity within a short time, ensuring that the system can quickly respond and reducing the impact of angular vibration on the imaging assembly 2.

[0112] According to an embodiment of the present invention, the angular vibration compensation device further includes: a processing module 6, and the processing module 6 includes a signal sending unit. The signal sending unit is adapted to apply at least one reference disturbance signal to the payload 1 to cause the payload 1 to have at least one angular vibration, and is adapted to cause the control unit 52 to apply at least one reference voltage to the driver 53 to cause the driver 53 to drive the mirror 4 to rotate at least once.

[0113] The compensation module 5 further includes a measuring unit adapted to measure the reference angular position of the mirror 4 when the j-th reference voltage is applied. The inertial device 51 is further adapted to detect a second angular velocity of the payload 1 when angular vibration occurs under the action of the reference disturbance signal. The control unit 52 is further adapted to obtain a second angular position of the payload based on the second angular velocity.

[0114] The processing module 6 further includes a determination unit and a calculation unit. The determination unit is adapted to determine a first incident angle position of the incident light beam in the imaging assembly 2 according to the image formed by the incident light beam in the imaging assembly 2 when the i-th reference disturbance signal is applied, and determine a second incident angle position of the incident light beam in the imaging assembly 2 according to the image formed by the incident light beam in the imaging assembly 2 when the j-th reference voltage is applied. The calculation unit determines a first sub-gain according to the second angular position and the first incident angle position corresponding to each of the at least one reference disturbance signal; and determines a second sub-gain according to the reference angular position and the second incident angle position corresponding to each of the at least one reference voltage.

[0115] According to an embodiment of the present invention, the angular vibration compensation device further includes a transmission module, which is configured to transmit the image formed by the incident light beam in the imaging component 2 when the i-th reference disturbance signal is applied, the second angular position of the load 1 when the i-th reference disturbance signal is applied, the image formed by the incident light beam in the imaging component 2 when the j-th reference voltage is applied, and the reference angular position of the mirror 4 when the j-th reference voltage is applied to the processing module 6.

[0116] The following lists specific embodiments and combines Figure 3 to illustrate the compensation process and compensation effect of the angular vibration compensation device according to the embodiments of the present invention.

[0117] Figure 3 shows a schematic diagram of a simulation device provided according to an embodiment of the present invention.

[0118] As Figure 3 shown, in this embodiment, the detection device in the actual scenario is simulated. An angular vibration table 7 with a bandwidth of 25 Hz - 1000 Hz is used to simulate the angular vibration state of the load 1, and a test light beam emitted by a laser 8 is used to simulate the incident light beam. An air-bearing platform 9 is used to simulate the environment provided by the moving carrier 3. In this embodiment, a position-sensitive detector 10 is used to evaluate the compensation effect of the angular compensation device. The test light beam emitted by the laser 8 is reflected by the mirror 4, and the reflected test light beam is incident on the position-sensitive detector 10 after being reflected by the mirror 4. The position-sensitive detector 10 can detect the angular position information of the light spot of the test light beam on its photosensitive surface. By testing the angular position change of the light spot of the test light beam by the position-sensitive detector 10, the compensation effect of the angular compensation device can be obtained.

[0119] In this embodiment, the inertial device 51 used is a magnetohydrodynamic angular velocity sensor, which is configured to measure the angular velocity of the angular vibration table 7 in real time. The laser 8 and the magnetohydrodynamic angular velocity sensor are installed on the angular vibration table 7 through a tooling. The angular vibration table 7 is installed on the air-bearing platform 9. The mirror 4 and the position-sensitive detector 10 are respectively installed on the air-bearing platform 9 through a displacement table and the corresponding tooling. In the actual scenario, since the imaging component 2 is installed on the load 1, when the load 1 undergoes angular vibration relative to the moving carrier 3 under an external disturbance signal, the imaging component 2 vibrates angularly along with the load 1, resulting in the incident light beam jittering relative to the imaging component 2. In this embodiment, since the laser 8 is installed on the angular vibration table 7, the laser 8 will vibrate angularly along with the angular vibration table 7 in this embodiment. Therefore, the test light beam emitted by the laser 8 jitters relative to the position-sensitive detector 10. This embodiment is used to calibrate the disturbance suppression ability and disturbance suppression bandwidth of the compensation device. The following lists specific steps for detailed description.

[0120] Step 1: Adjust the optical path.

[0121] When the high-frequency angular vibration table 7 generates a sinusoidal angular vibration, the laser 8 simultaneously emits a test beam. Adjust the displacement stage so that the test beam is reflected by the mirror 4 and incident on the center position of the position-sensitive detector 10.

[0122] Step 2: Determine the simulated gain.

[0123] The simulated gain consists of two parts, namely the first sub-simulated gain from the angular vibration table 7 to the position-sensitive detector 10 and the second sub-simulated gain from the mirror 4 to the position-sensitive detector 10. .

[0124] The method for determining the first sub-simulated gain is as follows. is as follows.

[0125] The processing module 6 is used to apply multiple simulated angular vibration signals to the angular vibration table 7. The simulated angular vibration signal is used to make the angular vibration table 7 generate multiple angular vibrations with specific amplitudes and frequencies. When applying the a-th simulated angular vibration signal, the data acquisition card is used to collect the angular position of the angular vibration table 7 and the angular position of the light spot of the test beam measured by the position-sensitive detector 10 . The processing module 6 is used to perform a fast Fourier transform on the angular position and the angular position respectively, and extract the amplitudes of the two as and . Calculate the first simulation ratio between the amplitude . . . Repeat the above measurement 10 times. The first sub-simulated gain is the average value of the first simulation ratios obtained from the ten measurements, that is, the first sub-simulated gain is expressed as Equation (7).

[0126] (7)

[0127] The method for determining the second sub-simulated gain is as follows. is as follows.

[0128] The processing module 6 is used to apply multiple simulated voltages to the driver 53 through the control unit 52 to make the driver 53 drive the mirror 4 to generate multiple rotations with specific amplitudes and frequencies. When applying the b-th simulated voltage, the data acquisition card is used to collect the angular position of the mirror 4 and the angular position of the light spot of the test beam measured by the position-sensitive detector 10 . The processing module 6 is used to perform a fast Fourier transform on and Perform a fast Fourier transform to extract the amplitudes of the two, which are the amplitude and the amplitude . Calculate the amplitude and the amplitude to obtain the second analog ratio between the two. . Repeat the measurement 10 times. The second sub - analog gain is the average of the second analog ratios obtained from the ten measurements, that is, the second sub - analog gain is expressed as Equation (8).

[0129] (8).

[0130] The analog gain can be expressed as Equation (9).

[0131] (9).

[0132] Step 3, compensation for angular vibration.

[0133] First, use the processing module 6 to generate a perturbation test signal, which is used to control the angular vibration table 7 to generate angular vibration with a specific amplitude and frequency. Use the magnetohydrodynamic angular velocity sensor to sense the angular velocity of the angular vibration table 7 in real - time. After the angular velocity is integrated by the control unit 52, the test angular position is obtained.

[0134] Secondly, multiply the test angular position measured by the magnetohydrodynamic angular velocity sensor by the analog gain , and after taking the reverse, obtain the control voltage of the mirror 4. The control voltage is expressed as Equation (10).

[0135] (10).

[0136] The control voltage controls the rotation of the mirror 4 to compensate for the jitter of the test beam relative to the position - sensitive detector 10 and suppress the influence of the perturbation on the test beam.

[0137] Thirdly, by comparing the output results of the position - sensitive detector 10 before and after the mirror is enabled (compensated), obtain the perturbation suppression bandwidth and the perturbation suppression ratio. The perturbation suppression ratio R is expressed as Equation (11).

[0138] (11).

[0139] Among them, is the amplitude of the angular position of the spot of the test beam output by the position - sensitive detector 10 after the fast mirror compensation, It is the amplitude of the angular displacement of the spot of the test beam that compensates for the output of the front position-sensitive detector 10.

[0140] Figure 4 It shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector 10 before and after compensation of the fast mirror when the disturbance test signal provided according to an embodiment of the present invention is 25 Hz.

[0141] As Figure 4 shown, the abscissa represents frequency and the ordinate represents amplitude. The value of the abscissa is represented by X, and the value of the ordinate is represented by Y. When the disturbance test signal is 25 Hz (i.e., X = 25), before the mirror is compensated, a fast Fourier transform is performed on the amplitude of the angular position of the output of the position-sensitive detector 10, and the resulting amplitude value of the angular position is 0.272303 V, i.e., Y = 0.272303. After the mirror is compensated, a fast Fourier transform is performed on the amplitude of the angular position of the output of the position-sensitive detector 10, and the resulting amplitude value of the angular position is 0.0103684 V, i.e., Y = 0.01684. According to formula (11), the disturbance rejection ratio is -28.39 dB.

[0142] Figure 5 It shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector 10 before and after compensation of the fast mirror when the disturbance test signal provided according to an embodiment of the present invention is 75 Hz.

[0143] As Figure 5 shown, the abscissa represents frequency and the ordinate represents amplitude. The value of the abscissa is represented by X, and the value of the ordinate is represented by Y. When the disturbance test signal is 75 Hz (i.e., X = 75), before the mirror is compensated, a fast Fourier transform is performed on the amplitude of the angular position of the output of the position-sensitive detector 10, and the resulting amplitude value of the angular position is 0.111239 V, i.e., Y = 0.111239. After the mirror is compensated, a fast Fourier transform is performed on the amplitude of the angular position of the output of the position-sensitive detector 10, and the resulting amplitude value of the angular position is: 0.00257437 V, i.e., Y = 0.00257437. According to formula (11), the disturbance rejection ratio is -32.71 dB.

[0144] Figure 6 It shows the results of performing a fast Fourier transform on the angular positions of the outputs of the position-sensitive detector 10 before and after compensation of the fast mirror when the disturbance test signal provided according to an embodiment of the present invention is 150 Hz.

[0145] As Figure 6As shown, the abscissa represents frequency and the ordinate represents amplitude. The value of the abscissa is represented by X, and the value of the ordinate is represented by Y. When the disturbance test signal is 150 Hz (i.e., X = 75), before the mirror compensation, the amplitude of the angular position of the output of the position-sensitive detector 10 is subjected to a fast Fourier transform, and the resulting amplitude of the angular position is 0.0343645 V, i.e., Y = 0.0343645. After the mirror compensation, the amplitude of the angular position of the output of the position-sensitive detector 10 is subjected to a fast Fourier transform, and the resulting amplitude of the angular position is 0.000341224 V, i.e., Y = 0.000341224. According to formula (11), the disturbance rejection ratio is -40 dB.

[0146] The angular vibration compensation device provided by the embodiment of the present invention can achieve a disturbance rejection ability exceeding -40 dB and a disturbance rejection bandwidth of 150 Hz, and can serve optical payloads with higher precision such as deep space laser communication and high-orbit remote sensing imaging.

[0147] The angular vibration compensation device provided by the embodiment of the present invention has significant advantages in realizing the design of a miniaturized and integrated optical terminal.

[0148] The above specific embodiments have further elaborated on the purpose, technical solutions, and beneficial effects of the present invention. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for compensating angular vibration of a detection device, wherein the detection device comprises a load and an imaging component located on the load, wherein the load is located on a moving carrier, and wherein: The angular vibration compensation method comprises: Reflecting the incident light beam to the imaging assembly using a reflector mounted on the moving carrier; determining a first angular position of the load at which angular vibration occurs relative to the motion carrier under an external disturbance signal; The reflector is rotated according to the first angular position so that the incident light beam can enter the imaging component at a preset angle; the preset angle is the angle between the incident light beam and the optical axis of the imaging component when the load and the moving carrier remain relatively stationary.

2. The angular vibration compensation method according to claim 1, characterized in that: The step of rotating the reflector according to the first angular position comprises: obtaining a driving voltage according to the first angular position; The driving voltage is applied to a driver, so that the driver drives the reflection mirror to rotate based on the driving voltage.

3. The angular vibration compensation method according to claim 2, characterized in that: The obtaining of the driving voltage according to the first angular position comprises: Obtaining the driving voltage according to the first angular position and the gain; The gain is the product of a first sub-gain and a second sub-gain, the first sub-gain represents the influence of the angular vibration of the load on the angle, and the second sub-gain represents the influence of the rotation of the reflector on the angle.

4. The angular vibration compensation method according to claim 3, characterized in that: The method for determining the first sub-gain includes: Applying at least one reference disturbance signal to the load to cause the load to vibrate at least one angle relative to the moving carrier; For an i-th reference disturbance signal in at least one of the reference disturbance signals, determining a second angular position of the load when the i-th reference disturbance signal is applied; wherein i≥1; For an i-th reference disturbance signal in at least one of the reference disturbance signals, determining a first incident angle position of a light spot of the incident light beam in the imaging component according to an image formed by the incident light beam in the imaging component when the i-th reference disturbance signal is applied; The first sub-gain is determined according to the second angular position and the first incident angular position corresponding to at least one of the reference disturbance signals.

5. The angular vibration compensation method according to claim 4, characterized in that: The determining the first sub-gain according to the second angular position and the first incident angular position respectively corresponding to at least one of the reference disturbance signals comprises: Obtaining an amplitude of the second angular position according to the second angular position of the load when the i-th reference disturbance signal is applied; Determining the amplitude of the first incident angle position of the imaging component according to the spot of the incident light beam at the first incident angle position of the imaging component when the i-th reference disturbance signal is applied; Obtaining a first ratio according to a ratio of the amplitude at the second angular position to the amplitude at the first incident angular position; The first sub-gain is obtained by averaging at least one of the first ratios corresponding to at least one of the reference disturbance signals.

6. The angular vibration compensation method according to claim 3, characterized in that: The method for determining the second sub-gain includes: Applying at least one reference voltage to the driver so that the driver drives the reflector to rotate at least once relative to the moving carrier; For a j-th reference voltage among at least one of the reference voltages, determining a reference angular position of the reflector when the j-th reference voltage is applied; For a jth reference voltage in at least one of the reference voltages, determining a second incident angle position of a light spot of the incident light beam in the imaging component according to an image formed by the incident light beam in the imaging component when the jth reference voltage is applied; The second sub-gain is determined according to a reference angle position and the second incident angle position corresponding to at least one of the reference voltages.

7. The angular vibration compensation method according to claim 6, characterized in that: The determining the second sub-gain according to the reference angle position and the second incident angle position respectively corresponding to at least one of the reference voltages comprises: Obtaining the amplitude of the reference angular position according to the reference angular position of the reflector when the jth reference voltage is applied; wherein j≥1; Obtaining an amplitude of the second incident angle position according to the second incident angle position of the light spot of the incident light beam at the imaging component when the jth reference voltage is applied; Obtaining a second ratio according to a ratio of the amplitude at the second incident angle position to the amplitude at the reference angle position; The at least one second ratio corresponding to the at least one reference voltage is averaged to obtain the second sub-gain.

8. An angular vibration compensation device of a detection device, used to implement the angular vibration compensation method according to any one of claims 1 to 7, wherein the detection device comprises a load and an imaging component located on the load, wherein the load is located on a moving carrier, and wherein: The angular vibration compensation device comprises: a reflector, mounted on the moving carrier, adapted to reflect an incident light beam to the imaging assembly; The compensation module is adapted to determine a first angular position of the load at which angular vibration occurs relative to the moving carrier under an external disturbance signal, and to rotate the reflector according to the first angular position so that the incident light beam enters the imaging component at a preset angle, wherein the preset angle is the angle between the incident light beam and the optical axis of the imaging component when the load and the moving carrier remain relatively stationary.

9. The angular vibration compensation device according to claim 8, characterized in that: The compensation module comprises: an inertial device, disposed on the load, and adapted to detect a first angular velocity of angular vibration of the load relative to the motion carrier under an external disturbance signal; a control unit, adapted to obtain the first angular position according to the first angular velocity, and to obtain a driving voltage according to the first angular position; The driver is adapted to drive the reflector to rotate based on the driving voltage so that the incident light beam can enter the imaging component at a preset angle.

10. The angular vibration compensation device according to claim 9, characterized in that: The angular vibration compensation device also includes: Processing modules, including: a signal sending unit, adapted to apply at least one reference disturbance signal to the load so as to cause the load to vibrate at least one angle, and adapted to cause the control unit to apply at least one reference voltage to the driver so as to cause the driver to drive the reflector to rotate at least one time; The compensation module also includes: A measuring unit, adapted to measure a reference angular position of the reflector when a j-th reference voltage is applied; wherein j ≥ 1; The inertial device is further adapted to detect a second angular velocity of the load angularly vibrating under the action of the reference disturbance signal, and the control unit is further adapted to obtain a second angular position of the load according to the second angular velocity; The processing module also includes: a determining unit, adapted to determine a first incident angle position of the incident light beam in the imaging component according to an image formed by the incident light beam in the imaging component when an i-th reference disturbance signal is applied, and to determine a second incident angle position of the incident light beam in the imaging component according to an image formed by the incident light beam in the imaging component when a j-th reference voltage is applied; wherein i≥1; The calculation unit determines the first sub-gain according to the second angular position corresponding to each of the at least one reference disturbance signals and the first incident angular position; and determines the second sub-gain according to the reference angular position corresponding to each of the at least one reference voltages and the second incident angular position.

Images